Parking Equipment

Abstract

To provide a parking device that is improved in safety and convenience.SOLUTION: A parking device comprises: a moving body; a drive device which moves the moving body; a sensor which detects that the moving body reaches a predetermined position in a movement path of the moving body; and a control device which controls, once the sensor detects that the moving body reaches the predetermined position while the moving body is being moved toward a target position, the drive device to stop the movement after the lapse of a predetermined time, and then detects that the moving body stops moving before the predetermined time passes.SELECTED DRAWING: Figure 3

Description

[Technical field]

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

[0002] In order to effectively utilize parking spaces, multi-level parking devices equipped with two or more levels of parking pallets (also called pallets) in the vertical direction have been put to practical use. In multi-level parking devices, the parking pallets can move in the horizontal direction and the vertical direction. Control is required to ensure that the movement in the horizontal direction and the vertical direction is carried out.

[0003] Patent Document 1 discloses a control unit for a vertical circulation type multi-storey parking facility, which, when the stop position of a called cage is not detected as the normal stop position by a normal stop position sensor, circulates one cage in the circulation direction and then starts the call operation again. Patent Document 2 discloses a control method for a parking facility where a transporting cart that runs on a travel route enters and leaves a parking lot, in which the transporting cart is controlled to continue the entry work after the interruption stage based on the entry command given to the transporting cart before the power outage in order to resume the entry and exit work that was interrupted by a power outage. Patent Document 3 discloses a control unit for a mechanical parking facility that can safely and easily restore the mechanical parking facility based on the transfer operation procedure stored in the transfer operation procedure storage means when power is restored from a power outage. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 7-331916 [Patent Document 2] Japanese Patent Application Publication No. 2-217574 [Patent Document 3] JP 2003-120065 A Summary of the Invention [Problem to be solved by the invention]

[0005] One object of the present invention is to improve the safety and convenience of parking systems. [Means for solving the problem]

[0006] According to one embodiment of the present invention, a parking device is provided that includes a moving body, a drive device for moving the moving body, a sensor that detects that the moving body has reached a predetermined position on the movement path of the moving body, and a control device that controls the drive device to stop the movement after a predetermined time when the sensor detects that the moving body has reached the predetermined position while the moving body is being moved toward a target position, and detects that the movement of the moving body has stopped before the predetermined time has elapsed.

[0007] The control device may also include controlling the drive device to return the moving body to a position before reaching the specified position when it detects that the movement of the moving body has stopped before the specified time has elapsed.

[0008] The control device may also include a memory unit that stores information about the fact that the movement of the moving body stopped before the specified time has elapsed when it detects that the movement of the moving body has stopped before the specified time has elapsed, and when the control device moves the moving body toward a target position, if the memory unit stores information that the movement of the moving body stopped before the specified time has elapsed, the control device may control the drive device to return the moving body to a position before it reached the specified position.

[0009] The control device may further control the drive device to move the moving body again toward the target position after returning the moving body to a position before the moving body reached the predetermined position.

[0010] The control device may also control the drive device to return the moving body for a predetermined period of time or longer.

[0011] The control device may also control the drive device to return the moving body for at least twice the predetermined time.

[0012] Furthermore, the control device may control the drive device so that, when returning the moving body, the movement is stopped a predetermined time after the moving body is no longer detected at the predetermined position by the sensor. [Brief description of the drawings]

[0013] [Figure 1] 1 is a diagram showing a parking device according to an embodiment of the present invention; [Diagram 2] 1 is a block diagram showing a schematic configuration of a parking device according to one embodiment of the present invention; [Diagram 3] A diagram for explaining the processing of the control device when moving a pallet of a parking device in one embodiment of the present invention. [Figure 4] A diagram for explaining the processing of the pallet driving device when moving a pallet of a parking device in one embodiment of the present invention. [Diagram 5] A diagram for explaining the processing of the pallet drive device when reversing and moving the pallet of the parking device in one embodiment of the present invention. [Figure 6] A diagram for explaining the relationship between position and processing when moving a pallet of a parking device in one embodiment of the present invention. [Figure 7] A diagram for explaining the processing of a control device when moving a pallet of a parking device in one modified example of the present invention. [Figure 8] FIG. 13 is a block diagram showing a schematic configuration of a parking device according to a modified example of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, each embodiment of the invention disclosed in this application will be described with reference to the drawings. However, the present invention can be embodied in various forms without departing from the gist of the invention, and the present invention should not be interpreted as being limited to the description of the embodiments exemplified below.

[0015] In addition, in order to clarify the description, the drawings may show the width, thickness, shape, etc. of each part in a schematic manner compared to the actual embodiment, but these are merely examples and do not limit the interpretation of the present invention. In this specification and each drawing, elements having the same functions as those explained in the previous drawings may be given the same reference numerals, and duplicated explanations may be omitted.

[0016] First Embodiment A parking device according to a first embodiment of the present invention will be described in detail with reference to the drawings.

[0017] [Parking equipment configuration] Fig. 1 is a schematic side view of a parking device according to one embodiment of the present invention, showing the main configuration of a parking device 100 according to one embodiment of the present invention.

[0018] The parking device 100 has a main structure formed by pillars 102, and multiple pallets 104 on which vehicles V are placed are installed within the main structure.

[0019] The pallet 104 is provided so as to be movable up and down along the support columns 102 by a driving unit 236. In addition, the pallet 104 can be moved in the lateral direction of the vehicle body (the direction into the paper of FIG. 1) by another driving unit 236 (not shown).

[0020] Pallets 104 in the main structure are spaced apart so that when multiple vehicles V are stacked vertically, they do not interfere with each other. As a result, the main structure formed by the supports 102 forms parking areas P1, P2, P3, P4 stacked in multiple tiers in the vertical direction. Although not shown, parking areas P1, P2, P3, P4 may be formed not only vertically but also horizontally (depth direction shown in FIG. 1) with multiple parking areas lined up.

[0021] The parking device 100 is operated by an operation panel 214. The operation panel 214 is provided on the outside of the parking device 100. In this example, the operation panel 214 is attached to a support 102 near the entrance / exit gate of the parking device 100 (lower right side of the figure). A user operates the operation panel 214 from outside the parking device 100 to move the desired pallet 104 to the entrance / exit gate 109 and to open / close the gate 108.

[0022] The operation panel 214 communicates by wire or wirelessly with a control device 200 that controls the parking device 100. A signal output from the operation panel 214 is transmitted to the control device 200, which outputs control signals to a pallet driving device 230 that moves the pallet 104, a gate driving device that opens and closes the gate 108, and the like. The control device 200 controls all operations of the parking device 100, including the operations of the multiple pallets 104 and the gate 108. Although FIG. 1 shows an example in which the control device 200 is provided at the rear of the vehicle V, the location of the control device 200 is not particularly limited.

[0023] Gate 108 provided at the entrance / exit of parking device 100 is opened when pallet 104 is moved to the entrance / exit when leaving the parking facility, and is closed by an operation to close gate 108 on operation panel 214 after the vehicle has left the parking facility. When entering the parking facility, gate 108 is opened by an operation to open gate 108 on operation panel 214, and is closed by operating operation panel 214 after the vehicle has entered the parking facility.

[0024] The gate 108 is kept closed except when it is opened to allow the vehicle V to enter or leave the parking device. Therefore, the gate 108 is kept closed even when the pallet 104 is moving. By keeping the gate 108 closed, people are usually prevented from entering the parking device 100.

[0025] In the parking device 100, which forms a parking area stacked in multiple levels in the vertical direction and stores and parks vehicles in a three-dimensional manner, the pallets 104 are raised and lowered to move the target pallet 104 to the entrance / exit 109 to load and unload the vehicle. There are several methods for moving the target pallet 104 to the entrance / exit 109. For example, a method of sinking the lower pallet 104 into an underground pit in order to unload a vehicle parked on the upper pallet 104, a method of sliding the lower or upper pallet 104 laterally of the vehicle body (in the depth direction of the paper in FIG. 1 ) to lower the upper pallet 104 into an area where the lower pallet 104 is not present, or a combination of these methods are used.

[0026] For example, the sensor 220a is attached so as to detect that the pallet 104 has reached a predetermined position (a position before the target position) on the path of movement of the pallet 104 in order to reliably perform the movement of the pallet 104. In this example, the sensor 220a is attached near the rear of the vehicle body of the pallet 104, and a detection range is formed to detect an object present at a predetermined position when the pallet 104 moves laterally (in the depth direction of the paper surface of FIG. 1) of the vehicle body. However, the present invention is not limited to this, and the sensor 220a may have a detection range formed to detect an object present at a predetermined position when the pallet 104 moves vertically, and the sensor 220b may have a detection range formed to detect an object present at a predetermined position when the gate 108 moves vertically (when the sensor 220a and the sensor 220b are not distinguished from each other, they are referred to as the sensor 220). The object to be detected by the sensor 220 is not particularly limited, and may be a moving object moving within the parking device 100. The sensor 220 transmits the detected information to the pallet driving device 230.

[0027] 2 is a block diagram showing a schematic configuration of a parking device according to one embodiment of the present invention. The parking device of the present invention includes a control device 200, an operation panel 214, a pallet driving device 230, a gate driving device 240, a pallet 104, a gate 108, and a sensor 220.

[0028] The control device 200 includes a storage unit 204 and a control unit 206. The storage unit 204 is a logical storage area, and is a memory such as a storage area in a CPU, a main storage device, a secondary storage device, etc. The storage unit 204 stores programs and the like that cause the control device 200 to realize various functions.

[0029] The control unit 206 is a CPU (Central Processing Unit). The control unit 206 executes programs stored in the storage unit 204 by the CPU, and realizes various functions in the control device 200. The programs executed in the control unit 206 may be provided in a state stored in a computer-readable recording medium such as a magnetic recording medium, an optical recording medium, a magneto-optical recording medium, or a semiconductor memory. Furthermore, each program may be downloaded via a network.

[0030] The control unit 206 controls the operation of the parking device 100 by transmitting signals including instructions for driving the pallet 104 and the gate 108 to the pallet driving device 230 and the gate driving device 240 based on information received from the operation panel 214. The driving instructions may include, for example, a signal (driving output notification A) including an instruction to stop the movement of the pallet 104 after a predetermined time when information is received from the sensor 220 that the pallet 104 has reached a predetermined position while the movement operation of the pallet 104 toward the target position continues. The driving instructions may include, for example, a signal (driving output notification B) including an instruction to reverse the movement of the pallet 104 at least to a predetermined position. The driving instructions may include, for example, a signal (driving output notification C) including an instruction to stop the reverse movement of the pallet 104.

[0031] The operation panel 214 is a user interface through which a user inputs instructions for automatic operations (such as designating the number of the pallet 104 and instructions for opening and closing the gate 108) to the control device 200. When the operation panel 214 receives an instruction for automatic operations from the user, it transmits information about the pallet 104 to be automatically operated and information about the operation content to the control device 200.

[0032] The pallet driving device 230 includes an input / output unit 234 and a driving unit 236. The input / output unit 234 receives a signal including an instruction regarding the movement of the pallet 104 from the control unit 206. The input / output unit 234 controls the movement of the pallet 104 by the driving unit 236 based on the received signal including the instruction regarding the movement of the pallet 104. The input / output unit 234 also receives information from the sensor 220a. The input / output unit 234 controls the movement of the pallet 104 by the driving unit 236 based on the received information. The input / output unit 234 is a CPU (Central Processing Unit) and realizes the various functions described above in the pallet driving device 230.

[0033] The gate driving device 240 includes an input / output unit 244 and a driving unit 246. The input / output unit 244 receives a signal including an instruction regarding the movement of the gate 108 from the control unit 206. The input / output unit 244 controls the movement of the gate 108 by the driving unit 246 based on the received signal including the instruction regarding the movement of the gate 108. The input / output unit 244 also receives information from the sensor 220b. The input / output unit 244 controls the movement of the gate 108 by the driving unit 246 based on the received information. The input / output unit 244 is a CPU (Central Processing Unit) and realizes the various functions described above in the gate driving device 240.

[0034] The sensor 220 detects an object present in a predetermined area in the moving direction of the pallet 104 or the gate 108. The sensor 220 may be, for example, a non-contact sensor such as a magnetic sensor, an optical sensor, an ultrasonic sensor, an infrared sensor, or a sensor using image recognition (analysis of an image captured by a camera), or may be a contact sensor such as an electric switch that operates mechanical detection via an actuator, a switch using a movable contact, or a piezoelectric sensor that generates power by pressure.

[0035] [Parking device operation when entering and exiting] When a specific pallet is designated on the operation panel 214 and an operation for loading / unloading is performed, the control device 200 receives information designating the pallet. The control unit 206 outputs a signal including an instruction to move the pallet 104 of the designated pallet number to the loading / unloading gate to the pallet driving device 230. When the pallet driving device 230 receives a signal including an instruction to move the pallet 104 of the designated pallet number to the loading / unloading gate, it moves the pallet 104 to the loading / unloading gate. The process of moving the pallet 104 refers to the process from the operation of the operation panel 214 by the user to the movement of the pallet 104 to the loading / unloading gate, and is executed by the control device 200 and the pallet driving device 230.

[0036] When the pallet 104 arrives at the entrance / exit gate, the control unit 206 outputs a signal including an instruction to open the gate 108 to the gate drive device 240. When an operation to close the gate 108 is performed on the operation panel 214 after the vehicle has entered or left the warehouse, the control unit 206 outputs a signal including an instruction to close the gate 108 to the gate drive device 240. When the gate drive device 240 receives a signal including an instruction to open or close the gate 108, it opens or closes the gate 108. The process of opening and closing the gate 108 refers to opening or closing the gate 108, and is executed by the control device 200 and the gate drive device 240.

[0037] [Palette movement behavior] Fig. 3 is a diagram for explaining the processing of the control device when moving the pallet 104 of the parking device according to one embodiment of the present invention. Fig. 4 is a diagram for explaining the processing of the pallet drive device when moving the pallet 104 of the parking device according to one embodiment of the present invention. Fig. 5 is a diagram for explaining the processing of the pallet drive device when moving the pallet 104 of the parking device according to one embodiment of the present invention in a reverse manner. Fig. 6 is a diagram for explaining the relationship between the position and the processing when moving the pallet 104 of the parking device according to one embodiment of the present invention.

[0038] When the user operates the operation panel 214 to start the movement process of the pallet 104, the control unit 206 of the control device 200 receives information from the sensor 220 that the pallet 104 has reached the detection position Y (predetermined position, FIG. 6) while the movement of the pallet 104 toward the target position X (FIG. 6) continues, the control unit 206 outputs a signal (driving output notification A) including an instruction to stop the movement of the pallet 104 after the pushing time (predetermined time) to the input / output unit 234 of the pallet driving device 230 (FIG. 3s300). Here, the pushing time is the time required to move the pallet 104 from the detection position Y to the target position X, and the pushing time and the detection position can be set appropriately. For example, the pushing time may be 100 msec or more and 1 sec or less, and the detection position may be set from the moving distance of the pallet 104 during the pushing time. It is preferable that the moving speed of the pallet 104 from the detection position to the target position is always constant.

[0039] When the drive output notification A is input, the input / output unit 234 of the pallet drive device 230 controls the drive unit 236 to start moving the pallet 104 toward the target position X (s610 in FIG. 4, FIG. 6(a)).

[0040] When the movement of the pallet 104 starts, the input / output unit 234 checks whether or not information is received from the sensor 220a (FIG. 4s620). This check is to check whether or not the pallet 104 has reached the detection position Y, and is performed using a sensor or the like installed in a position capable of detecting an object existing in the direction of movement of the pallet 104.

[0041] If no information is received from the sensor 220a (FIG. 4s620; No), the input / output unit 234 causes the drive unit 236 to continue moving the pallet 104 until information is received from the sensor 220a.

[0042] When the pallet 104 reaches the detection position Y and the sensor 220a detects the pallet 104 (FIG. 6(b)), the sensor 220a transmits the detected information to the input / output unit 234. In this embodiment, the sensor 220a detects the end (right end) of the pallet 104 in the traveling direction. However, this is not limited to this, and the object and position to be detected can be appropriately selected depending on the type and position of the sensor 220a. For example, when the sensor 220a moves the pallet 104 upward, and a detection range is formed to detect an object present at a predetermined position, the detection position Y may be a position (below the target position X) before the pallet 104 reaches the target position X, and the sensor 220a may detect the end (upper end) of the pallet 104 in the traveling direction. For example, when the sensor 220a forms a detection range for detecting an object present at a predetermined position as the pallet 104 moves downward, the detection position Y may be a position before the target position X is reached (above the target position X), and the sensor 220a may detect the end (bottom end) of the pallet 104 in the direction of travel.

[0043] When the input / output unit 234 receives information from the sensor 220a (Figure 4s620; Yes), it starts the delay timer (Figure 4s630) and, while measuring the pushing time, causes the drive unit 236 to continue moving the pallet 104 until the pushing time has elapsed (Figure 4s640; No, Figure 4s670; No).

[0044] If the pushing time has elapsed (s640 in FIG. 4; Yes), the input / output unit 234 controls the drive unit 236 to stop the movement of the pallet 104 (s650 in FIG. 4). As a result, the pallet 104 stops at the target position X (FIG. 6(c)). When the movement of the pallet 104 stops, the input / output unit 234 outputs a signal (delay completion notification) to the control unit 206 (s660 in FIG. 4) including the fact that the movement of the pallet 104 has continued for the pushing time since the pallet 104 reached the detection position Y (FIG. 6(b)), and that the movement of the pallet 104 has been stopped after the pushing time has elapsed (FIG. 6(c)), thereby completing the movement process of the pallet 104.

[0045] On the other hand, some abnormality may cause the movement of the pallet 104 to stop before the pushing time has elapsed (Fig. 4s640; No, Fig. 4s670; Yes). If the pushing time has not elapsed normally, the movement of the pallet 104 cannot continue for the pushing time, and the pallet 104 stops between the detection position Y and the target position X (Fig. 6(d)). The input / output unit 234 can recognize whether the pallet 104 is moving or has stopped. As a method for recognizing whether the pallet 104 is moving or has stopped, for example, it may be recognized by a drive output notification from the control device 200, the operation of the drive unit may be recognized, or a sensor or the like may be used. If the input / output unit 234 detects that the movement of the pallet 104 has stopped before the pushing time has elapsed, the input / output unit 234 does not continue the movement of the pallet 104 for the pushing time after the pallet 104 has reached the detection position Y (Figure 6(b)), but instead outputs a signal (notification of delay incomplete) to the control unit 206 (Figure 4s680) indicating that the movement of the pallet 104 has stopped (Figure 6(d)).

[0046] Note that even if the sensor 220 detects the pallet 104 after the movement of the pallet 104 has stopped due to some abnormality (s620 in Fig. 4; Yes), the movement of the pallet 104 cannot continue for the pushing time, and the pallet 104 stops at the detection position Y (Fig. 6(b)). Such a case is also included in the case where the pushing time has not elapsed normally (s640 in Fig. 4; No)), and the input / output unit 234 does not continue the movement of the pallet 104 for the pushing time after the pallet 104 reaches the detection position Y (Fig. 6(b)), and outputs a signal (delay incomplete notification) to the control unit 206 indicating that the movement of the pallet 104 has stopped (s680 in Fig. 4).

[0047] According to the parking device of one embodiment of the present invention, by outputting either a delay completion notification (s660 in FIG. 4) or a delay incompletion notification (s680 in FIG. 4) to the control device 200, the control device 200 can determine whether the stopped pallet 104 has reached the target position X (FIG. 6(c)). With this configuration, it is possible to avoid problems such as interference with the pallet 104 when the pallet 104 deviates from the target position X and starts the next movement.

[0048] The control unit 206 of the control device 200 checks whether a notification has been received from the input / output unit 234 of the pallet driving device 230 (FIG. 3s320).

[0049] When the control unit 206 receives a notification from the input / output unit 234 (s320 in FIG. 3; Yes), it checks whether the notification is a delay completion notification or a delay incompletion notification. If the received notification is a delay completion notification (s340 in FIG. 3; Yes), it completes the movement process of the pallet 104.

[0050] If the received notification is an incomplete delay notification (s340 in Figure 3; No), the control unit 206 outputs a signal (drive output notification B) including an instruction to reverse the movement of the pallet 104 at least to the front of the detection position Y (the opposite side of the detection position Y from the target position X) to the input / output unit 234 of the pallet drive device 230 (s350 in Figure 3).

[0051] When the drive output notification B is input, the input / output unit 234 of the pallet drive device 230 controls the drive unit 236 to reversely move the pallet 104 toward the detection position Y (s710 in FIG. 5).

[0052] The control unit 206 starts the reversal timer (s360 in FIG. 3) and, while measuring the reversal time, causes the drive unit 236 to continue the reversal movement of the pallet 104 until the reversal time has elapsed (s370 in FIG. 3; No).

[0053] The reversal time of the pallet 104 may be the elapsed time of the delay timer described above, may be the same as the pushing time, or may be twice the pushing time. Since the reversal movement of the pallet 104 needs to accelerate from a stopped state of the pallet 104, it is preferable to secure the distance and time required to reach the same speed as the movement speed of the pallet 104.

[0054] In this embodiment, an example has been shown in which the reversing movement of the pallet 104 is controlled by the reversing time. However, the present invention is not limited to this, and the position of the pallet 104 may be returned to the front of the detection position Y (the opposite side of the detection position Y from the target position X). Therefore, the position of the pallet 104 may be such that the sensor 220 no longer detects the pallet 104 at the detection position Y, and the reversing movement may be stopped after the push-in time has elapsed since the pallet 104 is no longer detected at the detection position Y.

[0055] If the reversal time has elapsed (s370 in FIG. 3; Yes), the control unit 206 outputs a signal (drive output notification C) including an instruction to stop the reversal movement of the pallet 104 to the input / output unit 234 of the pallet drive device 230 (s380 in FIG. 3).

[0056] When the drive output notification C is input, the input / output unit 234 of the pallet drive device 230 controls the drive unit 236 to stop the reverse movement of the pallet 104 (FIG. 5s750). As a result, the pallet 104 stops beyond the detection position Y (on the opposite side of the detection position Y from the target position X) (FIG. 6(a)).

[0057] When the reverse movement of the pallet 104 is stopped, the input / output unit 234 completes the reverse movement process of the pallet 104. Before completing the reverse movement process of the pallet 104, the input / output unit 234 may continue the reverse movement of the pallet 104 beyond the detection position Y (FIG. 6(b)), and output a signal (reversal completion notification) including the fact that the reverse movement of the pallet 104 has been stopped (FIG. 6(a)) to the control unit 206 (FIG. 5s760).

[0058] The control unit 206 of the control device 200 again outputs drive output notification A to the input / output unit 234 of the pallet drive device 230 (FIG. 3, s300). The control unit 206 may output drive output notification A to the input / output unit 234 of the pallet drive device 230 (FIG. 3, s300) after confirming receipt of a reversal completion notification from the input / output unit 234 (FIG. 3, s390; Yes).

[0059] The input / output unit 234 again causes the drive unit 236 to start moving the pallet 104 towards the target position X (s610 in Fig. 4), and repeats this process until the movement process of the pallet 104 is completed. However, this is not limited to the above, and the control unit 206 may wait for an instruction to resume operation upon receiving a notification from the input / output unit 234 (s380 in Fig. 3; Yes).

[0060] According to the parking device according to one embodiment of the present invention described above, the movement of the pallet 104 can be reliably accomplished, and the safety and convenience of the parking device can be improved. In this embodiment, the movement of the pallet 104 in the lateral direction of the vehicle body has been described as an example. However, the present invention is not limited to this, and the parking device according to one embodiment of the present invention can be applied to the vertical movement of the pallet 104 and the vertical movement of the gate 108 in a similar configuration.

[0061] Although the preferred embodiment of the present invention has been described in detail above, the present invention is not limited thereto.

[0062] <Variation 1> For example, the parking device 100 according to one embodiment of the present invention is configured to control the drive device to return the pallet 104 to the position before it reached the predetermined position when the notification received by the control device 200 is a delay incompletion notification (Fig. 3s340; No). However, the present invention is not limited to this, and when the notification received by the control device 200 is a delay incompletion notification, the memory unit may store that the movement of the pallet 104 has stopped before the predetermined time has elapsed. When the memory unit stores that the movement of the pallet 104 has stopped before the predetermined time has elapsed, the drive device may be controlled to return the pallet 104 to the position before it reached the predetermined position.

[0063] 7 is a diagram for explaining the processing of the control device when moving the pallet of the parking device according to the modified example of the present invention. In the parking device according to this modified example, the storage unit 204 stores the delay completion / incompletion and completes the pallet movement processing, and when the pallet movement processing is started again, the storage unit 204 checks the delay completion / incompletion storage, and other than that, the parking device according to the modified example is the same as the parking device 100 according to the embodiment, so repeated explanations will be omitted.

[0064] In this modified example, when a user operates the operation panel 214 to start the process of moving the pallet 104, the control unit 206 of the control device 200 reads the memory unit 204 and checks whether or not there is any delayed completion memory information, which will be described later (Figure 7s700).

[0065] If there is delay completion stored in the memory unit 204 (FIG. 7s700; Yes), the control unit 206 outputs a drive output notification A to the input / output unit 234 of the pallet drive device 230 (FIG. 7s300).

[0066] If there is an incomplete delay stored in the memory unit 204 (s700 in FIG. 7; No), the control unit 206 outputs a drive output notification B to the input / output unit 234 of the pallet drive device 230 (s300 in FIG. 7).

[0067] The control unit 206 of the control device 200 outputs drive output notification B to the input / output unit 234 of the pallet driving device 230 (Figure 7s350), then starts the reversal timer (Figure 7s360), and if the reversal time has elapsed (Figure 7s370; Yes), it outputs drive output notification C to the input / output unit 234 of the pallet driving device 230 (Figure 7s380), and again outputs drive output notification A to the input / output unit 234 of the pallet driving device 230 (Figure 7, s300), which is the same as the operation when moving a pallet in the parking device of one embodiment.

[0068] The operation from when the control unit 206 of the control device 200 outputs drive output notification A to the input / output unit 234 of the pallet drive device 230 (Figure 7s300) to when it checks whether it has received a notification from the input / output unit 234 of the pallet drive device 230 (Figure 7s320) and checks whether the notification is a delay completion notification or a delay incompletion notification (Figure 7s340) is the same as when moving a pallet in the parking device of one embodiment.

[0069] In this modified example, if the notification received from the input / output unit 234 is a delay completion notification (s340 in Fig. 7; Yes), the memory unit 204 of the control device 200 stores the delay completion (s720 in Fig. 7) and completes the movement processing of the pallet 104. If the notification received from the input / output unit 234 is a delay incompletion notification (s340 in Fig. 7; No), the memory unit 204 of the control device 200 stores the delay incompletion (s740 in Fig. 7) and completes the movement processing of the pallet 104.

[0070] In a parking device according to one variation of the present invention, by storing either delay complete (Fig. 7s720) or delay incomplete (Fig. 7s740) in the control device 200, the control device 200 can determine whether the stopped pallet 104 has reached the target position X (Fig. 6(c)). With this configuration, it is possible to avoid problems such as interference of the pallet 104 when the pallet 104 deviates from the target position X and starts the next movement. By storing either delay complete (Fig. 7s720) or delay incomplete (Fig. 7s740) in the control device 200, the movement of the pallet 104 can be reliably carried out, improving the safety and convenience of the parking device.

[0071] <Variation 2> For example, the parking device 100 according to one embodiment of the present invention has a configuration in which the pallet driving device 230 includes the input / output unit 234, and the gate driving device 240 includes the input / output unit 244. However, the present invention is not limited to this, and all processing of the input / output unit 234 and the input / output unit 244 may be performed by the control unit 206. FIG. 7 is a block diagram showing a schematic configuration of a parking device according to a modified example of the present invention. In the parking device 100a according to this modified example, the control unit 206 of the control device 200a receives information from the sensor 220, starts a delay timer to measure the pushing time, and other than that, the parking device 100 is the same as the parking device 100 according to one embodiment, so repeated explanations will be omitted. [Explanation of symbols]

[0072] 100...Parking equipment 102…post 104…Palette 108…Gate 200...Control device 204...Storage section 206...Control unit 214...Operation panel 230...Pallet drive unit 240...Gate driver 220…Sensor

Claims

1. A moving body, A drive device for moving the moving body; a sensor that detects that the moving object has reached a predetermined position on a moving path of the moving object; a control device that controls the drive device so that, when the sensor detects that the moving body has reached the predetermined position while the moving body is being moved toward a target position, the drive device so that the moving body stops moving at the target position after a predetermined time, controls the drive device so that, when the sensor detects that the moving body has stopped moving between the predetermined position and the target position before the predetermined time has elapsed, the drive device so that the moving body returns to a position before it reached the predetermined position and then moves the moving body again toward the target position.

2. the control device includes a storage unit configured to store, when detecting that the movement of the moving object has stopped before the predetermined time has elapsed, that the movement of the moving object has stopped before the predetermined time has elapsed; The parking device of claim 1, wherein the control device controls the drive device to return the moving body to a position before reaching the predetermined position when the memory unit stores that the movement of the moving body has stopped before the predetermined time has elapsed when the moving body is moved toward a target position.

3. The parking device according to claim 1 , wherein the control device controls the drive device to return the moving body for at least the predetermined time.

4. The parking device according to claim 1 , wherein the control device controls the drive device to return the moving body for at least twice the predetermined time.

5. The parking device according to claim 1 , wherein the control device controls the drive device to stop movement of the moving body a predetermined time after the moving body is no longer detected at the predetermined position by the sensor when returning the moving body.

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