Apparatus and method for checking safety when entering a warehouse

Abstract

To provide means for safety confirmation at the time of entry which detects and records that a car or person has entered a boarding / exiting room when a remote vehicle and a normal vehicle enter a garage, and that can reliably and safely release the memory after the vehicle enters the garage.SOLUTION: At the time of entry, after opening an entry / exit door, a normal vehicle driver starts an entry operation (S7), or a remote vehicle driver starts a remote operation (T4) to perform the entry operation. During the entry operation, the entry of a vehicle into a boarding / exiting room 2 is detected and a presence memory A is set (S10), and while the presence memory is set, a closing operation of the entry / exit door 3 is interlocked. Next, in the case of a normal vehicle, the presence memory is reset upon detection of a person exiting the boarding / exiting room (S13), and in the case of a remote vehicle, the presence memory is reset upon confirmation of the end of remote operation by the driver (T6).SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a safety confirmation means for when a remote vehicle and a normal vehicle enter a boarding / disembarking compartment of a mechanical parking system. [Background technology]

[0002] A "remote vehicle" is a vehicle (e.g., a passenger car) that can be remotely operated by the driver while visually checking the vehicle. For example, in the case of parallel parking or parallel parking, the driver can get out of the vehicle and park the vehicle from outside the vehicle using an app on a smartphone or other device. In recent years, such remote vehicles (or "remote parking vehicles") have come into practical use and are on sale. In the following, a vehicle that is operated by a driver will be referred to as a "normal vehicle" (or "regular vehicle"), as opposed to a "remote vehicle".

[0003] A mechanical parking device (e.g., elevator type, vertical circulation type, etc.) is provided with a boarding / deboarding room where vehicles enter and exit (enter or exit the parking lot), and an entrance / exit door through which vehicles enter and exit the boarding / deboarding room. When a vehicle enters the loading / unloading compartment of a mechanical parking system, in order to ensure safety, it is necessary to check that no one remains in the compartment and then close the entrance / exit door completely.

[0004] For example, Patent Document 1 has been proposed with the aim of preventing a decrease in safety due to the mixing of normal vehicles and autonomous vehicles.

[0005] Patent Document 1 states that "the driver exits the entrance of the parking building and closes the entrance door from the operation panel." It also states that "when the automatic driving movement processing unit gives an entrance door close operation signal to the entrance door closing processing unit at an appropriate step, the entrance door is automatically closed." However, with regard to "appropriate timing," it merely states that "for example, processing such as providing the completion signal as an entrance door close operation signal to an entrance door close processing unit" is performed. Moreover, the autonomous vehicle in Patent Document 1 is an autonomous vehicle that can be driven without a driver, and is different from the remote vehicle described above. Therefore, even if Patent Document 1 is applied, it is not possible to ensure safety when a remote vehicle and a normal vehicle (normal vehicle) enter the warehouse. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2020-26619 A Summary of the Invention [Problem to be solved by the invention]

[0007] Previously, only regular vehicles were allowed, and to ensure safety when entering the parking lot, a parking entry protection device was installed near the entrance / exit door of the mechanical parking lot to detect the entry of vehicles or people into the boarding / exit area. Conventional protection devices for entering a parking space detect the entry of a vehicle or person into the parking space when the driver drives the vehicle into the parking space, and reset the presence memory when they detect that only the driver has left the parking space after entering the parking space. In addition, while the occupancy memory is set, the door cannot be closed by the driver due to an interlock.

[0008] With this configuration, if there are only regular vehicles, the doors cannot be closed while people remain in the boarding / alighting compartment, even if the driver operates the door closing operation, thereby ensuring safety when vehicles enter the boarding / alighting compartment.

[0009] However, when a remote vehicle enters a conventional boarding / disembarking compartment equipped with an entrance protection device, the following problems arise. When parking a remote vehicle in a boarding / deboarding compartment, the driver gets off the vehicle outside the boarding / deboarding compartment and the remote vehicle is parked by remotely operating it from outside the boarding / deboarding compartment. In this case, the remote vehicle's entry into the boarding / deboarding compartment can be detected and the presence memory can be set, but since the driver is outside the boarding / deboarding compartment, it is not possible to detect the driver's exit after entering the compartment. Therefore, the presence memory cannot be reset and the door cannot be closed.

[0010] The present invention has been devised to solve the above-mentioned problems. That is, an object of the present invention is to provide a means for checking safety when entering a vehicle, which can detect and store the entry of any vehicle or person into the boarding / alighting compartment when a remote vehicle or a normal vehicle is entering the vehicle, and can reliably and safely release the storage after the vehicle is entered into the vehicle. [Means for solving the problem]

[0011] According to the present invention, there is provided a safety confirmation device for a mechanical parking device in which a remote vehicle that can be remotely operated while a driver visually checks the vehicle or a normal vehicle that the driver rides in and operates enters a boarding / alighting area, the device comprising: a passage detection device that detects the passage of the vehicle or person through an entrance door of the boarding / deboarding room; An opening / closing control device that controls the opening and closing of the entrance door, The opening and closing control device includes: (A) after the entrance door is opened, the driver of the normal vehicle starts a warehousing operation, or the driver of the remote vehicle starts a remote operation to start a warehousing operation, (B) during a warehousing operation, the passage detection device detects the entry of the vehicle into the boarding / alighting compartment and sets a presence memory, and while the presence memory is set, the closing operation of the entrance / exit door is interlocked; Next, (C) in the case of the normal vehicle, the passage detection device detects the exit of a person from the boarding / alighting compartment and resets the occupancy memory, and in the case of the remote vehicle, the occupancy memory is reset upon confirmation of the end of remote operation by the driver, (D) A storage entry safety confirmation device is provided which releases the interlock and enables the entrance door to be closed after the occupancy memory is reset.

[0012] According to the present invention, there is provided a method for checking safety when a vehicle, which is a remote vehicle that can be remotely operated while a driver visually checks the vehicle, or a normal vehicle that is operated by the driver, enters a parking space of a mechanical parking device, comprising the steps of: a passage detection device that detects the passage of the vehicle or person through an entrance door of the boarding / deboarding room; An opening / closing control device for controlling the opening and closing of the entrance door is provided; The opening and closing control device includes: (A) after the entrance door is opened, the driver of the normal vehicle starts a warehousing operation, or the driver of the remote vehicle starts a remote operation to start a warehousing operation, (B) during a warehousing operation, the passage detection device detects the entry of the vehicle into the boarding / alighting compartment and sets a presence memory, and while the presence memory is set, the closing operation of the entrance / exit door is interlocked; Next, (C) in the case of the normal vehicle, the passage detection device detects the exit of a person from the boarding / alighting compartment and resets the occupancy memory, and in the case of the remote vehicle, the occupancy memory is reset upon confirmation of the end of remote operation by the driver, (D) A method for checking safety when entering a warehouse is provided, which releases the interlock and enables the entrance door to be closed after the occupancy memory is reset. Effect of the Invention

[0013] According to the present invention, after the entrance door is opened, the driver of the normal vehicle starts the entrance operation, or the driver of the remote vehicle starts remote operation to start the entrance operation. Therefore, in the case of a normal vehicle, the driver can drive the vehicle and perform the entry operation as in the conventional manner, and in the case of a remote vehicle, the driver can get off the vehicle outside the boarding and disembarking compartment and perform the entry operation remotely from outside the boarding and disembarking compartment.

[0014] During the entry operation, the passage detection device detects the entry of a vehicle into the boarding / exiting compartment and sets the occupancy memory, and while the occupancy memory is set, the closing operation of the entrance / exit door is interlocked. Therefore, in both normal vehicles and remote vehicles, while the occupancy memory is set, the doors cannot be closed due to the interlock even if the driver operates the door to close.

[0015] Next, in the case of a normal vehicle, the exit of a person from the boarding / alighting compartment is detected by a passage detection device and the occupancy memory is reset, and in the case of a remote vehicle, the occupancy memory is reset when the driver confirms that remote operation has been terminated. Therefore, in both normal vehicles and remote vehicles, the occupancy memory can be reset after the entry operation is completed.

[0016] As described above, according to the present invention, when a remote vehicle and a normal vehicle are entered into the parking area, the entry of any vehicle or person into the parking area is detected and stored (presence memory: set), and the memory is reliably and safely released (presence memory: reset) after the vehicle has entered the parking area. [Brief description of the drawings]

[0017] [Figure 1] FIG. 2 is a diagram showing an embodiment of a safety confirmation device for entering a warehouse; [Diagram 2] FIG. 1 is a flow chart showing a method for checking safety when entering a warehouse from start to storage setting. [Diagram 3] FIG. 11 is a flow diagram showing the process from setting the memory to resetting the memory in the method for checking safety when entering a warehouse. [Figure 4] FIG. 11 is a flow chart showing the process from memory reset to completion of the method for checking safety when entering a warehouse. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0018] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In addition, common parts in each drawing are given the same reference numerals, and duplicated explanations will be omitted.

[0019] FIG. 1 is a diagram showing an embodiment of a storage entry safety confirmation device 50. As shown in FIG. In this diagram, M is a driver (person), 1 is a vehicle, 2 is a boarding / disembarking area, 3 is an entrance / exit door, 4 is a pallet (or a boarding / disembarking area for vehicle 1), 50 is a safety confirmation device when entering the parking lot, and 100 is a mechanical parking device. The driver M should be an equipment operator who has received proper training and instruction.

[0020] The entry safety confirmation device 50 is a safety confirmation device when the vehicle 1, which is a remote vehicle 1R or a normal vehicle 1N, enters the boarding / disembarking compartment 2. The entry safety confirmation device 50 has a function of ensuring safety when entering the vehicle by preventing the door from being closed by an interlock while the presence memory A is set, even if the driver M operates the door to close. The occupancy memory A is a memory state of whether or not there is a person inside the boarding / disembarking compartment 2, and when it is set, it means that there is a high possibility that there is a person inside, and when it is reset, it means that there is a low possibility that there is a person inside. The occupancy memory A is preferably stored as a binary value (0 and 1) in the computer.

[0021] The vehicle 1 is a remote vehicle 1R or a normal vehicle 1N. The remote vehicle 1R is a vehicle that the driver M can remotely control while visually checking the vehicle. This type of parking is called "remote parking." The remote control of the remote vehicle 1R is preferably performed from outside the vehicle (e.g., a passenger car) using an app on a smartphone or the like. The normal vehicle 1N is a normal vehicle that is operated (parked) by a driver M.

[0022] In this example, the boarding / disembarking room 2 is the entrance / exit floor of the mechanical parking device 100. In this example, the entrance / exit floor is a rectangular plane surrounded on all four sides by walls 2a, and has an entrance / exit 2b through which the vehicle 1 and the driver M enter and exit. The entrance / exit door 3 is provided to open and close the entrance / exit 2b. The mechanical parking device 100 is, for example, an elevator parking device, but may also be of another type having a boarding / deboarding compartment 2, for example, a vertical circulation type.

[0023] In FIG. 1, the entry safety confirmation device 50 includes a passage detection device 10 that detects the passage of a vehicle 1 or a person through the entrance door 3 of the boarding / de-boarding compartment 2, and an opening / closing control device 20 that controls the opening and closing of the entrance door 3.

[0024] The passage detection device 10 in this example has a door closing protection device 11 and an intrusion detection device 12 . The door closing protection device 11 detects a vehicle 1 or a person M in the vicinity of the entrance door 3. The door closing protection device 11 is, for example, a photoelectric sensor that irradiates a laser beam along the entire width of the entrance door 3. The intrusion detection device 12 detects the vehicle 1 or the person M inside the door closing protection device 11. The intrusion detection device 12 is, for example, a photoelectric sensor that irradiates a laser beam along the entire width of the boarding / de-boarding compartment 2 inside the door closing protection device 11. The door closing protection device 11 and the intrusion detection device 12 are not limited to photoelectric sensors, and may be, for example, a light curtain, a two-dimensional laser scanner, a three-dimensional laser radar, an image detection device, or the like.

[0025] The switching controller 20 is, for example, a computer (PC) having an input device, an output device, a storage device, and an arithmetic unit. The opening and closing control device 20 has a warehousing mode selector 22 as an input device and an output device. The warehousing mode selector 22 is, for example, an operation panel displayed on a display device, and is configured to select a normal vehicle 1N or a remote vehicle 1R. This selection is preferably made by the driver M, but the remote vehicle 1R or normal vehicle 1N may be automatically determined and selected automatically.

[0026] Furthermore, the opening and closing control device 20 determines that the passage detection device 10 has detected something when the door close protection device 11 goes into non-detection mode and only the intrusion detection device 12 detects something.

[0027] In FIG. 1, the entrance safety confirmation device 50 further includes an interior sensor 13 for detecting an abnormality or normality in the boarding / deboarding compartment. In this example, the inside sensor 13 includes a living body detection device 14 and a passive sensor 15 . The living body detection device 14 is a millimeter wave sensor that detects a living body (for example, a person M) by irradiating a millimeter wave to a boarding and disembarking area in a boarding and disembarking compartment. The passive sensor 15 is an infrared passive sensor that detects far-infrared rays emitted from a living body (for example, a person M).

[0028] In FIG. 1, the interior sensor 13 further includes an inventory detection device 16, a vehicle position detection device 17, an ajar door detection device 18, or an interior camera 19. The stock detection device 16 is, for example, a photoelectric sensor that detects the presence or absence of the vehicle 1 by irradiating a laser beam onto a boarding and disembarking area in a boarding and disembarking compartment. The vehicle position detection device 17 is, for example, a photoelectric sensor that detects whether the vehicle 1 protrudes from the boarding / deboarding area by irradiating laser light to the front, rear, left and right of the boarding / deboarding area in the boarding / deboarding compartment. The door ajar detector 18 is, for example, a photoelectric sensor that detects whether a door of the vehicle 1 is ajar by irradiating laser light to the left and right of the vehicle 1 in the boarding and alighting area in the boarding and alighting compartment. The interior camera 19 is, for example, a surveillance camera that captures images of the inside of the boarding and disembarking compartment. The inventory detection device 16, the vehicle position detection device 17, and the ajar door detection device 18 are not limited to photoelectric sensors, and may be, for example, a light curtain, a two-dimensional laser scanner, a three-dimensional laser radar, an image detection device, or the like.

[0029] (Sensor failure detection) Since each sensor may fail, it is preferable to set it to output a signal when the sensor is in a "normal state." With this configuration, in the event of a failure, the sensor will not output a signal (OFF), and the interlock will be activated. This makes it possible to prevent the safety devices inside the warehouse from operating when they are not fully functional. Therefore, each sensor is simultaneously performing both detection and health determination.

[0030] 2 to 4 are overall flow charts of the method for checking safety when entering a warehouse according to the present invention. Of these, FIG. 2 is a flow diagram from start to memory set, FIG. 3 is a flow diagram from memory set to memory reset, and FIG. 4 is a flow diagram from memory reset to end. The method for checking safety when entering a warehouse is carried out by preparing the above-mentioned device 50 for checking safety when entering a warehouse.

[0031] (For normal vehicle 1N) First, the case of normal vehicle 1N will be described. In the case of a normal vehicle 1N, steps (processes) S1 to S22 in Figs. 2 to 4 are executed.

[0032] In FIG. 2, vehicle 1 stops in front of the entrance door at S1, driver M authenticates the operation at S2, a call-to-entry operation is performed at S4, and entrance door 3 opens at S5. Next, in the case of a "normal vehicle," after the entrance door 3 is opened (preferably fully opened), the driver M starts driving in S6, and performs the entry operation in S7. In parallel with S7, the door closing protection device 11 goes into non-detection (NO) state in S8, and only the intrusion detection device 12 detects (YES) in S9, detecting the passage of the vehicle 1, and the presence memory A is set in S10. While the presence memory A is set, the closing operation of the entrance door 3 is interlocked.

[0033] As described above, in the present invention, when the door closing protection device 11 does not perform detection and only the intrusion detection device 12 performs detection, it is determined that the passage detection device 10 has performed detection. This condition makes it possible to detect the passage of a vehicle or person into the warehouse. In order to maximize the effectiveness of this detection, it is desirable to enable the detection when the door is opened and disable the detection when the door is closed.

[0034] According to the above-mentioned method, in the case of a normal vehicle 1N, the driver M can drive the vehicle 1 and perform the entrance operation at S6 and S7 in the same manner as in the conventional method.

[0035] In addition, during the entry operation, the passage detection device 10 (= door closing protection device 11 and intrusion detection device 12) detects the entry of the vehicle 1 into the boarding / exiting compartment 2 and sets the occupancy memory A, and while the occupancy memory A is set, the closing operation of the entrance / exit door 3 is interlocked. Therefore, while the occupancy memory A is set, even if someone other than the driver M operates the door to close, the door cannot be closed due to the interlock.

[0036] 3, in the case of a "normal vehicle," in S11 the driver M exits the boarding / alighting compartment 2. In parallel with S11, if the door closing protection device 11 detects a person (the exit of the driver M) in S12 (YES), the presence memory A is reset in S13. When the occupancy memory A is reset, the interlock is released and the entrance door 3 can be closed. If the exit of the driver M is not detected in S12, S12 is repeated.

[0037] According to the above-described method, after the normal vehicle 1N has been loaded into the parking lot, the passage detection device 10 detects the exit of a person from the boarding / alighting compartment 2 and resets the presence memory A, thereby releasing the interlock and enabling the entrance / exit door 3 to be closed.

[0038] In FIG. 4, the driver M checks the safety of the interior of the fridge in S14, authorizes the operation in S15, and if the interior sensor 13 is normal in S16 (YES), the closing operation of the entrance door 3 is started in S17.

[0039] Next, during the closing operation of the normal vehicle 1N, detection or sensing is continued by the door closing protection device 11, the intrusion detection device 12, and the passive sensor 15 in S18, S19, and S20. If none of S18, S19, and S20 detects anything (NO) by the time the entrance door is closed at S21, the method of the present invention is terminated. Furthermore, if a person is detected in S18, S19, or S20 (YES), an abnormality is reported in S22 and the device is stopped.

[0040] According to the above-mentioned method, during the closing operation of the normal vehicle 1N, since the detection or sensing is continued in S18, S19, and S20 until the entrance door is fully closed in S21, the entrance door 3 can be fully closed safely.

[0041] (If someone else enters the room while Driver M is in the room) After the presence memory A is set in S10, if another person enters the vehicle while the driver M is inside (memorizing), the answer to S12 will be YES, and the presence memory A may be reset in S13. However, multiple sensors (e.g., the interior sensor 13) are installed in the mechanical parking device. As long as all of these sensors do not result in "no person detected" in S16, S14 and S15 are repeated, and the driver M is asked to check that no one is present in the parking device, and an interlock is activated so that the closing operation of the entrance door 3 in S17 cannot be started. For example, a passive sensor 15 installed inside the refrigerator detects far infrared rays emitted from the human body and activates an interlock.

[0042] (If the passenger in vehicle 1 remains in the vehicle) If the driver M exits in S11 and a passenger in the vehicle 1 remains inside the compartment, the interior sensor 13 detects an abnormality in S16, and the process returns to S14, prompting the driver M to check for safety. If a passenger is inside the compartment, this can be detected by the passive sensor 15. Also, if a passenger is inside the vehicle, this can be detected by the living body detection device 14. The living body detection device 14 determines whether a person (or other living organism) remains inside the vehicle 1 by detecting minute vibrations such as breathing generated by the human body.

[0043] (When Driver M or a passenger enters and exits the vehicle multiple times while Driver M is in the vehicle) Multiple sensors (for example, the inside sensor 13) detect the presence or absence of people inside the refrigerator from multiple angles, and if even one of them detects a human body, the interlock described above is activated in S16. However, as mentioned above, it is preferable that the final decision be left to "a device operator who has received appropriate training and education." Therefore, malfunctions will not occur in normal use. However, in special cases such as the following, malfunctions may occur. (1) Covering the sensors inside the cabinet, (2) Entering the equipment while wearing special clothing that blocks far-infrared rays, (3) Entering the equipment while wearing armor that blocks all minute vibrations generated by the human body, such as breathing, etc.

[0044] (For remote vehicle 1R) Next, the case of the remote vehicle 1R will be described. In the case of the remote vehicle 1R, steps (processes) T1 to T8 in Figs. 2 to 4 are additionally executed.

[0045] In FIG. 2, S1 to S2 are the same as those in the normal vehicle 1N. Next, according to the operation panel display of T1, the vehicle is called in for storage at S4, and the entrance door 3 opens at S5.

[0046] Next, in the case of a "remote vehicle," the driver M starts remote operation at T4, and performs the entrance operation at S7. The entrance operation at S7 is performed by remote operation. In addition, S8 to S10, which are parallel to S7, are the same as in the case of normal vehicle 1N. The "remote control" mentioned here does not refer to so-called self-driving vehicles. It means that the driver remotely controls the vehicle 1 using a special key or smartphone while visually checking the vehicle.

[0047] In the case of the remote vehicle 1R, the driver M can get off the vehicle 1 outside the boarding / alighting compartment 2 and perform the parking operation by remote control from outside the boarding / alighting compartment 2.

[0048] In FIG. 3, in the case of a "remote vehicle" at T5, the driver M confirms the end of remote operation at T6, and if the living body detection device 14 does not detect a living body at T7 (NO), the presence memory A is reset. When the occupancy memory A is reset, the interlock is released and the entrance door 3 can be closed. If the living body detection device 14 detects the living body at T7 (YES), T7 is repeated. Therefore, in the case of the remote vehicle 1R, the occupancy memory A can also be reset after the entry operation is completed.

[0049] In FIG. 4, S14 to S17 are the same as those in the normal vehicle 1N. In S14, the physical operation (e.g., pressing a button) is the same, but the "significance of pressing a button" in terms of what is to be confirmed by "a device operator who has received appropriate training and education" is different. In the case of remote vehicle 1R, the operator is asked to confirm that "remote operation has ended = the car will not move any further." After the operator performs this operation, the device activates the safety mechanism inside the vehicle and begins to determine whether or not there is anyone inside the vehicle. After that, just like in the case of normal vehicle 1N, the operator is asked to confirm that there is no one inside the vehicle, and only if there is no interlock operation of any of the sensors and approval is obtained that there is no one inside, will the device begin the closing operation of S19.

[0050] Next, during the closing operation of the remote vehicle 1R, in addition to the detection or continuation of detection by S18, S19, and S20 in the case of the normal vehicle 1N, detection by the living body detection device 14 is also continued at T8. If none of them are detected or detected (NO) by the time the entrance door is closed at S21, the method of the present invention is terminated. Furthermore, if a person is detected in S18, S19, S20, or T8 (YES), an abnormality is reported in S22 and the device is stopped.

[0051] According to the above-mentioned method, during the closing operation of the remote vehicle 1R, detection or sensing is continued in S18, S19, S20, and T8 until the entrance door is fully closed in S21, so that the entrance door 3 can be fully closed safely.

[0052] (Reasons why the biodetection device 14 is not used in normal vehicles 1N) The reason why the detection by the living body detection device 14 of T7 and T8 is not applied to the normal vehicle 1N is that the safety of manned entry (normal vehicle 1N) has already been established by existing technology, so there is no need to add an additional sensor in normal operation. In order to further increase safety, the detection by the living body detection device 14 of T7 and T8 may be applied to the normal vehicle 1N.

[0053] (For self-driving cars) In the case of an autonomous vehicle that can be driven without a driver, driver M can "get out of the vehicle and continue to the destination" without checking the operation of the autonomous vehicle. In this case, the above-mentioned operations T2, T4, or T6 can be omitted. Note that the above-described embodiment is intended to "park in a mechanical parking lot by remote control." Therefore, the vehicle 1 cannot start parking automatically without human supervision.

[0054] According to the above-described embodiment, in the case of a normal vehicle 1N, the driver M can drive the vehicle 1 and perform the entrance operation as in the conventional manner, and in the case of a remote vehicle 1R, the driver M can get off the vehicle 1 outside the boarding / disembarking compartment 2 and perform the entrance operation by remotely operating the vehicle from outside the boarding / disembarking compartment 2.

[0055] In addition, in both the normal vehicle 1N and the remote vehicle 1R, while the occupancy memory A is set, the doors cannot be closed due to an interlock even if the driver M operates the door to close.

[0056] Furthermore, in both the normal vehicle 1N and the remote vehicle 1R, the occupancy memory A can be reset after the entry operation is completed.

[0057] Therefore, according to the present invention, when a remote vehicle 1R and a normal vehicle 1N enter the parking area, the entry of any vehicle 1 or person into the parking area is detected and stored (occupancy memory A: set), and the memory can be reliably and safely released (occupancy memory A: reset) after vehicle 1 enters the parking area.

[0058] The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit and scope of the present invention. [Explanation of symbols]

[0059] A Presence memory, M Driver (person), 1 Vehicle, 1R remote vehicle, 1N normal vehicle, 2 boarding room, 2a wall, 2b doorway, 3 Entrance door, 4 Pallet (or boarding / disembarking area), 10 Passage detection device, 11 Door closing protection device, 12 Intrusion detection device, 13 In-storage sensor, 14 Living body detection device (millimeter wave sensor), 15 Passive sensor (infrared passive sensor), 16 Inventory detection device, 17 Vehicle position detection device, 18 Half-open door detection device, 19 Interior camera, 20 opening and closing control device, 22 storage mode selector, 50 Safety check device when entering the parking lot, 100 Mechanical parking device

Claims

1. A safety confirmation device for entering a mechanical parking device in which a remote vehicle that can be remotely operated while a driver visually checks the vehicle or a normal vehicle operated by the driver enters a boarding / alighting area, a passage detection device that detects the passage of the vehicle or person through an entrance door of the boarding / deboarding room; An opening / closing control device that controls the opening and closing of the entrance door, The opening and closing control device includes: (A) After the entrance door is opened, the driver of the normal vehicle starts a warehousing operation, or the driver of the remote vehicle starts a remote operation to start a warehousing operation, (B) during a warehousing operation, the passage detection device detects the entry of the vehicle into the boarding / alighting compartment and sets a presence memory, and while the presence memory is set, the closing operation of the entrance / exit door is interlocked; Next, (C) In the case of the normal vehicle, the passage detection device detects the exit of a person from the boarding / alighting compartment and resets the occupancy memory, and in the case of the remote vehicle, the occupancy memory is reset by confirmation of the end of remote operation by the driver, (D) A storage entry safety confirmation device that releases the interlock and enables the entrance door to be closed after the occupancy memory is reset.

2. The passage detection device includes: a door closing protection device that detects the vehicle or person near the entrance door; an intrusion detection device that detects the vehicle or person inside the door closing protection device, 2. The storage entry safety confirmation device according to claim 1, wherein the opening / closing control device determines that the passage detection device has detected an object when the door closing protection device is in a non-detecting state and only the intrusion detection device is in a detecting state.

3. An interior sensor is provided to detect abnormality or normality in the boarding / deboarding compartment, After the interlock is released, 2. The storage entry safety confirmation device according to claim 1, wherein when the inside sensor detects the normal state, the closing operation of the entrance / exit door is started, and when the inside sensor detects the abnormal state, the closing operation of the entrance / exit door is not started and a safety confirmation is prompted.

4. The interior sensor has a living body detection device that detects a living body by irradiating a millimeter wave to a boarding and disembarking area in the boarding and disembarking compartment, 4. The vehicle entry safety confirmation device according to claim 3, wherein the vehicle presence memory is reset if no living body is detected after confirmation of the end of the remote operation of the remote vehicle.

5. The storage entry safety confirmation device according to claim 4, wherein the in-storage sensor has a passive sensor that detects far-infrared rays emitted from a living body.

6. The storage entry safety confirmation device according to claim 5 , wherein the storage interior sensor further includes an inventory detection device, a vehicle position detection device, a half-open door detection device, or an interior camera.

7. A method for checking safety when entering a mechanical parking device in which a remote vehicle that can be remotely operated while a driver visually checks the vehicle or a normal vehicle that the driver rides in and operates enters a boarding / alighting area, comprising: a passage detection device that detects the passage of the vehicle or person through an entrance door of the boarding / deboarding room; An opening / closing control device for controlling the opening and closing of the entrance door is provided; The opening and closing control device includes: (A) After the entrance door is opened, the driver of the normal vehicle starts a warehousing operation, or the driver of the remote vehicle starts a remote operation to start a warehousing operation, (B) during a warehousing operation, the passage detection device detects the entry of the vehicle into the boarding / alighting compartment and sets a presence memory, and while the presence memory is set, the closing operation of the entrance / exit door is interlocked; Next, (C) In the case of the normal vehicle, the passage detection device detects the exit of a person from the boarding / alighting compartment and resets the occupancy memory, and in the case of the remote vehicle, the occupancy memory is reset by confirmation of the end of remote operation by the driver, (D) A method for checking safety when entering a warehouse, which releases the interlock and enables the entrance door to be closed after the occupancy memory is reset.

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