Mechanical parking device and its control method and program

Abstract

To improve safety when an entrance door is opened.SOLUTION: A mechanical parking device includes: a passenger compartment 7 for performing at least one of entry and exit of a vehicle; an entrance door 4 provided at an entrance of the passenger compartment 7; an external detection sensor 34 for detecting a person or vehicle in a predetermined monitoring area provided near the entrance door 4 outside the passenger compartment; and a control device for opening the entrance door 4 when no person or vehicle is detected by the external detection sensor 34. The control device stops the opening operation of the entrance door 4 when a person or vehicle is detected in the monitoring area while the entrance door 4 is being opened.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a mechanical parking device, a control method thereof, and a program. [Background technology]

[0002] Various methods have been proposed to ensure safety in mechanical parking systems. For example, Patent Document 1 discloses a door-closing control system that closes the entrance / exit door while detecting with a sensor that there is no one in the boarding / exit compartment, in order to prevent the entrance / exit door from closing when there is a person left in the boarding / exit compartment. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-186562 Summary of the Invention [Problem to be solved by the invention]

[0004] The above-mentioned Patent Document 1 discloses a technology that allows a door to be closed in a safe manner. However, just as when closing a door, safety must be ensured when opening the door.

[0005] The present disclosure has been made in consideration of the above circumstances, and aims to provide a mechanical parking device, a control method for the same, and a program that can improve safety when opening entrance / exit doors. [Means for solving the problem]

[0006] A first aspect of the present disclosure is a system including: a boarding / deboarding room where at least one of a vehicle enters and leaves the parking lot; an entrance / exit door provided at an entrance / exit of the boarding / deboarding room; and an external detection means that is outside the boarding / deboarding room and is provided near the entrance / exit door and that detects a person or a vehicle in a predetermined monitoring area. an external receiving means provided outside the boarding / exiting room and configured to receive input information for opening the entrance door;a control means for opening the entrance door when no person or vehicle is detected by the external detection means, the input information is information transmitted from an input means provided on the operation panel or another input means different from the input means, The control means a different monitoring area is set depending on a transmission source of the input information, and the control means starts opening the door when predetermined input information is received by the external receiving means and no person or vehicle is detected in the monitoring area; This is a mechanical parking device that stops the opening operation of the entrance door if a person or vehicle is detected in the monitoring area while the entrance door is opening. A second aspect of the present disclosure is a mechanical parking device comprising a boarding / exiting room where at least one of vehicles enters and leaves the room, an entrance / exit door provided at the entrance / exit of the boarding / exiting room, an external detection means for detecting people or vehicles in a predetermined monitoring area outside the boarding / exiting room and provided near the entrance / exit door, and a control means for opening the entrance / exit door when no people or vehicles are detected by the external detection means, wherein the control means sets different monitoring areas depending on whether the vehicle is entering or leaving the room, and the control means stops the opening operation of the entrance / exit door if a person or vehicle is detected in the monitoring area while the entrance / exit door is opening.

[0007] The present disclosure three The aspect is a control method for a mechanical parking device that includes a boarding / deboarding room where at least one of a vehicle enters and leaves the parking lot, and an entrance / exit door provided at an entrance / exit of the boarding / deboarding room, The computer receives input information from an input means provided on the operation panel or another input means different from the input means, Outside the boarding / deboarding room and near the entrance door , setting different monitoring areas depending on the transmission source of the input information, accepting the input information, and The entrance door is opened when no person or vehicle is detected in the monitoring area. stomach, When a person or a vehicle is detected in the monitoring area while the entrance door is being opened, the opening operation of the entrance door is stopped. Machine A method for controlling a mechanical parking device. A fourth aspect of the present disclosure is a control method for a mechanical parking device that includes a boarding / deboarding room where at least one of vehicles enters and exits the parking lot, and an entrance / exit door provided at the entrance / exit of the boarding / deboarding room, in which a computer sets a different monitoring area outside the boarding / deboarding room and near the entrance / exit door depending on whether the vehicle is entering or leaving the parking lot, opens the entrance / exit door when no person or vehicle is detected in the monitoring area, and stops the opening operation of the entrance / exit door if a person or vehicle is detected in the monitoring area while the entrance / exit door is opening.

[0008] The present disclosure Five One aspect is a program for a mechanical parking device that causes a computer to execute the above-mentioned control method for a mechanical parking device. [Effects of the Invention]

[0009] According to the present disclosure, it is possible to achieve an effect of improving safety when opening an entrance door. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a longitudinal cross-sectional view of a mechanical parking device according to a first embodiment of the present disclosure. [Figure 2] 1 is a schematic perspective view showing a boarding / deboarding compartment according to a first embodiment of the present disclosure. FIG. [Figure 3] 1 is a diagram illustrating a configuration example of a control panel according to a first embodiment of the present disclosure. [Figure 4]FIG. 2 is a diagram showing an example of a monitoring area during user authentication at the time of entering a warehouse according to the first embodiment of the present disclosure. [Figure 5] 1 is a diagram showing an example of a monitoring area during a door opening process at the time of entering a warehouse according to a first embodiment of the present disclosure. FIG. [Figure 6] FIG. 2 is a diagram showing an example of a monitoring area during user authentication at the time of leaving the garage according to the first embodiment of the present disclosure. [Figure 7] 10 is a diagram showing an example of a monitoring area during a door-opening process at the time of leaving the garage according to the first embodiment of the present disclosure. FIG. [Figure 8] A functional block diagram showing an example of the functions of the control system of the mechanical parking device according to the first embodiment of the present disclosure. [Figure 9] 10 is a flowchart showing an example of a processing procedure for warehousing and shipping processing according to the first embodiment of the present disclosure. [Figure 10] 10 is a flowchart showing an example of a processing procedure for warehousing and shipping processing according to the first embodiment of the present disclosure. [Figure 11] 10 is a flowchart showing an example of a processing procedure for warehousing and shipping processing according to the first embodiment of the present disclosure. [Figure 12] 10 is a flowchart showing an example of a processing procedure of a door-opening process according to the first embodiment of the present disclosure. [Figure 13] 10 is a flowchart showing an example of a processing procedure of a door closing process according to the first embodiment of the present disclosure. [Figure 14] FIG. 10 is a diagram showing an example of a monitoring area during user authentication at the time of entering a warehouse according to a second embodiment of the present disclosure. [Figure 15] FIG. 10 is a diagram showing an example of a monitoring area during a door-opening process at the time of entering a warehouse according to a second embodiment of the present disclosure. [Figure 16] FIG. 10 is a diagram showing an example of a monitoring area during user authentication at the time of leaving the garage according to the second embodiment of the present disclosure. [Figure 17] FIG. 10 is a diagram showing an example of a monitoring area during a door-opening process at the time of leaving the garage according to the second embodiment of the present disclosure. [Figure 18] 10 is a flowchart showing an example of a processing procedure for warehousing and shipping processing according to the second embodiment of the present disclosure. [Figure 19] 10 is a flowchart showing an example of a processing procedure for warehousing and shipping processing according to the second embodiment of the present disclosure. [Figure 20] 10 is a flowchart showing an example of a processing procedure of a door-opening process according to a second embodiment of the present disclosure. [Figure 21] 10 is a flowchart showing an example of a processing procedure for subsequent processing when an error occurs in the door-opening processing according to the second embodiment of the present disclosure. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, mechanical parking systems and control methods and programs thereof according to embodiments of the present disclosure will be described with reference to the drawings. In the embodiments described below, an elevator-type tower-type mechanical parking system will be described as an example of the mechanical parking system of the present disclosure, but this is not limiting. The mechanical parking system of the present disclosure may be a vertical circulation type, a horizontal reciprocating type, a horizontal circulation type, a two-tiered type, etc. Also, it may be a conveyor-type or fork-type mechanical parking system that does not use pallets.

[0012] [First embodiment] FIG. 1 is a longitudinal cross-sectional view of a mechanical parking device 1 according to a first embodiment of the present disclosure. As shown in FIG. 1, the mechanical parking device 1 is an elevator-type tower-type multi-story parking facility capable of accommodating multiple vehicles 2, and includes a parking tower 5 equipped with an entrance / exit gate 3 and an entrance / exit door 4. The ground floor of the parking tower 5 is a boarding / deboarding room 7 for entering and exiting the vehicle 2, and a turntable 8 for changing the direction of the vehicle 2 is installed on its floor. The turntable 8 is configured such that a swivel plate 10 and a swivel drive unit 11 are provided within a recessed pit 9 formed in the floor of the boarding / deboarding room 7. Note that this embodiment illustrates a case in which both entry and exit are performed in the boarding / deboarding room 7, but this is not limited thereto. For example, different boarding / deboarding rooms may be used for entry and exit, with one dedicated boarding / deboarding room for entry and one dedicated boarding / deboarding room for exiting. Furthermore, although one boarding / deboarding room is illustrated in this embodiment, multiple boarding / deboarding rooms may be provided.

[0013] A vertical elevator passage 13 is formed in the center of the parking tower 5, within which a lift 14 (elevator-like transport vehicle) is provided so that it can move up and down. The lift 14 is suspended at its four corners by multiple wire ropes extending downward from a winch (not shown) provided at the top of the parking tower 5, for example, and can move up and down within the elevator passage 13 when the winch is activated.

[0014] Meanwhile, vehicle storage shelves 17 (parking spaces) are provided on both sides of the elevator passage 13. These vehicle storage shelves 17 are provided in multiple levels, one above the other, on either side of the elevator passage 13, and each vehicle storage shelf 17 stores one pallet 18 for loading vehicles. Note that the support pillars and other elements of the vehicle storage shelves 17 are not shown in the drawing.

[0015] A transfer mechanism (not shown) is provided on the floor of the lift 14 and the vehicle storage shelf 17, which allows an empty pallet 18 or a pallet 18 loaded with a vehicle 2 to be smoothly transferred from the lift 14 to the vehicle storage shelf 17, or from the vehicle storage shelf 17 to the lift 14, when the heights of the two floors are the same.

[0016] 2 is a schematic perspective view showing the boarding / alighting compartment 7. Inside the boarding / alighting compartment 7, there is a space in the center where the pallet 18 is placed, and on the wall in front of the entrance door 4, there is a mirror 24 that allows the driver (user) to check the position of the vehicle 2, and an electronic stopping position indicator light 25 that provides guidance to "go forward," "stop," and "back up."

[0017] Four cameras 35A to 35D are installed in the boarding / de-boarding compartment 7 to capture images of the interior conditions. In this embodiment, the cameras 35A to 35D are, for example, video cameras, and are each attached to a different wall surface (four sides) of the boarding / de-boarding compartment 7. For example, camera 35A is positioned to capture the front of the vehicle 2 parked in the boarding / de-boarding compartment 7, camera 35B is positioned to capture the rear of the vehicle 2, camera 35C is positioned to capture the left side of the vehicle 2, and camera 35D is positioned to capture the right side of the vehicle 2. The number of cameras to be installed is not limited to the above, and it is sufficient that at least one camera is installed.

[0018] An internal detection sensor (internal detection means) 30 (see FIG. 8) for detecting a person inside the boarding / deboarding compartment 7 is provided inside the boarding / deboarding compartment. The internal detection sensor 30 may include, for example, a sensor for detecting a person in each of the front area, right side area, left side area, and rear area of ​​the boarding / deboarding compartment 7. The internal detection sensor 30 may also include a sensor for detecting a stopping position of the vehicle. The internal detection sensor 30 may also include two range sensors provided at diagonal positions inside the boarding / deboarding compartment 7.

[0019] The entrance / exit gate 3 of the boarding / de-boarding room 7 is provided with an entrance / exit detection sensor (exit detection means) 32 for detecting the entry or exit of a person or vehicle from the boarding / de-boarding room 7. The entrance / exit detection sensor 32 has, for example, a pair of sensors 32A provided inside the entrance / exit gate 3 and a pair of sensors 32B provided outside the entrance / exit gate 3. The sensors 32A and 32B are, for example, line beam type sensors that receive a beam transmitted from a transmitter at a receiver. When this beam is blocked by a vehicle 2, a person, or the like, the sensor is turned on, and the sensor signal is transmitted to a sensor control unit 57 (see FIG. 8) described later.

[0020] For example, when an ON signal is input from the sensor 32A to the sensor 32B in this order, the sensor control unit 57 determines that a person or vehicle has exited the boarding / deboarding compartment 7. Furthermore, when an ON signal is input from the sensor 32B to the sensor 32A in this order, the sensor control unit 57 determines that a person or vehicle has entered the boarding / deboarding compartment 7.

[0021] It should be noted that the method for detecting the exit of a person or vehicle from the boarding / deboarding compartment 7 is not limited to the above example. For example, a sensor for detecting a person in the rear area of ​​the boarding / deboarding compartment 7 may be used instead of the sensor 32A. Also, in FIG. 2, the sensors 32A and 32B are respectively provided inside and outside the boarding / deboarding compartment 7 with the entrance door 4 in between, but this is not limiting. For example, the sensors 32A and 32B may both be provided inside the boarding / deboarding compartment, or may both be provided outside the boarding / deboarding compartment.

[0022] In this embodiment, the entry / exit detection sensor 32 is configured to be able to detect entry and exit, but is not limited to this example. For example, it is sufficient if the sensor is configured to at least detect exit from the boarding / deboarding compartment 7. One example is a camera 35.

[0023] In addition, a notification unit (notification means) may be provided in the boarding / deboarding compartment to notify users of information by voice (guidance information for entering and leaving the parking lot, information on error occurrence, etc.) Examples of the notification unit include a speaker and a warning light.

[0024] An operation panel (external receiving means) 22 for giving various input instructions to the mechanical parking device 1 is provided outside the boarding / exiting compartment 7. FIG. 3 is a diagram showing one configuration example of the operation panel 22. As shown in FIG. 3, the operation panel 22 is housed in a metal housing 43 to protect it from wind and rain and to prevent tampering, and this housing 43 is provided with a lockable lid 44. When an operator operates the operation panel 22, the operator unlocks the lid, opens the lid 44, and accesses the operation panel 22.

[0025] The operation panel 22 includes, for example, an authentication information input unit (input means) for receiving authentication information of a user. In the present embodiment, an IC card reader 46 is provided as an example of the authentication information input unit, but is not limited to this example. The authentication information input unit may be configured with, for example, a numeric keypad, a biometric information reading unit for reading so-called biometric authentication information such as fingerprint, iris, vein information, or a face image.

[0026] The operation panel 22 also includes a touch panel (input means) 45, a speaker 47 for providing audio guidance to the operator (e.g., a user) on how to operate the device, an emergency stop button 48 for emergency stopping the operation of the mechanical parking device 1, a microphone, etc.

[0027] The touch panel 45 has both a display function and an input function. For example, various kinds of guidance information for performing operations for entering and leaving the warehouse are displayed on the touch panel 45, as well as operation buttons and the like for allowing the operator to perform operations for entering and leaving the warehouse. The display on the touch panel 45 is controlled by the control device 40, which will be described later, and information input by operating the touch panel 45 by the operator or the like is output to the control device 40. Near the operation panel 22, a monitor 28 is installed for displaying real-time images taken by cameras 35A to 35D, which will be described later.

[0028] Furthermore, outside the boarding / deboarding room 7, a warehousing control light 21 equipped with blue and red lamps is provided above the entrance / exit door 4. An external detection sensor (external detection means) 34 is provided outside the boarding / exit compartment 7, and is configured to detect people or vehicles in a predetermined monitoring area near the entrance door 4. In this embodiment, the external detection sensor 34 is, for example, a range sensor. Examples of range sensors include a laser scan sensor. While the external detection sensor 34 is shown in FIG. 2 as being located at the lower left side of the entrance door 4 when viewed from the front, the installation location is not limited thereto. That is, the external detection sensor 34 may be located in a position where it can detect people or vehicles in the predetermined monitoring area, and multiple external detection sensors may be provided. For example, when a single external detection sensor 34 is installed, it may be installed on the opposite side of the entrance door 4 from the operation panel 22. When multiple external detection sensors 34 are installed, it may be installed on both sides of the entrance door 4.

[0029] The range sensor emits detection waves, such as laser beams or ultrasound waves, that reflect off targets, and scans a predetermined angular range horizontally while receiving the reflected waves. Based on the obtained angle and distance information, the range sensor can calculate the position, size, and shape of the detected object. Based on the sensor data detected by the range sensor, the front and side of an incoming vehicle parked in the forecourt can be scanned to obtain vehicle contour data for vehicle 2. Here, the vehicle contour data may be two-dimensional data of the vehicle, i.e., a planar contour shape, or three-dimensional data. In addition to detecting the vehicle contour, the range sensor can also detect people and other objects near the entrance / exit door 4.

[0030] The external detection sensor 34 is not limited to a range sensor. For example, a camera, a motion sensor, a photoelectric sensor, or the like can be adopted as the external detection sensor 34, and a combination of these can also be used. The sensor signal of the external detection sensor 34 is configured to be output to a sensor control unit 57 (see FIG. 8) described later.

[0031] The monitoring area monitored by the external detection sensor 34 may be set to a different range when entering the warehouse and when leaving the warehouse. Furthermore, the monitoring area when authenticating the user and the monitoring area when opening the door may be set to different ranges when entering the warehouse and when leaving the warehouse.

[0032] 4 to 7 are diagrams showing examples of the monitoring area, and in Fig. 4 to Fig. 7, the configuration inside the boarding / deboarding compartment is shown in a simplified manner. Fig. 4 is a diagram showing an example of a monitoring area KA1 during user authentication when entering the warehouse. Fig. 5 is a diagram showing an example of a monitoring area KA2 during door opening processing when entering the warehouse. Fig. 6 is a diagram showing an example of a monitoring area KB1 during user authentication when leaving the warehouse. Fig. 7 is a diagram showing an example of a monitoring area KB2 during door opening processing when leaving the warehouse.

[0033] As shown in FIGS. 4 to 7, a stop line 36 is set in the front yard of the mechanical parking device 1 at a predetermined distance from the entrance / exit door 4. In this embodiment, various information such as user authentication information and door-opening instruction information is input from the operation panel 22. Therefore, the area in front of the operation panel 22 is excluded from the monitoring area because a user is present there. Furthermore, since the vehicle 2 entering the parking lot is stopped in the forecourt when the vehicle 2 enters the parking lot, the monitoring area KA2 during the door-opening process may be set based on the results of scanning the outline of the vehicle 2 before the door is opened.

[0034] Furthermore, in the monitoring areas KA1, KA2, and KB2, the vertical distance L1 of the monitoring area near the operation panel 22 (distance from the entrance door 4) is set to the distance from the entrance door 4 to the stop line 36. As an example, the distance L1 is set to about 1 to 2 m. Furthermore, in the monitoring area KB1, the vertical distance L2 of the monitoring area is set to about 5 m, as an example.

[0035] A control device 40 that controls the entire mechanical parking device 1 is installed inside or outside the boarding / deboarding room 7.

[0036] FIG. 8 is a functional block diagram of the control system of the mechanical parking apparatus 1 according to this embodiment. The control device 40 is, for example, an information processing device, and includes a CPU, an auxiliary storage device for storing programs executed by the CPU, a main memory that functions as a work area when each program is executed, and a communication interface for connecting to a network. The control device 40 also includes a comprehensive database 52 that stores various data required to control the mechanical parking apparatus 1. The comprehensive database 52 stores vehicle presence status, pallet shape type, vehicle storage shelf shape type, identification information of people authorized to use the mechanical parking apparatus 1, and contact information for users (e.g., registered email addresses). People authorized to use the mechanical parking apparatus 1 include users, managers, maintenance personnel, and the like.

[0037] The control device 40 also includes a storage unit 41 for storing necessary data in association with the execution of the later-described entry / exit process. For example, the storage unit 41 stores the user ID (first authentication information) of the user who was successfully authenticated in the user authentication before the entrance / exit door was opened, the scan results of the external detection sensor 34, information on each monitored area, and the like.

[0038] The auxiliary storage device of the control device 40 stores control programs and the like for controlling each mechanism of the mechanical parking device 1, and the CPU reads the various programs stored in the auxiliary storage device into the main memory and executes them to realize the functions of each unit described below. In addition, when executing the programs, the CPU refers to and uses various data stored in the comprehensive database 52.

[0039] The control programs may be stored in advance in an auxiliary storage device such as a ROM when the control device 40 is manufactured, or may be downloaded and installed from a server or the like that distributes control programs after installation. Alternatively, the programs may be installed via an external storage device. In this way, there are no particular limitations on the method for installing the various programs.

[0040] The control device 40 includes a main control unit 50. In addition to the above-mentioned general database 52 and memory unit 41, the main control unit 50 is connected to an entrance / exit door control unit 55, a conveyor control unit 56, a sensor control unit 57, a camera control unit 58, an image database 59, a vehicle measurement control unit 61, a swing drive control unit 62, etc. The main control unit 50 is also connected to an operation panel 22, allowing for two-way communication.

[0041] The entrance door control unit 55 receives an operation command from the main control unit 50 to open or close the entrance door 4, and receives a position signal of the entrance door 4 from the entrance door sensor 67 and feeds back this information to the main control unit 50. The entrance door sensor 67 may detect whether the entrance door 4 is fully open or fully closed, and output a sensor signal to that effect to the entrance door control unit 55.

[0042] The conveyor control unit 56 receives operational commands from the main control unit 50 to raise and lower the lift 14 and load and unload the pallet 18, and receives a position signal for the lift 14 from the conveyor position sensor 68 and feeds that information back to the main control unit 50.

[0043] The sensor control unit 57 receives sensor signals from the internal detection sensor 30 and the external detection sensor 34, and outputs the information to the main control unit 50. The sensor control unit 57 also determines whether a person or vehicle has entered or exited based on the sensor signal from the entry / exit detection sensor 32, and outputs the determination result to the main control unit 50.

[0044] Upon receiving an operation command from the main control unit 50, the camera control unit 58 causes the cameras 35 (35A to 35D) installed inside the boarding / deboarding compartment 7 to capture images and outputs the image information to the main control unit 50. This image information is accumulated in the image database 59 for a predetermined period of time. The image database 59 may be provided inside the general database 52 or on the cloud.

[0045] The vehicle measurement control unit 61 receives an operation command from the main control unit 50, measures the weight of the vehicle mounted on the lift 14 using the vehicle measuring instrument 69, and feeds back the information to the main control unit 50 via the vehicle weight sensor 73. This vehicle weight information is used for controlling the lift 14, etc.

[0046] The turning drive control unit 62 receives an operation command from the main control unit 50 to operate the turning drive unit 11 (turntable 8), receives a turning position signal of the turntable 8 from the turntable position sensor 71, and feeds that information back to the main control unit 50.

[0047] The main control unit 50 operates the mechanical parking device 1 based on feedback from each control unit 55, 56, 57, 58, 61, 62 and input information from the operation panel 22. The main control unit 50 also executes a control program for entry and exit processing based on various information input from the operation panel 22. Note that the sensor signals from the internal detection sensor 30, external detection sensor 34, and entry / exit detection sensor 32 may be input directly to the main control unit 50 instead of being input to the main control unit 50 via the above-mentioned sensor control unit 57. This makes it possible to implement faster control in response to the sensor signals.

[0048] [Warehouse entry and exit processing] Next, the inventory entry / exit process according to this embodiment, which is executed by the control device 40, will be described with reference to the drawings. Figures 9 to 13 are flowcharts showing an example of the procedure for the inventory entry / exit process executed by the control device 40.

[0049] First, when entering or leaving the warehouse, the user uses a dedicated key to open the cover 44 of the operation panel 22. When the control device 40 detects that the cover 44 has been opened (SA1 in FIG. 9), it causes the touch panel 45 of the operation panel 22 to display a user authentication screen (SA2).

[0050] When a user touches an IC card to the IC card reader 46, the user ID (first authentication information) registered on the IC card is read and transmitted to the control device 40. When the user ID is input (SA3), the control device 40 performs user authentication (first user authentication) to determine whether the person attempting to perform the operation is a pre-registered user (SA4). Specifically, the control device 40 accesses the comprehensive database 52 and determines whether the input user ID is registered. As a result, if the user authentication is not successful (SA5: NO), the process returns to step SA2 and a user authentication screen is displayed. At this time, a message indicating that the user authentication has failed may be displayed on the touch panel 45 to notify the user that the authentication has failed.

[0051] On the other hand, if the user authentication is successful (SA5: YES), that is, if the user ID is registered in the general database 52, a determination of whether the vehicle is being stored or taken out is made (SA6). That is, the control device 40 determines that the vehicle is being taken out if storage shelf information or vehicle information, etc. associated with the user ID is registered in the general database 52, and determines that the vehicle is being stored in if storage shelf information or vehicle information, etc. associated with the user ID is not registered. Note that the determination of whether the vehicle is being stored or taken out is a known technique, and therefore, such known technique may be employed as appropriate.

[0052] As a result, if it is determined that the vehicle is entering the garage (SA6: Entering the garage), a monitoring area KA1 (see FIG. 4) is set (SA7), and it is confirmed whether the set monitoring area KA1 is unoccupied (SA8). That is, it is determined whether a person or the like is detected by the external detection sensor 34. As a result, if a person or the like is detected in the monitoring area KA1 (SA8: NO), the process returns to step SA2. On the other hand, if a person or the like is not detected in the monitoring area KA1 and it is determined that the vehicle is unoccupied (SA8: YES), the external detection sensor 34 scans the outline of the vehicle 2 (SA9). Here, the detection of the outline of the vehicle 2 is performed to exclude the area of ​​the vehicle 2 from the monitoring area when the vehicle 2 is parked in the forecourt, and it is not necessary to detect the entire outline of the vehicle 2. In this embodiment, the external detection sensor 34 is provided on the opposite side of the entrance door 4 from the operation panel 22, and therefore the outlines of the front and sides of the vehicle 2 parked in the forecourt are detected.

[0053] Next, taking into consideration the outline of the vehicle obtained as a result of the scan, in other words, a monitoring area KA2 (see Figure 5) is set so that the area of ​​vehicle 2 is excluded from the monitoring area (SA10), and then proceeding to step SA14 in Figure 10.

[0054] On the other hand, if it is determined in step SA6 that the vehicle is leaving the garage (SA6: leaving), a monitoring area KB1 (see FIG. 6) is set (SA11), and it is confirmed whether the set monitoring area KB1 is unoccupied (SA12). As a result, if a person or the like is detected in the monitoring area KB1 (SA12: NO), the process returns to step SA2. On the other hand, if a person or the like is not detected in the monitoring area KB1 and it is determined that the area is unoccupied (SA12: YES), a monitoring area KB2 (see FIG. 8) is set (SA13), and the process proceeds to step SA14 in FIG. 10. That is, in the case of leaving the garage, since the vehicle 2 is not parked in the forecourt, the monitoring area KB2 can be set without considering the area of ​​the vehicle 2.

[0055] Once the monitoring area KA2 or KB2 has been set in this manner, the control device 40 then sets the operation permission state to allow input operations from the touch panel 45 of the operation panel 22 (SA14 in Figure 10), stores the user ID for which the first user authentication was successful in the memory unit 41 (SA15), and displays a startup confirmation screen on the touch panel 45 of the operation panel 22 (SA16).

[0056] When the start button is pressed on the start confirmation screen (SA17), the control device 40 puts the vehicle transport mechanism such as the lift 14 and the mechanical mechanisms such as the entrance / exit door 4 into an operation permission state (SA18), and when entering the warehouse, it calls up an empty pallet from the vehicle storage shelf 17, and when leaving the warehouse, it calls up a pallet with a vehicle on it (SA19).

[0057] Next, when the pallet arrives at the boarding / deboarding room 7 (SA20), the control device 40 performs a door-opening process (SA21), which is a process for opening the entrance door 4. Details of the door-closing process will be described later.

[0058] Next, when the entrance door 4 is fully opened, the control device 40 sets the operation lock state to lock the operation of the mechanical mechanisms (vehicle transport means such as the lift 14 and the entrance door 4) (SA22), and sets the operation lock state to not accept input from the touch panel 45 of the operation panel 22 (SA23). This makes it possible to prevent input from the touch panel 45 by a third party while the user is away from the operation panel 22.

[0059] Furthermore, when the entrance door 4 is fully opened, in the case of entering the parking lot, the user gets into the vehicle 2, stops the vehicle 2 on a pallet in the boarding / alighting room 7, and then exits the boarding / alighting room 7 and returns to the front of the operation panel 22. On the other hand, in the case of leaving the parking lot, the user enters the boarding / alighting room 7, gets into the vehicle 2 placed on the pallet, moves the vehicle 2 to the forecourt and stops it, and then returns to the front of the operation panel 22.

[0060] Furthermore, the control device 40 displays a user authentication screen on the touch panel 45 of the operation panel 22, and prompts the user to input authentication information (SA24 in FIG. 11). As a result, when the user or the like touches the IC card to the IC card reader 46 and inputs the user ID (second authentication information) (SA25), the control device 40 performs user authentication (SA26). This user authentication is the same as step SA4 in FIG. 9. As a result, if the user authentication fails (SA27: NO), the process returns to step SA24 and the user authentication screen is displayed again. At this time, a notification that the authentication has failed may be displayed.

[0061] On the other hand, if the user authentication is successful (SA27: YES), the control device 40 performs a matching process (SA28). In the matching process, the control device 40 determines whether the user ID entered in the user authentication before the door was opened, in other words, the user ID (first authentication information) stored in the memory unit 41, and the user ID (second authentication information) entered in step SA25 are the same or have a predetermined relationship, thereby determining whether they are the same person. As a result, if the matching process is not successful (SA29: NO), the process returns to step SA24 and the user authentication screen is displayed. At this time, a notification that the matching has failed may be displayed.

[0062] On the other hand, if the verification process is successful (SA29: YES), the control device 40 sets the operation panel 22 to an operation permitted state (SA30). Next, when the close door button is pressed by a user or the like (SA31), the control device 40 performs the door closing process (SA32), erases the user ID stored in the memory unit 41 (SA33), and ends the entry / exit process. The door closing process performed in step SA32 will be described later.

[0063] [Door opening process] Next, the door-opening process according to this embodiment, which is executed in step SA21 in Fig. 10, will be described with reference to Fig. 12. Fig. 12 is a flowchart showing an example of the processing procedure of the door-opening process according to this embodiment.

[0064] In the door-opening process, the control device 40 starts a timer (SB1). Next, it determines whether a predetermined period of time has elapsed since the timer was started (SB2). If the period has not elapsed (SB2: NO), it determines whether the monitored area is unoccupied based on a sensor signal from the external detection sensor 34 (SB3). Here, the monitored area in the door-opening process is the monitored area KA2 set in step SA10 in Fig. 9 when entering the warehouse, and is the monitored area KB2 set in step SA13 in Fig. 9 when leaving the warehouse.

[0065] As a result, if a person is detected in the monitoring area (SB3: NO), the process returns to step SB2. At this time, the control device 40 may issue guidance to urge the person to evacuate from the monitoring area from an alarm unit such as the speaker 47. On the other hand, if it is confirmed that there is no one in the monitored area (SB3: YES), it is determined that safety is ensured near the entrance door 4 outside the boarding / deboarding room 7, and the control device 40 starts opening the door. Specifically, the control device 40 resets the timer (SB4) and starts opening the door (SB5).

[0066] Then, until the entrance door 4 is completely opened, the control device 40 continuously checks whether there is anyone in the monitored area based on the sensor signal from the external detection sensor 34 (SB6). At this time, the control device 40 may issue guidance from an alarm unit such as a speaker 47 to prohibit entry into the monitored area.

[0067] Then, when the external detection sensor 34 does not detect a person (SB6: YES) and it is detected that the entrance door 4 is completely open (SB7: YES), the control device 40 ends the door-opening process.

[0068] On the other hand, if it is determined in step SB2 above that the predetermined period has elapsed (SB2: YES), that is, if no one is confirmed to be in the monitored area even after the predetermined period has elapsed since the timer was started, the door opening process is terminated, and the process returns to step SA2 in Figure 9, and the process starts again from user authentication.

[0069] Furthermore, if the external detection sensor 34 detects a person from the start of opening the entrance door 4 until it is completely open (SB6: NO), the drive of the entrance door 4 is stopped (SB8), and after the door opening process is completed, the process returns to step SA2 in FIG. 9 and starts over from user authentication. In other words, in this case, the entrance door 4 is temporarily stopped in the middle of opening. Then, by starting over from user authentication, the entrance door 4 will open from the position where it was temporarily stopped due to the error.

[0070] [Door closing process] Next, the door closing process according to this embodiment, which is executed in step SA32 in Fig. 11, will be described with reference to Fig. 13. Fig. 13 is a flowchart showing an example of the processing procedure of the door closing process according to this embodiment.

[0071] In the door closing process, the control device 40 starts a timer (SC1). Then, it determines whether a predetermined period of time has elapsed since the timer was started (SC2). If the predetermined period of time has not elapsed (SC2: NO), it checks whether there is anyone in the boarding / deboarding compartment 7 based on a sensor signal from the interior detection sensor 30 (SC3).

[0072] As a result, if it is confirmed that no one is present in the boarding / deboarding compartment (SC3: YES), the external detection sensor 34 checks whether there is any one present in a predetermined monitoring area set outside the boarding / deboarding compartment 7 (SC4). Here, as an example, the monitoring area is set to monitoring area KB2 regardless of whether the vehicle is entering or leaving the compartment. At this time, the control device 40 may also issue guidance from an alarm unit such as a speaker 47 to urge the vehicle to leave the monitoring area.

[0073] As a result, if it is confirmed that there is no one in the monitored area (SC4: YES), it is determined that safety is ensured in the vicinity of the entrance door inside and outside the boarding / exiting room, and the control device 40 starts closing the door. Specifically, the control device 40 resets the timer (SC5) and starts closing the door (SC6).

[0074] Then, until the entrance door 4 is completely closed, the control device 40 continuously checks whether there is anyone in the boarding / deboarding compartment based on the sensor signal from the internal detection sensor 30, and whether there is anyone in the monitored area based on the sensor signal from the external detection sensor 34. At this time, the control device 40 may issue guidance prohibiting entry into the boarding / deboarding compartment and guidance prohibiting entry into the monitored area from an alarm unit such as a speaker 47.

[0075] Then, when the internal detection sensor 30 and the external detection sensor 34 do not detect a person (SC7: YES) and it is detected that the entrance door 4 is completely closed (SC8: YES), the control device 40 ends the door closing process.

[0076] On the other hand, if it is determined in step SC2 above that the predetermined period has elapsed (SC2: YES), that is, if no one is confirmed to be in the boarding / deboarding compartment or in the monitoring area outside the boarding / deboarding compartment even after the predetermined period has elapsed since the timer was started, the door closing process is terminated, and the process returns to step SA24 in Figure 11, and user authentication is started again.

[0077] Furthermore, if a person is detected by the internal detection sensor 30 or the external detection sensor 34 after the entrance door 4 starts to close but before it is completely closed (SC7: NO), the entrance door 4 is reversed to the open state (SC9), the door closing process is terminated, and the process returns to step SA24 in Figure 11 and starts over again from user authentication.

[0078] As described above, the mechanical parking device and its control method and program according to this embodiment provide the following advantageous effects.

[0079] The door is opened while checking whether there is anyone in a monitoring area provided outside the boarding / deboarding room 7, which makes it possible to improve safety when opening the door. Furthermore, when the doors are closed, the doors are closed while checking that there is no one inside the boarding / disembarking room 7 and that there is no one in the monitoring area outside the boarding / disembarking room 7, so safety can be ensured when the doors are closed.

[0080] Second Embodiment Next, a description will be given of a mechanical parking device, a control method thereof, and a program according to a second embodiment of the present disclosure. This embodiment differs from the first embodiment in that, in addition to input from the operation panel 22, various information (e.g., a user ID, door open instruction information, door close instruction information, etc.) can be input from an input unit (another input means) other than the touch panel 45 or IC card reader 46 provided on the operation panel 22.

[0081] Examples of the input unit include a mobile terminal carried by the user and an in-vehicle device. As the mobile terminal, for example, a remote controller (hereinafter referred to as "remote control"), a smartphone, a tablet terminal, etc. can be used. The mobile terminal or the in-vehicle device has installed thereon application software for establishing two-way communication with the mechanical parking device 1 and transmitting and receiving various information to and from the control device 40. Furthermore, the mobile terminal or the in-vehicle device has registered therein authentication information (user ID) assigned to the user.

[0082] In the following explanation, we will use as an example a case where a remote control provided to the user in advance is used as the input unit, and will omit explanations of configurations common to the first embodiment as appropriate, and will mainly explain the differences.

[0083] The mechanical parking device 1 according to this embodiment is equipped with an external reception unit (external reception means) for receiving input information from the remote control. The external reception unit is, for example, a wireless communication unit, and is configured to be able to communicate with the remote control. The external reception unit may be provided on the operation panel 22, or may be provided in a location different from the operation panel 22. In this embodiment, when the remote control is operated by a user, various information such as user authentication information and door open instruction information is transmitted, and when the information is received by the external reception unit, the various information is input to the control device 40. Note that input operations from the remote control are publicly known, and therefore publicly known technology may be adopted as appropriate.

[0084] 14 to 17 are diagrams showing examples of monitoring areas when performing input operations for entering and leaving the warehouse using a remote control. Fig. 14 is a diagram showing an example of a monitoring area KC1 during user authentication when entering the warehouse. Fig. 15 is a diagram showing an example of a monitoring area KC2 during door opening processing when entering the warehouse. Fig. 16 is a diagram showing an example of a monitoring area KD1 during user authentication when leaving the warehouse. Fig. 17 is a diagram showing an example of a monitoring area KD2 during door opening processing when leaving the warehouse.

[0085] 14 to 17, in this embodiment, the monitoring area monitored by the external detection sensor 34 is set to a different range when entering the warehouse and when leaving the warehouse. Furthermore, when entering the warehouse and when leaving the warehouse, the monitoring area when performing user authentication is set to a different range from the monitoring area when performing door opening processing.

[0086] When various pieces of information are input by operating a remote control, the user does not need to stand in front of the operation panel 22. Therefore, unlike the first embodiment described above, the area in front of the operation panel 22 is also included in the monitoring area. In other words, the monitoring area is set to a different range when input operations are performed from the operation panel 22 and when input operations are performed from an input unit other than the operation panel 22. As in the first embodiment described above, since the vehicle entering the garage is stopped in the forecourt when entering, the monitoring area during the door opening process can be set by scanning the outline of the entering vehicle before opening the door and based on the scan results.

[0087] [Warehouse entry and exit processing] Next, the inventory entry / exit process according to this embodiment, which is executed by the control device 40, will be described with reference to Figs. 18 to 21. Figs. 18 to 21 are flowcharts showing an example of the procedure for inventory entry / exit process executed by the control device 40. Note that for processes similar to those in the first embodiment described above, the description of the first embodiment will be cited as appropriate and a description thereof will be omitted. In the following description, an example will be given in which a user inputs various pieces of input information relating to the inventory entry / exit process using a remote control.

[0088] First, a user entering or leaving the parking lot operates the remote control to transmit the user ID. For example, when entering the parking lot, the user stops vehicle 2 in front of stop line 36 in the forecourt, operates the remote control while in vehicle 2, and transmits the user ID. When leaving the parking lot, the user operates the remote control near mechanical parking device 1 to transmit the user ID.

[0089] The user ID is received by the external reception unit and input to the control device 40. When the user ID is input (SD1), the control device 40 performs user authentication to determine whether the person attempting to perform the operation is a pre-registered user (SD2). Specifically, the control device 40 accesses the comprehensive database 52 and determines whether the input user ID is registered. As a result, if the user authentication is not successful (SD3: NO), the process returns to step SD1. At this time, a message indicating that the user authentication has failed may be notified to the user, and an announcement may be made to prompt the user to input the user ID again.

[0090] On the other hand, if the user authentication is successful (SD3: YES), a determination is made as to whether the vehicle is entering or leaving (SD4). As a result, if it is determined that the vehicle is entering (SD4: entering), a monitoring area KC1 (see FIG. 14) is set (SD5), and it is confirmed whether the set monitoring area KC1 is unoccupied (SD6). That is, it is determined whether a person or the like is detected by the external detection sensor 34. As a result, if a person or the like is detected in the monitoring area KC1 (SD6: NO), the process returns to step SD1. On the other hand, if a person or the like is not detected in the monitoring area KC1 and it is determined that the area is unoccupied (SD6: YES), the external detection sensor 34 scans the outline of the vehicle 2 (SD7), and sets a monitoring area KC2 (see FIG. 15) taking into account the vehicle outline obtained as a result of the scan (SD8), i.e., so as to avoid the vehicle stopping area, and the process proceeds to step SD12 in FIG. 19.

[0091] On the other hand, if it is determined in step SD4 that the vehicle is leaving the warehouse (SD4: leaving the warehouse), a monitoring area KD1 (see FIG. 16) is set (SD9), and it is confirmed whether the set monitoring area KD1 is unoccupied (SD10). As a result, if a person or the like is detected in the monitoring area KD1 (SD10: NO), the process returns to step SD1. On the other hand, if a person or the like is not detected in the monitoring area KD1 and it is determined that the vehicle is unoccupied (SD10: YES), a monitoring area KD2 (see FIG. 17) is set (SD11), and the process proceeds to step SD12 in FIG. 19.

[0092] 19, the control device 40 stores the user ID entered in the user authentication in the storage unit 41 and goes into a standby state. Then, when the user operates the remote control, start-up instruction information is sent from the remote control and input to the control device 40 via the external reception unit (SD13), the control device 40 enters an operation permission state in which the vehicle transport mechanisms such as the lift 14 and the mechanical mechanisms such as the entrance / exit door 4 can be operated (SD14), and calls up an empty pallet from the vehicle storage shelf 17 when entering the vehicle, or a pallet with a vehicle on it when leaving the vehicle (SD15).

[0093] Then, when the pallet arrives at the boarding / deboarding room 7 (SD16), the control device 40 performs a door-opening process (SD17). Details of the door-opening process will be described later.

[0094] Next, when the entrance door 4 is fully opened, the control device 40 sets the operation lock state to lock the operation of the mechanical mechanisms (vehicle transport means such as the lift 14 and the entrance door 4) (SD18), and executes the subsequent processing (SD19). Note that the subsequent processing differs from the first embodiment described above in that the user ID and door close instruction information are input from the operation panel 22, and in the recovery processing when an error occurs in the door close processing, but the other processing is the same as the processing from step SA24 onwards in Figure 11 described in the first embodiment. Note that the processing when an error occurs in the door close processing in the case of remote control operation will be described later.

[0095] [Door opening process] Next, the door-opening process according to this embodiment, which is executed in step SD17 in Fig. 19, will be described with reference to Fig. 20. Fig. 20 is a flowchart showing an example of the processing procedure for the door-opening process according to this embodiment. As shown in Fig. 20, steps SE1 to SE8 of the door-opening process according to this embodiment are the same as steps SB1 to SB8 (see Fig. 12) of the door-opening process according to the first embodiment described above, but differ in the following two points.

[0096] First, if the predetermined period has elapsed in step SE2 (SE2: YES), the door-opening process is terminated, and the process returns to step SD1 in Fig. 18, where the user is required to re-enter the user ID from the remote control. In this case, the user may also enter the user ID from the operation panel 22, as will be described later.

[0097] The second point is the processing to be performed in step SE5 when the external detection sensor 34 detects a person from the start of opening the entrance door 4 until it is completely open (SE6: NO). That is, in this case, the entrance door 4 is stopped (SE8), an error flag is turned on (SE9), and then the door-opening processing is terminated and the process proceeds to step SF1 in Fig. 21. Then, as will be described later, if an error occurs in the door-opening processing while performing an operation using the remote control, acceptance of input information from the remote control is refused, and only input from the operation panel 22 is accepted.

[0098] That is, if an error occurs in the door-opening process, the user goes to the operation panel 22, opens the cover of the operation panel, and inputs the user ID (SF1). When the user ID is input, the control device 40 performs user authentication (SF2). As a result, if the user authentication is not successful (SF3: NO), the process returns to step SF1 and the user ID is input again.

[0099] On the other hand, if the user authentication is successful (SF3: YES), a verification process is then performed (SF4). In this verification process, it is determined whether the user ID entered in step SD2 of Fig. 18 is the same as the user ID entered in the user authentication of step SF2 or whether there is a predetermined relationship between the user ID and the user ID entered in step SF2. In other words, it is determined whether the operation was performed by the same person as the user when an error occurred in the door opening process using the remote control. As a result, if the verification process is not successful (SF5: NO), the process returns to step SF1 and the user ID is input again.

[0100] On the other hand, if the verification process is successful (SF5: YES), subsequent processes such as determining whether the vehicle is entering or leaving the warehouse are carried out (SF6). That is, the processes after the verification process is successful are the same as those from step SA6 onwards in Fig. 9. Then, in the door opening process, the entrance door 4 is opened from the position where it was stopped due to the error, while confirming that there is no one in the monitored area.

[0101] The same applies to the door closing process when various information is being input by remote control operation. That is, the door closing process when the remote control is being operated is almost the same as the process according to the first embodiment shown in Fig. 13, but the process when an error occurs is different. That is, if an error occurs in the door closing process, as with the door opening process, the acceptance of input information from the remote control is refused, and only input from the operation panel 22 is accepted. For this reason, the user moves in front of the operation panel 22 and performs various input operations from the operation panel 22. The input operations from the operation panel 22 are as explained in the first embodiment above.

[0102] As described above, the mechanical parking device and its control method and program according to this embodiment provide the following advantageous effects.

[0103] Even when input operation is performed from the remote control, the door is opened while checking that no one is present in the monitoring area set up outside the boarding / deboarding compartment, which makes it possible to increase safety when opening the door. Also, even when input operation is performed from the remote control, the door is closed while checking that no one is present in the boarding / deboarding compartment and in the monitoring area set up outside the boarding / deboarding compartment, which makes it possible to ensure safety when closing the door.

[0104] Furthermore, if an error occurs in the door-opening process while input is being performed from the remote control, input from the remote control will no longer be accepted, and the entrance door will resume opening only when authentication information or door-opening instruction information is re-entered from the IC card reader 46, touch panel 45, or the like, provided on the operation panel 22. This further enhances safety.

[0105] Although the present disclosure has been described using the above-mentioned embodiments, the technical scope of the present disclosure is not limited to the scope described in the above-mentioned embodiments. Various modifications or improvements can be made to the above-mentioned embodiments without departing from the gist of the disclosure, and such modifications or improvements are also included in the technical scope of the present disclosure.

[0106] For example, in each embodiment, an upward-opening door has been described as the entrance door 4, but this is not limiting. For example, the entrance door 4 may be a door that opens horizontally or a door that opens downward (a type that can be stored in the ground).

[0107] The monitoring area according to each of the above-described embodiments is an example, and is not limited to this example. For example, it is possible to set a uniform monitoring area regardless of whether the item is being stored or unstored, or regardless of the input unit (operation panel 22 or remote control) that inputs the input information.

[0108] The monitoring area may also be set to coincide with the detection area of ​​sensor 32B constituting entry / exit detection sensor 32. In other words, in this case, entry / exit detection sensor 32 also functions as an external detection sensor, and when sensor 32B detects a person, the door opening and closing operations are stopped. Furthermore, when sensor 32B is used as external detection sensor 34, the above-mentioned range sensor and the like can be omitted. Furthermore, in this case, since the monitoring area is set closer to entrance / exit door 4 than stop line 36, there is no need to scan the outline of vehicles parked in the forecourt.

[0109] Furthermore, in each of the above-described embodiments, the case where the control device 40 controls the operation panel 22 has been exemplified, but the present invention is not limited to this example. For example, an operation panel control device may be provided in the operation panel 22, and the above-described processing may be realized by exchanging information between the operation panel control device and the control device 40. In this case, for example, the storage processing and collation processing of authentication information (user ID) that were previously performed by the control device 40 may be performed by the operation panel control device provided in the operation panel 22. In other words, the device configuration related to the specific control system for realizing the above-described storage processing and retrieval processing is not limited to the configuration described above, and various configurations may be realized by taking into consideration known technologies.

[0110] The door-opening and door-closing processes of the present disclosure can also be applied when a warehousing reservation device for reserving warehousing is provided in a location different from the operation panel 22, and a warehousing reservation is made from the warehousing reservation device. Similarly, the door-opening and door-closing processes of the present disclosure can also be applied when a warehousing reservation device for reserving warehousing is provided in a location different from the operation panel 22, and a warehousing reservation is made from the warehousing reservation device.

[0111] Furthermore, the flow of the inventory processing described in the above embodiment is just one example, and it is possible to delete unnecessary steps, add new steps, or rearrange the processing order within the scope of the present disclosure. As an example, the following modification can be mentioned.

[0112] For example, a safety confirmation process for inputting that the user has confirmed that the boarding / deboarding compartment or the forecourt is safe, or an unmanned confirmation process may be added as appropriate. Furthermore, it is also possible to omit inputting an instruction to open the door when opening the door, and to automatically start the door opening process when the pallet arrives. In addition, the input of a door closing command when closing the door may be omitted, and the door may be automatically closed if the user authentication or verification process is successful. Furthermore, if an error occurs during the door opening or closing process, the occurrence of the error may be notified to the manager and maintenance personnel. Furthermore, user authentication before the matching process may be omitted.

[0113] The mechanical parking device and the control method and program described in each of the above-described embodiments can be understood, for example, as follows.

[0114] The mechanical parking device (1) according to the present disclosure comprises a boarding / deboarding room (7) for at least one of the entry and exit of a vehicle (2), an entrance / exit door (4) provided at the entrance / exit of the boarding / deboarding room, an external detection means (34) for detecting a person or a vehicle in a predetermined monitoring area provided outside the boarding / deboarding room and near the entrance / exit door, and a control means (40) for opening the entrance / exit door when a person or a vehicle is not detected by the external detection means, and the control means stops the opening operation of the entrance / exit door when a person or a vehicle is detected in the monitoring area while the entrance / exit door is opening.

[0115] According to the mechanical parking device of the present disclosure, the door is opened while checking whether there is anyone in the monitoring area set up outside the boarding / disembarking area, thereby making it possible to increase safety when opening the door.

[0116] In the mechanical parking device (1) of the present disclosure, when a vehicle transport means arrives inside the boarding / de-boarding compartment, the control means may determine whether or not a person or vehicle is detected in the monitoring area, and if a person or vehicle is not detected, may start opening the door.

[0117] According to the mechanical parking device disclosed herein, the arrival of a vehicle transport means inside the boarding / disembarking compartment is used as a trigger to determine whether there is anyone in the monitored area, and when it is confirmed that there is no one in the area, the doors will begin opening.

[0118] The mechanical parking device (1) of the present disclosure is provided with an external receiving means (22) that is provided outside the boarding / exiting room and receives input information for opening the entrance / exit door, and the control means may start opening the door when predetermined input information is received by the external receiving means and no person or vehicle is detected in the monitoring area.

[0119] In the mechanical parking device (1) according to the present disclosure, the input information is, for example, door-open instruction information.

[0120] According to the mechanical parking device of the present disclosure, when predetermined input information (e.g., door-opening instruction information) is received by an external receiving means and it is confirmed that there is no one in the monitored area, door-opening will begin.

[0121] In the mechanical parking device (1) of the present disclosure, the input information is, for example, information transmitted from an input means (45, 46) provided on an operation panel or another input means different from the input means, and the control means may set different monitoring areas depending on the source of the input information.

[0122] In the mechanical parking device (1) according to the present disclosure, the other input means may include at least one of a mobile terminal carried by the user and an on-board device installed in the vehicle.

[0123] According to the mechanical parking device of the present disclosure, input information is transmitted from an input means provided on the operation panel or from another input means different from the input means provided on the operation panel (for example, at least one of a mobile terminal carried by a user and an in-vehicle device), and the input information is received by an external receiving means. The control means changes the monitoring area depending on whether the input information is input from the input means provided on the operation panel or from another input means different from the input means. This makes it possible to set an appropriate monitoring area depending on the input mode of the input information.

[0124] In the mechanical parking device (1) of the present disclosure, when the door is opened based on the input information transmitted from another input means and the opening operation of the entrance / exit door is stopped due to the detection of a person in the monitoring area, the control means may resume the opening operation of the entrance / exit door on the condition that the input information is input again from the input means provided on the operation panel.

[0125] According to the mechanical parking device of the present disclosure, if the opening operation of the entrance door is stopped when input information is input from another input means, input from the other input means will no longer be accepted, and the opening operation of the entrance door will resume on the condition that input information is input again from the input means provided on the operation panel. This makes it possible to further improve safety.

[0126] In the mechanical parking device (1) according to the present disclosure, the control means may set different monitoring areas depending on whether the vehicle is entering or leaving the parking lot.

[0127] According to the mechanical parking device of the present disclosure, it is possible to set an appropriate monitoring area when entering and leaving the parking lot.

[0128] The mechanical parking device (1) of the present disclosure is provided with a contour detection means for detecting the contour of a vehicle parked in the forecourt when the vehicle enters the parking lot, and the control means may use the detection results by the contour detection means to set the monitoring area when the vehicle enters the parking lot.

[0129] According to the mechanical parking device of the present disclosure, it is possible to set an appropriate monitoring area according to the outline of a vehicle parked in the forecourt.

[0130] In the mechanical parking device (1) according to the present disclosure, the external detection means may be provided on the opposite side of the entrance door from the operation panel.

[0131] According to the mechanical parking device disclosed herein, an external detection means is provided on the opposite side of the entrance / exit door from the control panel, making it possible to use a sensor to check for unoccupied vehicles in an area on the opposite side of the vehicle that is not visible to the user.

[0132] The mechanical parking device (1) according to the present disclosure may include a plurality of the external detection means, and the external detection means may be provided on both sides of the entrance door.

[0133] According to the mechanical parking device disclosed herein, external detection means are provided on both sides of the entrance / exit door, making it possible to use sensors to confirm whether there is anyone on either side of the vehicle.

[0134] The mechanical parking device (1) according to the present disclosure may be provided with an alarm means (47) that provides guidance to encourage a person to leave the monitored area before the entrance door is opened.

[0135] According to the mechanical parking device of the present disclosure, it is possible to allow users in the monitored area to quickly exit the monitored area.

[0136] In the mechanical parking device (1) of the present disclosure, the control means may close the entrance / exit door when no person or vehicle is detected in the monitoring area by the external detection means.

[0137] According to the mechanical parking device disclosed herein, the entrance / exit doors are closed when an external detection means confirms that no one is present in the monitored area, thereby ensuring safety when the doors are closed.

[0138] In the mechanical parking device (1) of the present disclosure, the control means may be configured to reverse the entrance / exit door when a person or vehicle is detected in the monitoring area while the entrance / exit door is closed.

[0139] According to the mechanical parking device of the present disclosure, if a person is detected in the monitoring area while the door is closed, the entrance / exit door is driven in the reverse direction, thereby ensuring safety when the door is closed.

[0140] The control method for a mechanical parking device disclosed herein is a control method for a mechanical parking device that has a boarding / deboarding room where vehicles enter and exit the room, and an entrance / exit door provided at the entrance / exit of the boarding / deboarding room, and includes a computer that executes the following steps: detecting a person or vehicle in a predetermined monitoring area outside the boarding / deboarding room and near the entrance / exit door; opening the entrance / exit door when no person or vehicle is detected in the monitoring area; and stopping the opening operation of the entrance / exit door if a person or vehicle is detected in the monitoring area while the entrance / exit door is opening.

[0141] The program for the mechanical parking device (1) according to the present disclosure is a program for the mechanical parking device that causes a computer to execute the control method for the mechanical parking device. [Explanation of symbols]

[0142] 1: Mechanical parking device 2: Vehicle 3: Entrance and exit gate 4: Entrance door 7: Boarding and disembarking area 14: Lift 17: Vehicle storage shelf 18: Palette 22: Control panel (external reception means) 28: Monitor 30: Internal detection sensor 32: Entry / exit detection sensor 34: External detection sensor (external detection means, contour detection means) 35: Camera 36: Stop line 40: Control device (control means) 41: Storage section 45: Touch panel (input means) 46: IC card reader (input means) 47: Speaker (notification means) 48: Emergency stop button 50: Main control unit 52: Comprehensive database 55: Entrance door control unit 56: Conveyor control unit 57: Sensor control unit 58: Camera control unit 59: Image database 61: Vehicle measurement control unit 62: Swing drive control unit 67: Entrance door sensor 68: Conveyor position sensor

Claims

1. a boarding and disembarking room for at least one of vehicle entry and exit; An entrance door provided at the entrance of the boarding / deboarding room; an external detection means for detecting a person or a vehicle in a predetermined monitoring area provided outside the boarding / exiting room near the entrance door; an external receiving means provided outside the boarding / exiting room and configured to receive input information for opening the entrance door; a control means for opening the entrance door when no person or vehicle is detected by the external detection means; Equipped with the input information is information transmitted from an input means provided on the operation panel or another input means different from the input means, the control means sets different monitoring areas depending on the transmission source of the input information; The control means of the mechanical parking device starts opening the door when specified input information is received by the external receiving means and no person or vehicle is detected in the monitoring area, and stops the opening operation of the entrance / exit door when a person or vehicle is detected in the monitoring area while the entrance / exit door is opening.

2. The mechanical parking device according to claim 1, wherein the input information is door-opening instruction information.

3. 3. The mechanical parking device according to claim 1, wherein the other input means includes at least one of a mobile terminal carried by the user and an on-board device installed in the vehicle.

4. A mechanical parking device as described in any one of claims 1 to 3, wherein the control means opens the door based on the input information transmitted from another input means, and when the opening operation of the entrance / exit door is stopped due to the detection of a person in the monitoring area, the control means resumes the opening operation of the entrance / exit door on the condition that the input information is input again from the input means provided on the operation panel.

5. A boarding and disembarking room for at least one of vehicle entry and exit; An entrance door provided at the entrance of the boarding / deboarding room; an external detection means for detecting a person or a vehicle in a predetermined monitoring area provided outside the boarding / exiting room near the entrance door; a control means for opening the entrance door when no person or vehicle is detected by the external detection means; Equipped with The control means sets different monitoring areas depending on whether the vehicle is entering or leaving the warehouse, The control means is a mechanical parking device that stops the opening operation of the entrance door if a person or vehicle is detected in the monitoring area while the entrance door is opening.

6. A mechanical parking device as described in Claim 5, wherein the control means determines whether or not a person or vehicle is detected in the monitoring area when a vehicle transport means arrives inside the boarding and disembarking compartment, and if no person or vehicle is detected, starts opening the door.

7. An external receiving means is provided outside the boarding / exiting room and receives input information for opening the entrance / exit door, A mechanical parking device as described in claim 5, wherein the control means starts opening the door when predetermined input information is received by the external receiving means and no person or vehicle is detected in the monitoring area.

8. A mechanical parking device as described in Claim 7, wherein the input information is door opening instruction information.

9. The input information is information transmitted from an input means provided on an operation panel or another input means different from the input means, The mechanical parking device according to claim 7 or 8, wherein the control means sets different monitoring areas depending on the source of the input information.

10. A mechanical parking device as described in Claim 9, wherein the other input means includes at least one of a mobile terminal carried by the user and an on-board unit installed in the vehicle.

11. A mechanical parking device as described in claim 9 or 10, wherein the control means opens the door based on the input information transmitted from another input means, and when the opening operation of the entrance / exit door is stopped due to the detection of a person in the monitoring area, resumes the opening operation of the entrance / exit door on the condition that the input information is input again from the input means provided on the operation panel.

12. a contour detection means for detecting the contour of a vehicle parked in a forecourt when the vehicle is brought into the garage; 12. The mechanical parking device according to claim 5, wherein the control means uses the detection result of the contour detection means to set the monitoring area when the vehicle enters the parking lot.

13. 13. A mechanical parking device according to claim 1, wherein the external detection means is provided on the opposite side of the entrance door from the operation panel.

14. a plurality of the external detection means; 14. A mechanical parking device according to claim 1, wherein the external detection means is provided on both sides of the entrance door.

15. 15. A mechanical parking device according to claim 1, further comprising an alarm means for providing guidance to encourage a person to leave the monitored area before the entrance door is opened.

16. 16. A mechanical parking device according to claim 1, wherein the control means closes the entrance door when no person or vehicle is detected in the monitoring area by the external detection means.

17. The mechanical parking device according to claim 16, wherein the control means drives the entrance door in a reverse direction when a person or a vehicle is detected in the monitoring area while the entrance door is closed.

18. A control method for a mechanical parking device having a boarding / deboarding room where at least one of a vehicle enters and exits the parking lot, and an entrance / exit door provided at an entrance / exit of the boarding / deboarding room, The computer receiving input information from an input means provided on the operation panel or another input means different from the input means; setting a different monitoring area outside the boarding / deboarding compartment and near the entrance door according to a transmission source of the input information; receiving the input information and opening the entrance door in a state where no person or vehicle is detected in the monitoring area; A control method for a mechanical parking device that stops the opening operation of the entrance door when a person or vehicle is detected in the monitoring area while the entrance door is opening.

19. A control method for a mechanical parking device having a boarding / alighting room for at least one of entering and exiting a vehicle, and an entrance / exit door provided at the entrance / exit of the boarding / alighting room, comprising: The computer a monitoring area is set outside the boarding / deboarding compartment and near the entrance / exit door depending on whether the vehicle is entering or leaving the compartment; The entrance door is opened when no person or vehicle is detected in the monitoring area, A control method for a mechanical parking device that stops the opening operation of the entrance door when a person or vehicle is detected in the monitoring area while the entrance door is opening.

20. A program for a mechanical parking device that causes a computer to execute the control method for a mechanical parking device according to claim 18 or 19.

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