Apparatus and method for monitoring safety in boarding and disembarking compartments

Abstract

To provide an inside safety monitoring device and a method capable of reliably detecting foreign objects (persons, animals, and articles) other than vehicles in a boarding room during the operation of the device after the entrance door is fully closed.SOLUTION: The inside safety monitoring method has steps (process) of S1-S5. In step S1, an equipment space before operation V0 is stored based on 3D coordinate data D of the objects in the entire inside of boarding room 2 before the device is activated. In step S2, in conjunction with the operation of the mechanical parking system 100, the active device space V1 is calculated in real-time based on the equipment space before operation V0. Also, in step S2, inside the boarding room except for the active equipment space V1 is set as a space at operation V2. In step S3, the presence or absence of a detected object in the vacant space V2 during operation is monitored based on the 3D coordinate data D.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a safety monitoring means within the boarding and disembarking compartment of a mechanical parking device, and more particularly to a safety monitoring means while the device is in operation. [Background technology]

[0002] A mechanical parking device (for example, an elevator type) is provided with a boarding / deboarding room where a vehicle (for example, a passenger car) enters and exits (enters or leaves the parking lot), and an entrance / exit door through which the vehicle enters and exits the boarding / deboarding room. When a mechanical parking system is in operation, in order to ensure safety, it is necessary to check that no foreign objects (people, animals, and objects) other than the vehicle remain in the boarding / alighting compartment.

[0003] The above-mentioned safety checks within the boarding / de-boarding area are required immediately after the vehicle enters the boarding / de-boarding area and the user exits (when entering the area), and immediately after the vehicle leaves the boarding / de-boarding area (when leaving the area). When the vehicle leaves the depot, nothing remains in the passenger compartment after the vehicle leaves the depot, so any object detected in the passenger compartment can be considered a foreign object. On the other hand, when entering the parking lot, since the vehicle remains in the boarding / de-boarding compartment, it is necessary to detect objects detected in the boarding / de-boarding compartment separately from the vehicle. For this purpose, for example, Patent Document 1 has been proposed.

[0004] The "area detection device" of Patent Document 1 includes a range sensor that detects real-time data within the boarding / deboarding compartment, and a control device. The control device stores "vacant data" when the boarding / deboarding compartment is vacant and there are no vehicles or other objects present. In addition, when the vehicle stops at a fixed position when entering the warehouse, the vehicle's position, size, and shape are detected to obtain vehicle outline data, and the remaining range of the boarding and disembarking area excluding the range of the vehicle outline data is set as the "stay-behind detection range," and the state of the stay-behind detection range is stored as initial entry data. Furthermore, when the device is started, the real-time data is compared with the initial data for storage to determine whether there is a difference, and if it is determined that there is no difference, a start permission signal is sent, and if it is determined that there is a difference, a warning is issued. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2014-80735 A Summary of the Invention [Problem to be solved by the invention]

[0006] By using the means disclosed in Patent Document 1, when entering a parking lot with a vehicle remaining in the boarding / de-boarding compartment, an object detected in the boarding / de-boarding compartment can be detected and distinguished from the vehicle. However, the solution of Patent Document 1 has the following problems.

[0007] After the vehicle enters and leaves the parking lot, the mechanical parking device starts operating with the entrance and exit doors fully closed, and transports the vehicle between the boarding and alighting room and the storage room. When the device is in operation, the above-mentioned "area detection device" cannot be used because it detects the movement or presence of the device itself as a foreign object. Therefore, if any foreign object other than the vehicle (person, animal, or object) remained in the passenger compartment while the device was operating after the entrance and exit doors were fully closed, it could come into contact with the moving range of the device, resulting in injury to the person or animal, damage to the object or device, etc.

[0008] The present invention has been devised to solve the above-mentioned problems. That is, the object of the present invention is to provide an interior safety monitoring device and method that can reliably detect foreign objects (people, animals, and objects) other than a vehicle in the boarding / exiting compartment while the device is operating after the entrance / exit door is fully closed. [Means for solving the problem]

[0009] According to the present invention, the entire inside of the boarding and disembarking compartment can be Location information 3D coordinate data As Real-time indoor sensors and a space monitoring device that monitors the interior of the boarding / de-boarding room in cooperation with a mechanical parking device having the boarding / de-boarding room; The space monitoring device includes: Immediately before the mechanical parking device starts to operate Before the device is activated The whole room sensor 3D coordinate data from , The parking space occupied by the mechanical parking device located inside the boarding / disembarking room and the vehicle's occupied space when entering the parking space of the mechanical parking device Pre-operation device space The three-dimensional coordinate data of Remember, The mechanical parking device Pallet rotation, traversal, or lifting In conjunction with the operation, the pre-operation device space The three-dimensional coordinate data of Based on The mechanical parking device Operating device space The three-dimensional coordinate data of is calculated in real time, and From the 3D coordinate data detected in real time by the indoor area sensor The active device space The three-dimensional coordinate data of Except there was Inside the boarding / disembarking compartment The three-dimensional coordinate data of the space Free space during operation The three-dimensional coordinate data of Set it as The mechanical parking device During operation of the device 、 The empty space during operation The three-dimensional coordinate data of of Detect the foreign object as 3D coordinate data , Inside the boarding / disembarking compartment A safety monitoring device is provided.

[0010] Further, according to the present invention, (A) The computer is used to operate the mechanical parking system. Objects in the entire interior of the boarding / deboarding compartment before the device is activated Location information 3D coordinate data from , The parking space occupied by the mechanical parking device located inside the boarding / disembarking room and the vehicle's occupied space when entering the parking space of the mechanical parking device Pre-operation device space The three-dimensional coordinate data of storing the (B) By computer, The boarding and disembarking room The above Mechanical parking equipment Pallet rotation, traversal, or lifting In conjunction with the operation, the pre-operation device space The three-dimensional coordinate data of Based on The mechanical parking device Operating device space The three-dimensional coordinate data of is calculated in real time, and From the 3D coordinate data detected in real time by the indoor sensors, The active device space The three-dimensional coordinate data of Except there was Inside the boarding / disembarking compartment The three-dimensional coordinate data of the space When operating, free space The three-dimensional coordinate data of and setting (C) The computer is During operation of the device 、The empty space during operation The three-dimensional coordinate data of of Detect the foreign object as 3D coordinate data and Inside the boarding / disembarking compartment A method for safety monitoring is provided. Effect of the Invention

[0011] According to the present invention, the "pre-operation device space" is stored based on the three-dimensional coordinate data of the objects in the entire area inside the boarding / de-operation room before the device is operated. Also, in conjunction with the operation of the mechanical parking device, the "operation device space" is calculated in real time based on the pre-operation device space. This makes it possible to calculate in real time, while the device is in operation, the occupied space of the device (operating device space) which changes in synchronization with the operation of the device.

[0012] In addition, the interior of the boarding / exiting compartment excluding the space where the device is in operation is set as the "vacant space during operation," so that the space that is empty if there is no one there (no foreign objects) after the entrance / exit doors are fully closed can be set as the "vacant space during operation."

[0013] Therefore, by monitoring the presence or absence of objects detected in the empty space during operation based on the three-dimensional coordinate data while the device is operating, objects detected in the empty space during operation, which normally contain nothing, can be detected as foreign objects. Therefore, while the device is operating after the entrance door is fully closed, foreign objects (people, animals, and objects) other than the vehicle inside the passenger compartment can be reliably detected. [Brief description of the drawings]

[0014] [Figure 1] 1 is a plan view of a mechanical parking system equipped with an interior safety monitoring device according to the present invention. [Diagram 2] FIG. 2 is a view taken along the line AA in FIG. [Diagram 3] 1 is an overall flow diagram of a method for monitoring safety inside a warehouse according to the present invention; [Figure 4] This is a plan view of the boarding and disembarking compartment showing the operation of the mechanical parking device in which the pallet is horizontally rotated by the rotating device. [Diagram 5]This is a plan view of the boarding and disembarking area showing the operation of the mechanical parking device by horizontal movement of the pallet in the width direction. [Figure 6] This is a side view of the boarding and disembarking compartment showing the operation of the mechanical parking device when the pallet is raised and lowered. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] 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.

[0016] FIG. 1 is a plan view of a mechanical parking device 100 equipped with an interior safety monitoring device 50 according to the present invention, and FIG. 2 is a view taken along the line AA in FIG. In this example, the mechanical parking device 100 is an elevator type parking device (elevator parking) having a boarding / deboarding room 2 where a vehicle 1 (for example, a passenger car) enters and leaves (enters or leaves). In addition, the mechanical parking device 100 is not limited to an elevator type parking device, but may be another type of mechanical parking device, for example, a vertical circulation type.

[0017] This example is also an elevator-type parking device in which the entrance direction Y of the vehicle 1 in the boarding / de-boarding compartment 2 is different from the storage direction X of the vehicle 1 in the storage shelf 5. In this example, the storage direction X and the entrance direction Y differ by 90 degrees, but they may be any angle other than 90 degrees, for example, 0 degrees (same direction) or 180 degrees (opposite directions).

[0018] In FIG. 2, a mechanical parking device 100 (elevator-type parking device) includes a cage 7 and a rotating device 8. The cage 7 moves up and down the elevator shaft 4 while carrying the pallet 3 in the storage direction X (X direction). The turning device 8 is provided at the lower part of the boarding / deboarding room 2, and lifts the pallet 3 on the cage located in the boarding / deboarding room 2 above the loading / unloading height and turns it horizontally. The loading / unloading height of the vehicle 1 is the floor height of the boarding / deboarding room 2 (loading / unloading floor). Hereinafter, the y-axis represents the direction of storage, and the x-axis represents the direction of storage, with the rotation center O of the pallet 3 as the origin. Also, the upward direction perpendicular to the x-axis and y-axis, with the floor height as the origin, is the z-axis.

[0019] 1, the boarding / disembarking room 2 is, in this example, 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 inner walls 2a, and has an entrance / exit 2b through which a vehicle 1 enters and leaves the parking lot. Also, an entrance / exit door 6 is provided for opening and closing the entrance / exit 2b. 2, the boarding / deboarding room 2 ranges from the floor surface (z=0) to the ceiling (below the upper storage shelf 5). The ceiling height of the boarding / deboarding room 2 is set to a height (e.g., z=1800 mm or more) that allows the vehicle 1 and people to move freely.

[0020] The mechanical parking device 100 has a main body control device 10 that controls the entrance / exit door 6, the cage 7, and the turning device 8 described above. In addition, in FIG. 1, the in-facility safety monitoring device 50 according to the present invention includes an indoor whole area sensor 20 and a space monitoring device 30.

[0021] The entire interior area sensor 20 detects in real time three-dimensional coordinate data D of objects in the entire interior area of ​​the boarding / deboarding compartment 2. The three-dimensional coordinate data D is a collection of coordinate data (x, y, z). Here, the "object" refers to all three-dimensional objects located inside the boarding / deboarding room 2 excluding the inner wall 2a, the entrance / exit 2b, the floor surface 2c, and the ceiling of the boarding / deboarding room 2. In other words, the object refers to parts of the mechanical parking device 100 located inside the boarding / deboarding room 2 (the device stationary part SP, the device movable part MP), the vehicle 1, the pallet 3, and foreign objects F (people, animals, and objects other than the vehicle 1). The maximum value of the detection pitch of the coordinate data (x, y, z) is set to be smaller than the minimum dimension of the foreign object F to be detected. For example, in the case of a one-year-old child (minimum width 100 mm) that may move around the boarding / deboarding compartment by itself as the foreign object F, it is advisable to set the maximum detection pitch to 10 mm or less.

[0022] The space monitoring device 30 monitors the interior of the boarding and disembarking compartment in conjunction with the main control device 10 of the mechanical parking device 100. The space monitoring device 30 is, for example, a computer (PC) and has the following functions. (1) The pre-operation device space V0 is stored based on the three-dimensional coordinate data D from the indoor whole area sensor 20 before the device is operated. (2) In conjunction with the operation of the mechanical parking device 100, the operating device space V1 is calculated in real time based on the pre-operation device space V0, and the interior of the boarding and alighting compartment excluding the operating device space V1 is set as the operation-time vacant space V2. (3) During operation of the device, the presence or absence of an object is monitored in the operation empty space V2 based on the three-dimensional coordinate data D.

[0023] The space monitoring device 30 sequentially performs the above-mentioned steps (1) to (3) in real time while the mechanical parking device 100 is in operation. "Real time" means every detection cycle of the control system. The detection cycle is, for example, 100 ms or less, and is preferably a short time that allows a moving person or animal to be reliably detected.

[0024] The z-coordinate range of the above-mentioned pre-operational device space V0, operating device space V1, and operating empty space V2 is from the floor surface (z=0) to the ceiling (for example, z=1800 mm).

[0025] In FIG. 1, the indoor whole area sensor 20 is a plurality of three-dimensional laser radars 22 (two in this example). The three-dimensional laser radar 22 irradiates the entire inside area of ​​the boarding / deboarding compartment 2 with laser light 23 by horizontal and vertical scanning, and detects the three-dimensional coordinates of the reflected position.

[0026] In FIG. 1, the horizontal scanning range (horizontal scanning angle β) of the laser light 23 is at least −45 degrees to +45 degrees from the front (β=0), and preferably −75 degrees to +75 degrees. The detection distance of the three-dimensional laser radar 22 is at least equal to or greater than the farthest position of the device movable part MP (pallet 3 in FIG. 2), and preferably equal to or greater than the farthest position in the boarding / disembarking compartment.

[0027] In FIG. 1, the multiple (two) three-dimensional laser radars 22 are positioned on either side of a fixed position P where the vehicle 1 is parked. That is, two or more three-dimensional laser radars 22 are arranged in positions where they can detect the entire area inside the boarding / deboarding compartment as a whole. A fixed position P where the vehicle 1 is parked is set in the center of the boarding / disembarking compartment 2, and in this example, a pallet 3 on which the vehicle 1 is placed is located at the fixed position P. In this example, the two 3D laser radars 22 are disposed at positions A and B in the figure, facing each other toward the center of the pallet 3. However, they may also be disposed at positions C and D in the figure, or at three or more positions.

[0028] Moreover, the vertical scanning range (vertical scanning angle α) of the laser light 23 by the three-dimensional laser radar 22 is preferably −5 degrees to +35 degrees with respect to the horizontal (α=0).

[0029] The multiple three-dimensional laser radars 22 are installed so as to prevent foreign objects F from entering between the inner wall 2a and the floor surface 2c of the boarding / de-boarding compartment 2. With this configuration, people (for example, a one-year-old child) and animals (dogs and cats) located within the irradiation range of the three-dimensional laser radar 22 can be reliably detected.

[0030] In FIG. 1, the two three-dimensional laser radars 22 are installed at positions where a foreign object F cannot enter between them and the inner wall 2a of the boarding / deboarding compartment 2. This configuration makes it possible to prevent people (for example, a one-year-old child) and animals (dogs and cats) from entering behind the three-dimensional laser radar 22. Incidentally, an intrusion prevention measure (for example, a partition wall, etc.) may be installed behind the three-dimensional laser radar 22 to prevent people or animals from entering.

[0031] FIG. 3 is an overall flow diagram of the in-store safety monitoring method according to the present invention. In this figure, the in-fridge safety monitoring method uses the in-fridge safety monitoring device 50 described above and includes steps (processes) S1 to S3.

[0032] In step S1, the pre-operation device space V0 is stored based on the three-dimensional coordinate data D of objects in the entire area inside the boarding / de-boarding compartment 2 before the device is operated. "Before the device is activated" means immediately before the entrance / exit door 6 is fully closed and the mechanical parking device 100 starts to operate after the vehicle enters and leaves the parking lot. At this point, it is usually confirmed that there is no one in the boarding / deboarding compartment (no foreign object F). In addition, step S1 is not limited to being performed immediately before the start of operation of the mechanical parking device 100, but may be performed when the device is stationary during operation, for example, when the pallet 3 is stationary during rotation, traverse, or lifting / lowering. It may also be performed when the device is stationary during other operations.

[0033] The pre-operation device space V0 includes the occupied space of a part of the mechanical parking device 100 located inside the boarding / de-boarding room 2 (the device stationary part SP, the device movable part MP). The stationary part SP of the device is, for example, a stationary object such as a pillar in the boarding / deboarding room, and the movable part MP of the device is, for example, the pallet 3 when rotating or moving sideways, and the pallet 3 and the cage 7 when ascending or descending. Moreover, the pre-operation device space V0 includes the occupied space of the vehicle 1 when the vehicle enters the garage. Note that the pre-operation device space V0 may include the occupied space of the vehicle 1 when the vehicle leaves the garage.

[0034] In step S2, in conjunction with the operation of the mechanical parking device 100, the operating device space V1 is calculated in real time based on the pre-operation device space V0, and the interior of the boarding and alighting compartment excluding the operating device space V1 is set as the operating vacant space V2.

[0035] Step S2 includes steps (processes) S21 to S22. In step S21, in conjunction with the operation of the mechanical parking device 100, the operating device space V1 is calculated in real time based on the pre-operation device space V0. The operating device space V1 is calculated by moving in the moving direction a synchronous space ΔV that is synchronized with the operation of the mechanical parking device 100 among the pre-operation device space V0. The synchronous space ΔV is the space occupied by the device movable part MP (for example, the pallet 3).

[0036] In step S22, the interior of the passenger compartment excluding the operating device space V1 is set as an operating vacant space V2. Step S2 is performed continuously from before the device is operated until the device is completed.

[0037] In step S3, the presence or absence of an object detected in the operation empty space V2 is monitored based on the three-dimensional coordinate data D while the device is in operation.

[0038] Step S3 includes steps (processes) S31 to S34. In step S31, three-dimensional coordinate data D is detected during operation of the device. The operation of the mechanical parking device 100 is, for example, the horizontal rotation of the pallet 3 by the turning device 8. "Linked to the operation" means, for example, linking to the horizontal turning angle θ of the pallet 3. The operating device space V1 means, for example, the space occupied by the device stationary part SP, the device movable part MP and the vehicle 1 at each angle when the horizontal rotation angle θ of the pallet 3 changes. In step S32, it is determined whether or not an object is detected in the empty space V2 during operation.

[0039] If an object is detected in step S32 (YES), the operation of the device is stopped (S33), and an output is issued indicating that a foreign object F has been detected. If no object has been detected in step S32 (NO), then in step S34 it is determined whether or not the operation has been completed, and if the operation has not been completed (NO), the process returns to step S2, and steps S2 to S3 are repeated. If the operation is completed in step S34 (YES), the inside safety monitoring method is terminated.

[0040] Example 1 FIG. 4 is a plan view of the boarding / de-boarding room 2 showing a case where the operation of the mechanical parking device 100 is horizontal rotation of the pallet 3 by the turning device 8. In this diagram, the center of horizontal rotation is the center of pallet 3, which is located at the origin O of the xy coordinate system. Additionally, the x and y coordinates of the four corners of pallet 3 are C1 (x1, y1), C2 (x2, y2), C3 (x3, y3), and C4 (x4, y4).

[0041] Moreover, the horizontal rotation angle θ of the pallet 3 (hereinafter, "rotation angle θ") is defined as the angle with the storage direction (y axis). The rotation angle θ of the pallet 3 is preferably continuously output in real time from the main body control device 10 to the space monitoring device 30. The rotation angle θ changes from moment to moment during the rotation operation. Alternatively, the turning angle θ may be obtained by integrating the angular velocity ω (=dθ / dt) of the turning angle θ based on the elapsed time t during turning.

[0042] 2, the swivel device 8 is located below the loading / unloading height (z=0). Furthermore, when the pallet 3 is horizontally swiveled, the bottom surface of the pallet 3 is located above the loading / unloading height (for example, z=10 to 20 mm), but the upper end of the swivel device 8 is located inside the outer edge of the pallet 3. Therefore, when the pallet 3 rotates horizontally, no foreign matter is allowed to get into the gap between the pallet 3 and the floor surface 2c.

[0043] The pre-operation equipment space V0 when the pallet 3 is rotating horizontally consists of only the equipment stationary part SP (e.g., a pillar, etc.), the pallet 3 and the space above it, which are indicated by dashed lines in Fig. 4. The pallet 3 and the space above it can be stored as the x and y coordinates of the four corners C1, C2, C3, and C4 of the pallet 3 at the time of loading / unloading (rotation angle θ=0), and the z coordinate up to a certain height inside (e.g., z=1800 mm). The pre-operational device space V0 may be stored as a three-dimensional space occupied by the device stationary part SP, the pallet 3, and the vehicle 1 on the pallet.

[0044] Moreover, the operating device space V1 during horizontal rotation of the pallet 3 is only the device stationary part SP (e.g., a pillar, etc.) and the pallet 3 and the space above it at the time of rotation angle θ. The pallet 3 and the space above it at rotation angle θ can be stored as the x and y coordinates of the four corners C1, C2, C3, and C4 of the pallet 3 at rotation angle θ and the z coordinate up to a certain height inside (e.g., z = 1800 mm). The operating device space V1 is calculated by moving a synchronous space ΔV, which is synchronized with the operation of the mechanical parking device 100, within the pre-operation device space V0 in the movement direction. The synchronous space ΔV is a space in which, for example, the pallet 3 and the vehicle 1 on the pallet are included in both the pre-operational device space V0 and the active device space V1.

[0045] Therefore, the empty space during operation V2 is the entire space in the boarding / de-boarding compartment excluding the operating device space V1 (including the device stationary part SP), and in the above-mentioned step S3, a foreign object F (for example, a one-year-old child or an animal) can be detected when the pallet 3 rotates horizontally. This makes it possible to prevent interference between the rotating pallet 3 and the foreign object F.

[0046] Example 2 5 is a plan view of the boarding / deboarding room 2 showing a case where the operation of the mechanical parking device 100 is horizontal movement (hereinafter referred to as "lateral movement") in the width direction of the pallet 3. In this case, for example, a vehicle storage room is provided in a separate room on the right side of the boarding / deboarding room 2 in the drawing. The lateral movement amount x of the pallet 3 (x coordinate of the center of the pallet 3) is preferably continuously output in real time from the main body control device 10 to the space monitoring device 30. The center coordinate of the pallet 3 changes from moment to moment during lateral movement. Alternatively, the lateral movement amount x may be obtained by integrating the lateral movement speed based on the elapsed time t during horizontal movement. The pre-operational device space V0 may be stored as a three-dimensional space occupied by the device stationary part SP, the pallet 3, and the vehicle 1 on the pallet.

[0047] The pre-operation device space V0 when the pallet 3 is moving laterally consists only of the device stationary part SP and the space above the pallet 3 shown by the dashed line in Fig. 5. The space above the pallet 3 can be stored as the x and y coordinates of the four corners C1, C2, C3, and C4 of the pallet 3 at the time of loading / unloading (x=0) and the z coordinate up to a certain height inside that (for example, 1800 mm).

[0048] Moreover, the operating device space V1 during horizontal movement of the pallet 3 is only the device stationary part SP and the space above the pallet 3 at the lateral movement amount x. The space above the pallet 3 at the lateral movement amount x can be stored as the x and y coordinates of the four corners C1, C2, C3, and C4 of the pallet 3 at the lateral movement amount x and the z coordinate up to a certain height (for example, 1800 mm) inside the corners. Therefore, the empty space during operation V2 is the entire space in the boarding / de-boarding compartment excluding the operating device space V1 (including the device stationary part SP), and in the above-mentioned step S3, a foreign object F (for example, a one-year-old child or an animal) can be detected during the horizontal movement of the pallet 3. This makes it possible to prevent interference between the horizontally moving pallet 3 and the foreign object F.

[0049] Example 3 FIG. 6 is a side view of the boarding / de-boarding room 2 showing a case where the operation of the mechanical parking device 100 is to raise and lower the pallet 3. The z coordinate of the center of the pallet 3 is preferably output continuously in real time from the main body control device 10 to the space monitoring device 30. This z coordinate changes from moment to moment while the pallet 3 is being raised or lowered. Alternatively, the z coordinate of the center of pallet 3 may be obtained by integrating the ascending / descending speed based on the elapsed time t during the ascending / descending process.

[0050] The pre-operational device space V0 when the pallet 3 is raised or lowered is only the device stationary part SP and the space above the pallet 3 or cage 7 shown by the dashed line in Fig. 6. In this case, it is better to use the pallet 3 or cage 7 whichever occupies the larger planar area. Hereinafter, it is assumed that the planar area occupied by the cage 7 is larger than that of the pallet 3. In this case, the pre-operational device space V0 can be stored as the x, y coordinates of the four corners C1, C2, C3, and C4 of the cage 7 at the time of entry and exit, and the z coordinate up to a certain height (for example, 2000 mm) inside the corners.

[0051] Moreover, the operating device space V1 when the cage 7 is raised or lowered is only the space above the cage 7 when the device stationary part SP and the center of the pallet 3 are at the z coordinate. The space above the cage 7 can be stored as the x and y coordinates of the four corners of the cage 7 when the center of the pallet 3 is at the z coordinate, and the z coordinate up to a certain height inside that (for example, 1800 mm). Therefore, the empty space during operation V2 is the entire space excluding the stationary device part SP and the operating device space V1 (including the stationary device part SP) in the boarding / de-boarding compartment, and in the above-mentioned step S5, a foreign object F (for example, a one-year-old child or an animal) can be detected when the pallet 3 is raised or lowered. This makes it possible to prevent interference between the rising and lowering pallet 3 or cage 7 and the foreign object F.

[0052] According to the embodiment of the present invention described above, the "pre-operation device space V0" is stored based on the three-dimensional coordinate data D of objects in the entire inside area of ​​the boarding / de-operation room 2 before the device is operated. In addition, in conjunction with the operation of the mechanical parking device 100, the "operational device space V1" is calculated in real time based on the pre-operation device space V0. This makes it possible to calculate in real time, while the device is in operation, the occupied space of the device (operating device space V1) which changes in synchronization with the operation of the device.

[0053] In addition, the interior of the boarding and disembarking compartment excluding the operating device space V1 is set as the "empty space during operation V2", so that the space that is empty if there is no one there (no foreign object F) after the entrance / exit door 6 is fully closed can be set as the "empty space during operation V2".

[0054] Therefore, by monitoring the presence or absence of detected objects in the empty space V2 during operation based on the three-dimensional coordinate data D while the device is operating, it is possible to detect as a foreign object F any detected object in the empty space V2 during operation, which is normally empty. Therefore, during operation of the device after the entrance door 6 is fully closed, foreign objects F (people, animals, and objects) other than the vehicle within the boarding / deboarding compartment can be reliably detected.

[0055] 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]

[0056] D 3D coordinate data, F foreign object, P fixed position, MP moving part of device, SP equipment stationary part, V0 equipment space before operation, V1 equipment space during operation, V2 empty space during operation, ΔV synchronous space, θ horizontal rotation angle, α vertical scanning angle, β horizontal scanning angle, ω angular velocity, 1 vehicle, 2 passenger compartment, 2a inner wall, 2b Entrance, 2c Floor, 3 Pallet, 4 Hoistway, 5 Storage shelf, 6 Entrance door, 7 Cage, 8 Swivel device, 10 Main control device, 20 Indoor whole area sensor, 22 3D laser radar, 23 Laser light, 30 Space monitoring device, 50 Warehouse safety monitoring device, 100 Mechanical parking device

Claims

1. An indoor whole area sensor that detects the position information of objects inside the entire area of ​​the boarding / alighting compartment in real time as 3D coordinate data; a space monitoring device that monitors the interior of the boarding / de-boarding room in cooperation with a mechanical parking device having the boarding / de-boarding room; The space monitoring device includes: From the three-dimensional coordinate data of the indoor whole area sensor before the operation of the mechanical parking device immediately before the operation of the mechanical parking device starts, the three-dimensional coordinate data of the occupied space of the mechanical parking device located inside the boarding / disembarking room and the pre-operation device space of the mechanical parking device, which is the occupied space of the vehicle at the time of entering the parking space, is stored; Calculate the three-dimensional coordinate data of the device space during operation of the mechanical parking device in real time based on the three-dimensional coordinate data of the device space before operation in conjunction with the rotation, traverse, or lifting and lowering of the pallet of the mechanical parking device; The three-dimensional coordinate data of the space in the boarding / deboarding compartment, which is obtained by excluding the three-dimensional coordinate data of the operating device space from the three-dimensional coordinate data detected in real time by the indoor whole area sensor, is set as the three-dimensional coordinate data of the vacant space during operation; A boarding / de-boarding area safety monitoring device that detects the three-dimensional coordinate data of the vacant space during operation of the mechanical parking device as the three-dimensional coordinate data of a foreign object while the mechanical parking device is operating.

2. The safety monitoring device for a boarding / deboarding compartment as described in claim 1, wherein the pre-operation device space includes an occupied space of a device stationary part and a device movable part of the mechanical parking device located inside the boarding / deboarding compartment.

3. 2. The boarding / deboarding compartment safety monitoring device according to claim 1, wherein the indoor entire area sensor is a plurality of three-dimensional laser radars that horizontally and vertically scan a laser beam over the entire inside area of ​​the boarding / deboarding compartment to detect three-dimensional coordinates of the reflected position.

4. The boarding / de-boarding compartment safety monitoring device according to claim 3, wherein the plurality of three-dimensional laser radars are installed so as to prevent foreign objects from entering between the inner wall and floor surface of the boarding / de-boarding compartment, and are positioned on either side of a fixed position where the vehicle is parked.

5. (A) storing, by a computer, three-dimensional coordinate data, which is position information of objects in the entire inside area of ​​the boarding / de-boarding compartment of the mechanical parking device before the device is operated, the three-dimensional coordinate data of the occupied space of the mechanical parking device located inside the boarding / de-boarding compartment and the pre-operation device space of the mechanical parking device, which is the occupied space of the vehicle when entering the parking space; (B) by a computer, in conjunction with the rotation, traverse, or lifting of a pallet of the mechanical parking device having the boarding and disembarking compartment, the three-dimensional coordinate data of the operating device space of the mechanical parking device is calculated in real time based on the three-dimensional coordinate data of the pre-operation device space; setting the three-dimensional coordinate data of the space in the boarding / deboarding compartment, which is obtained by excluding the three-dimensional coordinate data of the operating device space from the three-dimensional coordinate data detected in real time by the indoor whole area sensor, as the three-dimensional coordinate data of the vacant space during operation; (C) A method for monitoring safety in boarding and disembarking areas, comprising a step of detecting, by a computer, the three-dimensional coordinate data of the vacant space during operation of the mechanical parking device as the three-dimensional coordinate data of a foreign object while the mechanical parking device is operating.

6. The three-dimensional coordinate data of the operating device space is calculated by a computer by moving the three-dimensional coordinate data of a synchronous space, which is the occupied space of a device movable part that synchronizes with the operation of the mechanical parking device, among the three-dimensional coordinate data of the pre-operation device space, in the movement direction of a pallet, such as rotation, lateral movement, or lifting and lowering.The safety monitoring method for the boarding and disembarking compartment described in claim 5.

7. The method for monitoring safety in a boarding / de-boarding compartment according to claim 5 , wherein the three-dimensional coordinate data of the pre-operation device space includes the three-dimensional coordinate data of the space occupied by the vehicle when the vehicle enters the garage.

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