Unattended verification system and method

Abstract

To provide an unmanned confirmation system and method that automatically confirm an unmanned state in an access space to a vehicle in a mechanical parking device configured to apply an empty space to a car receiving place.SOLUTION: A mechanical parking device 1 configured to mixedly load a vehicle 4 and a receiving box 8 is provided with: a laser system 32 detecting coordinate data of a reflection position of a laser beam in all area of an inner side of the access space 2 to the vehicle; and a data processing device 36 detecting a foreign object in the access space to the vehicle from detected data. An organism detecting system 20 detecting an organism F only may be provided. The data processing system 36 stores unmanned data D0, which is detected data of the laser system 32 when no foreign object G is identified in the access space to the vehicle while a palette 3B on which the receiving box 8 is loaded is placed at a home position 2a, to determine an unmanned state in the access space to the vehicle when the coordinate data is the same as the unmanned data D0. In addition to this, in the case where the organism detecting system 20 is provided, it determines an unmanned state in the access space to the vehicle when the organism detecting system 20 does not detect the organism F while the palette 3B is positioned on the home position 2a.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention is a method for storing empty pallets. , an area containing a human-accessible passageway This invention relates to an unmanned parking confirmation system and method for a mechanical parking device used as a parking space. [Background technology]

[0002] A mechanical parking system is a facility that stores a large number of vehicles in a multi-level manner by installing a mechanical device inside a building constructed above ground or in a space formed underground. There are various types of mechanical parking systems in use, including elevator systems, comb elevator systems, vertical circulation systems, multi-level circulation systems, horizontal circulation systems, and flat shuttle systems. Some mechanical parking devices also have a charging function that supplies power to electric vehicles while the vehicle is parked.

[0003] Among these existing mechanical parking devices, there are unused pallets. In order to effectively utilize the unused space on the pallets of such mechanical parking devices, Ruko Such a mechanical parking device is disclosed in, for example, Patent Document 1. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 3906328 Summary of the Invention [Problem to be solved by the invention]

[0005] A mechanical parking device is provided with a boarding / deboarding room where a vehicle (for example, a passenger car) enters and leaves (enters or leaves) the parking lot, and a boarding / deboarding door through which the vehicle enters and leaves the boarding / deboarding room. To ensure safety, when a mechanical parking system is activated, it is necessary to confirm that no people or animals (hereinafter referred to as "living bodies") remain inside the vehicle, and that no objects other than people, animals, or vehicles (hereinafter referred to as "foreign objects") remain inside the boarding / exiting compartment, and then fully close the entrance / exit doors. Conventionally, this confirmation has been carried out by detecting foreign objects using photoelectric sensors or human sensors, or by visual confirmation by a caretaker. In recent years, attempts have been made to automate such safety checks in mechanical parking systems.

[0006] However, empty pallets in mechanical parking systems , an area containing a human-accessible passageway When reusing as a pallet, empty pallets, pallets with vehicles, Accessible passage for people The pallets equipped with these devices all have different ranges of access for living organisms and foreign objects. Area including aisles It is not intended to be used for other purposes. Therefore, in the past, empty pallets in mechanical parking systems were Areas containing human-accessible pathways When converting a vehicle into a passenger compartment, there was no established method for automatically checking whether there was anyone in the passenger compartment.

[0007] The present invention has been devised to solve the above-mentioned problems. That is, the object of the present invention is to: The area was repurposed to include a walkway for people to access. Empty palette Prepare To provide an unmanned confirmation system and method capable of automatically confirming that the inside of a boarding / deboarding compartment of a mechanical parking device is unmanned. [Means for solving the problem]

[0008] According to the present invention, a vehicle is placed on a pallet and stored, and at least one vehicle is placed on the pallet. Accessible walkway over pallets An unmanned check system for boarding and disembarking spaces in a mechanical parking device having the law of nature , A three-dimensional boarding and disembarking area for the vehicle is set inside the boarding and disembarking room, and a fixed position of the pallet is set at the lower end of the boarding and disembarking area, A millimeter wave system that irradiates the boarding and disembarking area with millimeter waves to detect only living organisms. and 、 a laser system that irradiates the entire inside of the boarding / deboarding compartment with laser light and detects the coordinate data of the reflected position; 、 the laser system and the Millimeter Wave System and a data processing device that detects a foreign object in the passenger compartment from both the detection data and the detection data. The aforementioned Pallet passage is located inside the boarding and disembarking area in the fixed position, The aforementioned Pallet passage The pallet on which the laser system or the Millimeter Wave System In the detection range of Applicable It has an over-pallet passage, The data processing device is Pallet passage is located inside the boarding / deboarding area and the foreign object is not present in the boarding / deboarding compartment, and unmanned data is stored as detection data of the laser system; The aforementioned Pallet passage is located inside the boarding and disembarking area, the coordinate data by the laser system is the same as the unmanned data and Millimeter Wave System When the living body is not detected by the death, the millimeter wave system includes a side living body detection radar that irradiates the vehicle parked inside the boarding and disembarking area with the millimeter wave from a side, The above-pallet passage is within the irradiation range of the millimeter waves of the lateral living body detection radar and is provided across the entire width direction of the pallet. , an unmanned verification system is provided. According to the present invention, there is also provided an unmanned checking system for a boarding / deboarding compartment of a mechanical parking device in which vehicles are stored on pallets and at least one pallet has an above-pallet passageway accessible to people above the pallet, A three-dimensional boarding and disembarking area for the vehicle is set inside the boarding and disembarking room, and a fixed position of the pallet is set at the lower end of the boarding and disembarking area, a millimeter wave system that irradiates the boarding and disembarking area with millimeter waves to detect only living bodies; a detection device whose detection range includes the entire inside area of ​​the boarding / deboarding compartment and which is capable of detecting the presence or absence of a foreign object within the detection range; a data processing device that detects a foreign object in the passenger compartment from detection data from both the detection device and the millimeter wave system, The pallet over-passage is located inside the boarding and disembarking area at the fixed position, the pallet on which the over-pallet passage is installed has the over-pallet passage within a detection range of the detection device or the millimeter wave system at the fixed position; the data processing device determines that the passenger compartment is unoccupied when the detection device does not detect the foreign object and the millimeter wave system does not detect the living body when the over-pallet passage is located inside the passenger compartment; the millimeter wave system includes a side living body detection radar that irradiates the vehicle parked inside the boarding and disembarking area with the millimeter wave from a side, An unmanned confirmation system is provided in which the above-pallet passage is within the irradiation range of the millimeter waves from the lateral living body detection radar and is provided across the entire width of the pallet.

[0009] Further, according to the present invention, a vehicle is stored on a pallet and at least one of the pallets is placed on the pallet. A pallet passageway that is provided across the entire width of the pallet and is accessible by people A method for unattended confirmation of boarding and disembarking spaces of a mechanical parking device having can be , A three-dimensional boarding and disembarking area for the vehicle is set inside the boarding and disembarking room, and a fixed position of the pallet is set at the lower end of the boarding and disembarking area, In the fixed position Pallet passage an unmanned data storage step of storing unmanned data, which is detection data of the laser system when the vehicle is located inside the boarding / deboarding area and no foreign object is present in the boarding / deboarding compartment; The aforementioned Pallet passage a foreign object detection step of determining that there is no foreign object when the coordinate data of the entire inside area of ​​the boarding / deboarding compartment obtained by the laser system is the same as the unmanned data when the vehicle is located inside the boarding / deboarding area; In the foreign object detection step, it is determined that no foreign object is present. 、 and A millimeter wave system that detects only living bodies by irradiating the boarding and disembarking area with millimeter waves from the side. and a storage box use confirmation step of determining that the inside of the boarding / deboarding compartment is unoccupied if no living body is detected in the boarding / deboarding area by the above method. Furthermore, according to the present invention, there is provided an unmanned confirmation method for a boarding / deboarding compartment of a mechanical parking device in which vehicles are stored on pallets and at least one of the pallets has an over-pallet passageway that is provided on the pallet across the entire width direction of the pallet and is accessible by people, comprising: A three-dimensional boarding and disembarking area for the vehicle is set inside the boarding and disembarking room, and a fixed position of the pallet is set at the lower end of the boarding and disembarking area, and a storage box use confirmation step of determining that the inside of the boarding / deboarding compartment is unoccupied if no foreign object is detected by a detection device whose detection range includes the entire inside area of ​​the boarding / deboarding compartment, and if no living body is detected in the boarding / deboarding area by a millimeter wave system that irradiates the boarding / deboarding area from the side with millimeter waves to detect only living bodies. [Effects of the Invention]

[0010] According to the present invention, empty pallets are Areas containing human-accessible pathways In a mechanical parking system that is repurposed as a parking lot, the pallet passage, which is the area above the pallet that can be accessed by people, is marked with a laser system. and millimeter wave system, or detection device and millimeter wave system Thus, according to the present invention, Aisle-holding pallet Therefore, the mechanical parking system can automatically check whether there are any living bodies on the pallets. Areas containing human-accessible pathways Even if the vehicle is diverted for other purposes, it can be automatically confirmed that there is no one inside the boarding / deboarding compartment. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a front view showing a mechanical parking device equipped with an unmanned confirmation system according to a first embodiment. [Figure 2]2 is a view taken along the arrow AA in FIG. 1 when the car pallet is installed in a fixed position in the boarding / deboarding compartment. [Figure 3] FIG. 1 is an overall configuration diagram of a millimeter wave system. [Figure 4] 1 is an overall configuration diagram of an unmanned confirmation system according to a first embodiment. [Figure 5] FIG. 1 is an explanatory diagram of the equipment configuration of a mechanical parking device and an unmanned parking confirmation system. [Figure 6] 1 is an overall flow diagram of an unmanned confirmation method according to a first embodiment. [Figure 7] FIG. 10 is a diagram illustrating the overall configuration of an unmanned confirmation system according to a second embodiment. [Figure 8] FIG. 10 is a diagram illustrating the overall configuration of an unmanned confirmation system according to a third embodiment. [Figure 9] FIG. 10 is a diagram illustrating the overall configuration of an unmanned confirmation system according to a fourth embodiment. [Figure 10] FIG. 10 is a diagram illustrating the overall configuration of an unmanned confirmation system according to a fifth embodiment. [Figure 11] FIG. 13 is a perspective view of a storage box and an aisle holding pallet according to a sixth embodiment. [Figure 12] FIG. 10 is a diagram illustrating the overall configuration of an unmanned confirmation system according to a sixth embodiment. [Figure 13] FIG. 13 is a diagram illustrating the overall configuration of an unmanned confirmation system according to a seventh embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In addition, common parts in the drawings are given the same reference numerals, and duplicated explanations will be omitted.

[0013] (First embodiment) This embodiment is an unmanned confirmation system 30 that confirms whether or not there is anyone in the boarding / deboarding compartment 2 of a mechanical parking device 1 that stores vehicles 4 and storage boxes 8 loaded on pallets 3A and 3B. The mechanical parking device 1 is assumed to store vehicles 4 loaded on pallets 3 (3A, 3B), and the pallets 3A and 3B move between the boarding / deboarding compartment 2 and a storage location for the pallets 3 (for example, a storage shelf 14). This mechanical parking device 1 has a storage box 8 on at least one pallet 3B that can store luggage H inside.

[0014] FIG. 1 is a front view showing a mechanical parking device 1 equipped with an unmanned parking confirmation system 30 according to the first embodiment. In this example, the mechanical parking device 1 is an elevator parking device. In this figure, 2 is a boarding / deboarding compartment, 4 is a vehicle (e.g., a passenger car), 8 is a storage box, 3A is a pallet on which the vehicle 4 is placed (hereinafter referred to as the car pallet 3A), and 3B is a pallet on which the storage box 8 is placed ( Aisle-holding pallet 3B). In this figure, 13 is a hoistway, 14 is a storage shelf, and 15 is a car that moves in the hoistway 13.

[0015] In this example, cage 15 carries pallets 3A and 3B, on which vehicles 4 and storage boxes 8 are placed, and moves up and down elevator shaft 13. Storage shelves 14 are arranged along elevator shaft 13 and store pallets 3A and 3B, respectively.

[0016] In addition, the above-mentioned mechanical parking device 1 is not limited to an elevator-type parking device, and may be other mechanical parking devices such as a vertical circulating parking device, a multi-level circulating parking device, a horizontal circulating parking device, a flat-surface reciprocating parking device, etc., as long as it has a boarding and disembarking room 2. Furthermore, in this example, the pallets 3A and 3B are pallets (for example, folded pallets), but the present invention is not limited to this, and they may also be flat pallets.

[0017] FIG. 2 is a view taken along the line AA in FIG. 1 when the car pallet 3A is set in the fixed position 2a of the boarding / deboarding compartment 2. As shown in FIG. In this diagram, 1 is a mechanical parking device, 2 is a boarding / exiting room, 2a is a fixed position, 2b is an entrance / exit entrance, 2c is an entrance / exit door, 3A is a car pallet, 4 is a vehicle, 5 is a boarding / exiting area, and 30 is an unmanned confirmation system.

[0018] The boarding / deboarding room 2 is configured as a closed space having an entrance / exit door 2c at the entrance / exit gate 2b in order to prevent the generation of foreign matter G when the device is operating (for example, because there is no one there). Foreign objects G refer to living bodies F such as people F and animals in the passenger compartment, as well as luggage H.

[0019] A three-dimensional boarding and disembarking area 5 for the vehicle 4 is set inside the boarding and disembarking room 2, and fixed positions 2a for the pallets 3A and 3B are set at the lower end of the boarding and disembarking area 5.

[0020] The unmanned vehicle confirmation system 30 has an inside boarding / alighting area 5 and is a system that detects the unmanned status of the boarding / alighting room 2. The boarding / alighting area 5 is an area where the vehicle 4 stops and people F get on and off. The width, length, and height of the boarding / alighting area 5 are set to be larger than the maximum dimensions of the target vehicle 4. For example, if the target vehicle 4 is a medium-sized vehicle with an overall width, overall length, and overall height of 1700 mm, 4800 mm, and 1500 mm, the width, length, and height of the boarding and disembarking area 5 are set to, for example, 2000 mm, 5100 mm, and 2000 mm, taking into account fluctuations in the stopping position.

[0021] The vehicle 4 stops inside the boarding / alighting area 5. The boarding / alighting area 5 is set so that a living body F cannot enter between the outer surface of the stopped vehicle 4 and the boundary surface of the boarding / alighting area 5. The living body F means a person or an animal. The boarding / alighting area 5 may be automatically changed depending on the vehicle model and the type of storage box 8.

[0022] The entering vehicle 4 passes through the entrance / exit door 2c from the outside into the boarding / deboarding room 2 and stops inside the boarding / deboarding area 5. In this case, the vehicle 4 is parked with the front side facing upward in Fig. 2. Hereinafter, the upper side of Fig. 1 will be referred to as the front side, and the lower side as the rear side. The entrance / exit door 2c is provided at the rear of the boarding / exiting area 5. The opening width of the entrance / exit door 2c is set to be larger than the overall width of the boarding / exiting area 5.

[0023] In FIG. 2, the unmanned verification system 30 includes a laser system 32, a living body detection system 20, and a data processing device .

[0024] The laser system 32 irradiates the entire interior area of ​​the passenger compartment 2 with laser light and detects coordinate data of the reflected position. The irradiation of the laser light is preferably performed by horizontal scanning or three-dimensional scanning. In this example, the laser system 32 is a plurality (two in this example) of three-dimensional laser radars 32A, 32B that are installed so as to prevent foreign objects G from entering between the inner walls and floor of the boarding and disembarking compartment 2, and are positioned on either side of the boarding and disembarking area 5. As shown in this figure, the horizontal scanning range (horizontal scanning angle) of the laser light is at least −45 degrees to +45 degrees from the front, and preferably −75 degrees to +75 degrees. Furthermore, the detection distance of the three-dimensional laser radars 32A and 32B should be equal to or greater than the width and depth (e.g., 8 m or greater) of the boarding / deboarding compartment 2. In this figure, detection limit positions 33a and 33b at which the laser system 32 can detect a foreign object G are indicated by dashed lines.

[0025] The foreign object G means an object other than a living body F (human or animal), a vehicle 4, and a storage box 8. The laser system 32 may be one or more 3D laser radars 32A, 32B installed in a position that allows a bird's-eye view of the entire inside of the boarding / deboarding compartment 2. In this diagram, a pair of 3D laser radars 32A, 32B are installed in diagonally opposite corners of the boarding / deboarding compartment 2. In this diagram, the detection limit position of the 3D laser radar 32A is indicated by the symbol 33a, and the detection limit position of the 3D laser radar 32B is indicated by the symbol 33b.

[0026] The data processing device 36 detects a foreign object G in the passenger compartment from the detection data of the laser system 32 and the living body detection system 20. The data processing device 36 is, for example, a computer (PC), and has an input device, an output device, a storage device, and an arithmetic unit.

[0027] The living body detection system 20 is a millimeter wave system 22 that irradiates the boarding and disembarking area 5 with millimeter waves 7 to detect only living bodies F, and is also a device that can detect living bodies F inside the vehicle using the millimeter waves 7. Millimeter waves 7 do not penetrate metal, but can penetrate glass and seats inside the vehicle. For example, in this figure, the millimeter waves 7 irradiated from the millimeter wave system 22 penetrate the windshield and seats of the vehicle 4, and the reflected wave data 6 is received to detect a child F in the back seat.

[0028] The millimeter wave system 22 has a forward living body detection radar 23 that irradiates a vehicle 4 parked inside the boarding and disembarking area 5 with millimeter waves 7 from the front toward the center of the width of the pallet 3.

[0029] In the present invention, the "millimeter wave system 22" means a millimeter wave radar, a millimeter wave Doppler sensor, or a millimeter wave Doppler radar. "Millimeter-wave radar" is a radar that uses millimeter-wave radio waves to measure the distance, speed, and angle to an object. The "millimeter wave Doppler sensor" is a sensor that uses the Doppler effect to receive reflected wave data 6 of emitted millimeter waves 7 and detect moving objects from the difference between the emitted frequency and the received frequency. "Millimeter wave Doppler radar" is a radar that can observe the relative movement speed and displacement of an object by observing the frequency shift caused by the Doppler effect.

[0030] The millimeter wave system 22 has a function of detecting a living body F by the Doppler effect and avoiding unintentional detection of a living body by removing a predetermined frequency band. Furthermore, the millimeter wave system 22 has a short wavelength, which allows for highly accurate detection and can detect movements down to 0.1 mm, making it possible to detect chest movements of a living body F (human or animal) when breathing and chest movements due to heartbeat.

[0031] As a result, the forward living body detection radar 23 irradiates the millimeter wave 7 into the interior of the vehicle through the front windshield (windshield) and receives the reflected wave data 6.

[0032] FIG. 3 is a diagram showing the overall configuration of the millimeter wave system 22. 3(A), the millimeter-wave system 22 includes an oscillator 22a that generates millimeter-waves 7 with a transmission frequency in the 24 GHz band, and a parabolic antenna 22b that emits vertically polarized millimeter-waves 7. The parabolic antenna 22b is a bowl-shaped antenna that uses a paraboloid of revolution as a radio wave reflector. The millimeter-wave system 22 also includes a forward-facing biological detection radar 23, an intermediate frequency amplifier 24, and a discrimination device 26.

[0033] The reason for using millimeter waves 7 in the 24 GHz band is that conventional millimeter waves in the 10 GHz band cannot be used with a door (or shutter) open due to indoor regulations under the Radio Law. In contrast, the 24 GHz band (quasi-millimeter waves) is not subject to indoor regulations and has better transparency through glass than the millimeter wave band. In this invention, the 24 GHz band quasi-millimeter waves are simply referred to as "millimeter waves 7." Furthermore, the millimeter wave 7 of the present invention is not limited to a millimeter wave in the 24 GHz band, but may be a radio wave in the frequency band of 10 to 300 GHz.

[0034] Furthermore, vertically polarized waves (TM waves) are used because they have a higher transmittance through glass than conventional horizontally polarized waves (TE waves).

[0035] Furthermore, the parabolic antenna 22b is used because it can narrow the half-value angle θ while increasing antenna gain compared to a conventional patch antenna. It is preferable that the parabolic antenna 22b has a half-value angle θ of 6 degrees or more and 10 degrees or less, at which the antenna gain is halved, and a half-value width L 3 m from the irradiation position of 300 mm or more and 600 mm or less. The half-value angle θ is the spread angle of the millimeter waves 7 at which the antenna gain is halved. When the half-value angle is 6 to 10 degrees, the half-value width L (irradiation width of the millimeter waves 7) 3 m from the irradiation position is 300 mm or more and 600 mm or less.

[0036] FIG. 3B is a diagram showing the relationship between the amplification factor (vertical axis) of the intermediate frequency amplifier 24 and the frequency (horizontal axis) of the reflected wave data 6. As shown in this figure, the intermediate frequency amplifier 24 amplifies the frequency components of breathing, pulse, and body movement in the reflected wave data 6 at different amplification factors and outputs the amplified signals.

[0037] The displacement of a human pulse is on the order of approximately 0.1 to 0.2 mm, that of respiration is on the order of approximately 10 mm, and that of body movement is on the order of approximately 100 mm. In addition, if the RCS (radar cross section) is 1 for the pulse, then respiration is on the order of 100, and body movement is on the order of 1000. Therefore, the RCS of respiration and body movement is two to three orders of magnitude larger than the RCS of the pulse, and when detecting vital signals (biological signals) using signals from the millimeter-wave system 22, the signal components of the pulse are buried by the signal components of respiration and body movement. Furthermore, in order to detect the pulse signal, it is necessary to amplify the signal using a high-gain amplifier, but in this case, it is predicted that the amplifier will be saturated by the signals of respiration and body movement, resulting in the loss of the pulse signal.

[0038] On the other hand, frequency components of vital signals are, for example, approximately 0.2 to 0.5 Hz for breathing, approximately 1 to 2 Hz for pulse, and approximately 5 Hz or higher for body movement. In the present invention, as shown in FIG. 3(B), the frequency components of breathing, pulse, and body movement are amplified at different amplification factors.

[0039] In this example, the gain of the 0.5 to 5 Hz range, which includes the pulse (approximately 1 to 2 Hz), is set to a high gain G (= X) necessary for detecting the pulse signal. The gain of the 0.2 to 0.5 Hz range, which corresponds to respiration, is set to a gain G (e.g., = X - 20 dB) so that the amplifier does not saturate and an amplified signal of the same order as the pulse signal is obtained. Similarly, the gain of the 5 to 20 Hz range, which corresponds to body movement, is set to a gain G (e.g., = X - 40 dB) so that the amplifier does not saturate and an amplified signal of the same order as the pulse signal is obtained.

[0040] With the above-described configuration, the signal levels of respiration, pulse, and body movement after amplification can be adjusted so that the signals do not drown out each other and the amplifier does not become saturated, allowing each vital signal to be detected.

[0041] In FIG. 3(A), the discrimination device 26 has a frequency analyzer that performs frequency analysis on the amplified signal, and a comparison unit that compares the outputs of the frequency components of breathing, pulse, and body movement after frequency analysis with their respective thresholds. With this configuration, the discrimination device 26 compares the frequency components of breathing, pulse, and body movement (for example, about 0.2 to 0.5 Hz, about 1 to 2 Hz, about 5 Hz or more) with their respective thresholds, and determines the presence or absence of a living body F based on whether any output exceeds the threshold. As a result, when a vehicle pallet 3A is placed in the boarding / deboarding compartment 2, the unmanned confirmation system 30 can confirm the presence or absence of a living body F inside the vehicle using the forward living body detection radar 23.

[0042] Next, the unmanned vehicle confirmation system 30 according to the first embodiment will be described. FIG. 4 is a diagram showing the overall configuration of the unmanned vehicle confirmation system 30 according to the first embodiment. The unmanned confirmation system 30 includes a laser system 32, a living body detection system 20, and a data processing device 36. In the example shown in the figure, the living body detection system 20 is assumed to be a forward living body detection radar 23, which is a millimeter wave system 22 installed at the back of the boarding / deboarding compartment 2. As shown in this figure, Aisle-holding palletOn top of pallet 3B, storage boxes 8 are installed along both ends of the width of pallet 3B, spanning the entire length of the pallet. Aisle-holding pallet When 3B is at fixed position 2a in the boarding / deboarding compartment, it is located inside boarding / deboarding area 5. Storage box 8 may be any container that can hold items. For example, storage box 8 may be a locker, a delivery box, a warehouse, a barn, a storage shed, a trunk room, a rental storage space, etc.

[0043] Also Aisle-holding pallet 3B has an over-pallet passage 9 above it, which is a place where a person F works when putting goods H in and out of the storage box 8. In the example of this figure, the door of the storage box 8 (hereinafter referred to as storage door 8a) is provided facing the over-pallet passage 9. The over-pallet passage 9 is located in the range of the entire upper surface of the pallet 3B excluding the area covered by the storage box 8. The over-pallet passage 9 in this embodiment is Aisle-holding pallet In the center of the width of 3B, Aisle-holding pallet 3B in the longitudinal direction. Aisle-holding pallet It is installed so as to occupy the entire area except for the area occupied by the upper pallet passage 9 above.

[0044] In this way, the above-pallet passage 9 is located at the center of the width direction of the pallet 3, which is the irradiation range 7a of the millimeter wave 7 by the forward living body detection radar 23. Aisle-holding pallet 3B in the longitudinal direction. Aisle-holding pallet A pallet passage 9 on the upper side is an area accessible to a person F. Aisle-holding pallet 3B is always included in the detection range 20a of the living body detection system 20 when it is in the home position 2a, so the presence or absence of the living body F located inside the boarding / exiting area 5 can be reliably detected.

[0045] Furthermore, the unmanned confirmation system 30 uses the laser system 32 to irradiate the entire inside of the boarding / deboarding compartment 2 with laser light and detect the coordinate data of the reflection position, just as when the vehicle pallet 3A is placed in the boarding / deboarding compartment 2. This makes it possible to detect the presence or absence of a foreign object G between the inner wall of the boarding / deboarding compartment 2 and the outside of the storage box 8. Note that in the case of the unmanned confirmation system 30 of this embodiment, a blind spot in the detection range of the laser system 32 occurs in part of the passage above the pallet in the boarding / deboarding area. This blind spot area is excluded from the detection range of the laser system 32 of this embodiment, because unmanned confirmation is performed by the living body detection system 20.

[0046] The unmanned confirmation system 30 may be provided with a mat switch 40 and a passive sensor 42 separately from the living body detection system 20. Alternatively, the unmanned confirmation system 30 may have a detection device, separate from the living body detection system 20, that detects a person F by capturing images of the interior of the boarding / deboarding room 2 with a surveillance camera and analyzing the camera images with AI (artificial intelligence), or a detection device that detects a person F by performing positioning and sensing in space using Wi-Fi radio wave reflection data. For example, if mat switches 40 are provided, the entire pallet over-pass 9 may be covered with mat switches 40 capable of detecting living organisms F, and both the living organism detection system 20 and the mat switches 40 may detect the presence or absence of foreign objects G on the pallet over-pass. If the unmanned confirmation system 30 does not include a laser system 32, it is preferable to cover the entire floor surface of the pallet over-pass 9 and the boarding / deboarding room 2 with mat switches 40, and have the mat switches 40 detect foreign objects G on the floor surface. By doubly or triply detecting the presence or absence of foreign objects G not only with the laser system 32 and living organism detection system 20, but also with other detection devices such as the mat switches 40 and passive sensors 42, it is possible to reliably confirm that the boarding / deboarding room 2 is unmanned.

[0047] The data processing device 36 receives detection data from detection devices such as the laser system 32, living body detection system 20, mat switch 40, and passive sensor 42, and detects a foreign object G in the passenger compartment. The data processing device 36 previously stores unmanned data D0, which is detection data from the laser system 32 when the storage box 8 is located inside the passenger compartment 5 at the fixed position 2a and no foreign object G is present in the passenger compartment. When the storage box 8 is located inside the passenger compartment 5, if the living body detection system 20 does not detect a living body F and the coordinate data from the laser system 32 is the same as the unmanned data D0, the data processing device 36 determines that the passenger compartment is unmanned.

[0048] 5 is an explanatory diagram of the equipment configuration of the mechanical parking device 1 and the unmanned confirmation system 30. In this diagram, the arrows indicating the power supply are indicated by dashed lines. Furthermore, the detection data output from the detection devices 20, 32, 40, and 42 and the command signals output from the data processing device 36 or the control device 1c of the mechanical parking device main body are indicated by solid arrows. As shown in this figure, the detection devices 20, 32, 40, 42 and the data processing device 36 of the unmanned confirmation system 30 may be systems independent of the mechanical parking device 1. In the example of this figure, the detection devices 20, 32, 40, 42 and the data processing device 36 are supplied with power from the power supply unit 1a of the mechanical parking device 1. The detection data detected by each of the detection devices 20, 32, 40, 42 is output to the data processing device 36.

[0049] The data processing device 36 determines whether or not the loading / unloading compartment is unoccupied from these detection data, and outputs the determination result to the control device 1c of the mechanical parking device main body via the PLC communication unit 1b of the mechanical parking device 1. This allows the mechanical parking device 1 to drive the mechanisms of the mechanical parking device main body, such as the cage 15, according to the determination result of the unoccupied confirmation system 30. Furthermore, command signals can be output from the data processing device 36 and the control device 1c of the mechanical parking device main body to the detection devices 20, 32, 40, 42. This allows the detection devices 20, 32, 40, 42 to be controlled in conjunction with the movement of the mechanical parking device 1. However, this is not limited to this, and the control device 1c of the mechanical parking device main body may also function as the data processing device 36.

[0050] The mechanical parking device 1 is connected to a car pallet 3A. Aisle-holding pallet In the case where the pallets 3A and 3B are mixed and equipped, the control device 1c grasps the individual identification numbers assigned to each pallet 3A, 3B, and always grasps which storage shelf 14 the pallets 3A and 3B with each number are stored in. The control device 1c determines whether the pallet 3 called by the user is for a car or for the first embodiment. Aisle-holding pallet 3B, or the second to seventh embodiments described later. Aisle-holding pallet The control device 1c then determines whether the pallet is pallet 3A or pallet 3B from the individual identification number. Then, the control device 1c activates the detection devices 32, 20, 40, and 42 that match the pallets 3A and 3B.

[0051] Next, the unmanned confirmation method of this embodiment will be described. Fig. 6 is an overall flow diagram of the unmanned confirmation method according to the first embodiment. Note that double frames in this figure represent the movements of person F.

[0052] The unmanned verification method according to this embodiment is a method for unmanned verification of a boarding / de-boarding compartment 2 of a mechanical parking device 1 that stores vehicles 4 on pallets 3 and has a storage box 8 capable of storing luggage H inside on at least one pallet 3. In this diagram, the unmanned verification method according to the present invention has steps (processes) T1 to T4.

[0053] In the unmanned data storage step T1, when the storage box 8 is located inside the boarding / de-boarding area 5 at the fixed position 2a and there is no foreign object G inside the boarding / de-boarding compartment 2, the laser system 32 irradiates the entire inside of the boarding / de-boarding compartment 2 with laser light and stores unmanned data D0, which is coordinate data of the reflected position. The unmanned data D0 is detection data from the laser system 32. It is preferable to store the unmanned data D0 every time before opening the loading / unloading door 2c. However, this is not a limitation, and the unmanned data D0 stored in advance may be used every time. Alternatively, the unmanned data D0 may be updated every time an unmanned presence is confirmed.

[0054] "When the storage box 8 is located inside the boarding and disembarking area 5" means Aisle-holding pallet This refers to the period from when 3B lands at its designated position 2a in the boarding / deboarding room 2, when the loading / unloading door 2c opens, when the passenger puts in and takes out his / her baggage H, when he / she leaves the boarding / deboarding room 2, and when the loading / unloading door 2c closes. Normally, the boarding / deboarding room 2 becomes unoccupied once the passenger leaves the room.

[0055] When the storage box 8 is located inside the boarding / disembarking area 5, steps T2 to T4 are carried out. In the storage box use data detection step T2, when the storage box 8 is located inside the boarding / deboarding area 5, the laser system 32 detects the entire area data D1, which is coordinate data of the entire inside area of ​​the boarding / deboarding room 2. The entire inside area of ​​the boarding / deboarding room 2 includes the boarding / deboarding area 5.

[0056] In the foreign object detection step T3, if the whole area data D1 is the same as the unmanned data D0, it is determined that "no foreign object G is present." If they are not the same in step T3, it is determined that "foreign object G is present."

[0057] In the storage box use confirmation step T4, if the foreign object detection step T3 determines that "no foreign object G is present" and if the other detection devices 20 (22), 40, 42 do not detect a living body F in the on-pallet aisle 9 on the pallet 3 on which the storage box 8 is placed, it is determined that the loading / unloading compartment is unoccupied. The "other detection devices" are the living body detection system 20, its mat switch 40, passive sensor 42, etc. Furthermore, if a living body F is detected in step T4, it is determined that "a living body F is present." By determining that the parking lot is "unattended" in step T4, the unattended confirmation is completed, and the determination result of "unattended" is output to the control device 1c of the mechanical parking device main body. Furthermore, if the data processing device 36 determines that the parking lot is "unattended," it checks whether the storage box 8 is closed or not, and closes the entrance / exit door 2c. As a method for checking whether the storage box 8 is closed or not, for example, a wireless sensor that detects the opening and closing of the door may be attached to the storage door 8a, and the data processing device 36 may detect the opening and closing of the storage door 8a by receiving an opening / closing signal from the wireless sensor.

[0058] If it is determined in step T3 that "foreign matter G is present" and if it is determined in step T4 that "living body F is present", a message to that effect is output and the necessary action (for example, stopping the device) is taken.

[0059] According to the above-described embodiment of the present invention, the living body detection system 20 irradiates millimeter waves 7 onto the boarding and disembarking area 5, and since the pallet walkway 9 is within the detection range of the living body detection system 20, a living body F on the pallet walkway can be detected. As a result, if the living body detection system 20 does not detect a living body F and the laser system 32 does not detect a foreign object G, it is determined that the boarding / deboarding compartment is unoccupied, making it possible to confirm with high accuracy that the boarding / deboarding compartment 2 is unoccupied (no people F or animals are present) without human intervention.

[0060] In this way, the unmanned confirmation system 30 of the first embodiment repurposes a detection device for vehicles for use with storage boxes, and can automatically and reliably confirm that there is no one in the boarding and disembarking compartment 2 even when there is a pallet 3B carrying a storage box 8 at its fixed position 2a in the boarding and disembarking compartment 2. Therefore, even if an empty pallet 3 is diverted to a storage location, the pallet 3B carrying the storage box 8 can be moved safely.

[0061] Furthermore, even when an empty pallet 3 is diverted to a storage location, the pallet 3B can be moved between the boarding / deboarding room 2 and the storage shelf 14, so the car pallet 3A can be placed at the designated position 2a in the boarding / deboarding room 2. This allows a vehicle 4 to be parked on the car pallet 3A, so the mechanical parking device 1 can have both a parking lot function for parking the vehicle 4 and a storage function for storing the luggage H.

[0062] (Second embodiment) FIG. 7 is a diagram showing the overall configuration of an unmanned vehicle confirmation system 30 according to the second embodiment. In the unmanned confirmation system 30 of this embodiment, the storage box 8 Aisle-holding pallet 3B in the width direction center thereof, and is provided over the entire length direction thereof, and a pallet passage 9 is provided along the storage box 8 Aisle-holding pallet The difference from the first embodiment is that the upper pallet passages 9 are provided at both ends of the width direction of the pallet 3B. Aisle-holding pallet The pallet 3B is provided at both ends in the width direction thereof and extends over the entire length of the pallet 3B.

[0063] The laser system 32 irradiates the entire interior of the boarding / deboarding compartment 2 with laser light and detects the coordinate data of the reflected position. Pallet upper aisle 9 Aisle-holding pallet Located at both ends of 3B in the width direction, Aisle-holding pallet Because the position of the upper storage box 8 is fixed, the over-pallet aisle 9 is located inside the detection range of the laser system 32. In the unmanned vehicle inspection system 30 of this embodiment, there is no blind spot area for the laser system 32 on the over-pallet aisle in the boarding and disembarking area. Therefore, the unmanned vehicle inspection system 30 of this embodiment can detect unmanned people on the over-pallet aisle using only the laser system 32, without using the millimeter wave system 22.

[0064] However, this is not limited to this, and as shown by the dashed line in this figure, the millimeter wave system 22 for use when using the storage box 8 may include a storage box front living body detection radar 23a that irradiates millimeter waves 7 to both widthwise ends of the pallet 3 from the front. Alternatively, the detection range 42a of the passive sensor 42 may be extended to above the over-pallet passage 9 to detect the living organism F on the over-pallet passage 9. In this case, the passive sensor 42 functions as the living organism detection system 20. As in the first embodiment, the living body detection system 20 may be a mat switch 40 laid over the entire surface of the over-pallet walkway 9.

[0065] Other configurations, methods, and effects of the unmanned confirmation system 30 of this embodiment are the same as those of the first embodiment.

[0066] (Third embodiment) FIG. 8 is a diagram showing the overall configuration of an unmanned vehicle confirmation system 30 according to the third embodiment. In the unmanned confirmation system 30 of this embodiment, the storage box 8 Aisle-holding pallet 3B, and is provided at one end in the width direction thereof over the entire length thereof, and a pallet upper passage 9 is provided Aisle-holding pallet The difference from the second embodiment is that the upper pallet passage 9 is provided at the other end and the center in the width direction of the pallet 3B. Aisle-holding pallet 3B in the longitudinal direction, as in the first and second embodiments.

[0067] As shown in this figure, the over-pallet aisle 9 occupies the entire area on the pallet 3B except for the area occupied by the storage boxes 8 at one end of the width direction of the pallet, and therefore the entire area of ​​the over-pallet aisle 9 is located within the detection range of the laser system 32. Therefore, like the second embodiment, the unmanned vehicle detection system 30 of this embodiment can also detect unmanned vehicles on the over-pallet aisle using only the laser system 32, without using the millimeter wave system 22. However, the present embodiment is not limited to this, and similarly to the second embodiment, the unmanned confirmation system 30 of this embodiment may also have a forward living body detection radar 23a for storage boxes. Alternatively, the detection range 42a of the passive sensor 42 may be extended to the over-pallet aisle 9, so that the presence or absence of a living body F can be detected by the passive sensor 42. Other configurations, methods, and effects of the unmanned confirmation system 30 of this embodiment are the same as those of the first and second embodiments.

[0068] (Fourth embodiment) FIG. 9 is a diagram showing the overall configuration of an unmanned vehicle confirmation system 30 according to the fourth embodiment. The unmanned confirmation system 30 of this embodiment differs from the first to third embodiments in that the millimeter-wave system 22 includes a side living body detection radar 27 that radiates millimeter waves 7 from the side toward a vehicle 4 parked inside the boarding / disembarking area 5. The above-pallet walkway 9 of this embodiment is the irradiation range 7a of the millimeter waves 7 by the side living body detection radar 27, and is provided across the entire width of the pallet 3. The side living body detection radar 27 in this figure is provided exclusively for use when the storage box 8 is in use. However, if a side living body detection radar 27 that radiates millimeter waves 7 from the side of the boarding / disembarking area 5 through the side window of the vehicle 4 is used when parking the vehicle 4, the side living body detection radar 27 may also be used when the storage box 8 is in use. Alternatively, the presence or absence of the living body F may be detected by a passive sensor 42 whose detection range 42a is extended to the pallet over-pass 9 or a mat switch 40 placed on the pallet over-pass 9.

[0069] In the unmanned vehicle detection system 30 of this embodiment, as in the first embodiment, a portion of the pallet passage in the boarding and disembarking area is a blind spot in the detection range of the laser system 32. The laser system 32 of this embodiment excludes this blind spot from the detection range. Unmanned vehicle detection in this blind spot is performed by the lateral living body detection radar 27. Other configurations, methods, and effects of the unmanned confirmation system 30 of this embodiment are the same as those of the first to third embodiments.

[0070] (Fifth embodiment) FIG. 10 is a diagram showing the overall configuration of an unmanned vehicle confirmation system 30 according to the fifth embodiment. The storage box 8 of this embodiment has wheels (not shown) on the bottom surface, and can be moved by turning a handle 8c or electrically. Aisle-holding pallet 3B. This storage box 8 may be a movable shelf or rack that moves along rails 8d provided on a pallet, or a movable locker, or may be of any other form as long as it can slide sideways. These movable shelves or movable racks are preferably provided with a storage door 8a.

[0071] This figure illustrates a case where the storage box 8 and the over-pallet passage 9 extend in the width direction of the pallet 3B and move in the length direction of the pallet 3B. However, the unmanned inspection system 30 of this embodiment is not limited to this, and the storage box 8 and the over-pallet passage 9 may extend in the length direction of the pallet 3B and move in the width direction of the pallet 3B, as in the first to third embodiments. In other words, the space on the pallet that is vacated by the movement of the storage box 8 becomes the over-pallet passage 9. The user can move the storage box 8 to set the over-pallet passage 9 at any position. The living body detection system 20 of this embodiment is installed so that its detection range 20a includes a location where the over-pallet walkway 9 can be located.

[0072] With this configuration, the unmanned inspection system 30 of this embodiment allows the user to move the storage box 8 to any position and change the position of the pallet over-pass 9, and the space above the pallet other than the pallet over-pass can be used as storage space, so more space can be secured to install the storage box 8 than in the first to fourth embodiments. The living body detection system 20 used in this embodiment is preferably a side living body detection radar 27, but may also be a passive sensor 42 whose detection range 42a extends to the over-pallet aisle 9.

[0073] Furthermore, because the storage boxes 8 move on the pallet, the position of the storage boxes 8 when storage is completed is different each time. As a result, the position of the on-pallet aisle 9 is different each time, and the position of the blind spot area in the detection range of the laser system 32 is different each time. For this reason, it is preferable that the unmanned confirmation system 30 of this embodiment excludes the boarding and disembarking area 5 from the detection range of the laser system 32, and unmanned confirmation of the boarding and disembarking area 5 is performed using the living body detection system 20. Alternatively, the unmanned confirmation system 30 may also be provided with the laser system 32 in a position where the on-pallet aisle 9 does not become a blind spot even when the storage boxes 8 are moved (for example, a position where the lateral living body detection radar 27 is installed). Other configurations, methods, and effects of the unmanned confirmation system 30 of this embodiment are the same as those of the first to fourth embodiments.

[0074] (Sixth embodiment) FIG. 11 shows a storage box 8 according to a sixth embodiment. Aisle-holding pallet 3B is a perspective view of FIG. In the unmanned confirmation system 30 of this embodiment, a cart having casters 8e on its bottom, a roll cage used in logistics, or the like is assumed as the storage box 8. The casters 8e enable the storage box 8 to be mounted on and dismounted from the pallet 3B. Aisle-holding pallet 3B can carry one or more of these storage boxes 8 in its center. A user (e.g., a logistics company) can take the luggage H loaded in the storage box 8 into or out of the mechanical parking device 1 along with the storage box 8.

[0075] For example, if the user is a transport company, the user may remove the luggage H together with the storage box 8 from the mechanical parking device 1 and load the storage box 8 onto a truck. Also, as shown in this figure, multiple storage boxes 8 are connected together, and these storage boxes 8 may be taken in and out of the boarding / disembarking room 2 all at once.

[0076] For example, as shown in this figure, Aisle-holding pallet It is preferable that 3B is a folding pallet. In this case, by placing storage box 8 so that caster 8e straddles the convex part in the width direction center of the folding pallet, the position of storage box 8 in the width direction relative to pallet 3B can be easily fixed.

[0077] FIG. 12 is a diagram showing the overall configuration of an unmanned vehicle confirmation system 30 according to the sixth embodiment. In the example shown in this figure, the storage box 8 of this embodiment is: Aisle-holding pallet The upper pallet passage 9 is located at the center of the pallet 3B. In this embodiment, the upper pallet passage 9 is a space on the upper surface of the pallet 3B where no storage boxes 8 are placed. In this figure, the upper pallet passage 9 is the space around the storage boxes 8, and is provided at both lengthwise and widthwise ends of the pallet 3B over the entire length and width directions.

[0078] The storage box 8 of this embodiment is movable on a pallet, and the number and arrangement of the car carts 8 mounted on the pallet 3B, or the position of the gaps between the car carts, are different each time. Aisle-holding pallet The number of 3B may increase, decrease, or change positions each time 3B is called to boarding / disembarking room 2. If car trucks 8 are arranged with large gaps between them, blind spots in the detection range of laser system 32 may occur in the gaps between the car trucks. Therefore, it is preferable that the unmanned confirmation system 30 of this embodiment has multiple lateral living body detection radars 27. If a basket cart 8 of the same shape straddles a convex portion in the widthwise center of the folded pallet with its casters 8e, the over-pallet passages 9 at both widthwise ends of the pallet 3B may be detected by the laser system 32. This is because the positions of the over-pallet passages 9 at both widthwise ends of the pallet 3B do not change. In this case, only the over-pallet passages 9 at both lengthwise ends of the pallet 3B are unmannedly confirmed by the living body detection system 20.

[0079] Also, for example, as shown in this figure, a pallet 3B capable of carrying four basket carts (storage boxes 8) may carry a smaller number of basket carts 8 (for example, three) and store them on the storage shelf 14. In this case, it is preferable to connect the basket carts so that there are no gaps large enough for a person F (child) to fit between them. In this case, the laser system 32 detects whether there is a gap between adjacent basket carts 8 that could allow a person to hide, and if there is a gap, the data processing device 36 immediately notifies the user that the storage position of the basket cart 8 is incorrect. Other configurations, methods, and effects of the unmanned confirmation system 30 of this embodiment are the same as those of the first to fifth embodiments.

[0080] (Seventh embodiment) FIG. 13 is a diagram showing the overall configuration of an unmanned vehicle confirmation system 30 according to the seventh embodiment. The unmanned confirmation system 30 of this embodiment differs from the other embodiments in that the storage box 8 provided on the pallet is large enough for a person F to enter, and the living body detection system 20 is provided inside the storage box 8. The storage box 8 of this embodiment is, for example, as shown in this figure, Aisle-holding pallet 3B, but is not limited thereto as long as it is large enough to contain a living body F, including a person F (child F). For example, the storage box 8 of this embodiment may be a storage box 8 large enough to contain a person F (child F) and arranged as in the first to sixth embodiments.

[0081] In the example shown in this figure, multiple living organism detection systems 20 are installed so that living organisms F can be detected throughout the interior of the container 8B. When there are multiple storage boxes 8 of this embodiment, a living organism detection system 20 is installed for each storage box. The over-pallet aisle 9 of this embodiment is located inside this storage box 8. Specifically, the area on the floor of the storage box 8 that is not covered by cargo H becomes the over-pallet aisle 9 of this embodiment.

[0082] This makes it possible to reliably detect whether or not a living organism F is present in the container 8B, thereby preventing the mechanical parking device 1 from moving while the living organism F is left in the container 8B.

[0083] for example Aisle-holding pallet 3B may be a repurposed pallet 3C on which a power supply device for an electric vehicle is mounted. This pallet 3C for an electric vehicle may be configured so that power is supplied to the power supply device from the power supply unit 1a at the fixed position 2a. This ensures that when the living organism detection system 20 installed inside the storage box 8 in the boarding / deboarding compartment 2 is used, a driving power source for the living organism detection system 20 can be secured.

[0084] Alternatively, the living body detection system 20 installed inside the storage box 8 may be equipped with, for example, a battery, which is charged by a power supply unit 1a provided in the storage shelf 14 for the electric vehicle, and the living body detection system 20 may be driven by the power. The living body detection system 20 is preferably a millimeter wave system 22.

[0085] Furthermore, the detection device provided inside the storage box 8 is not limited to the living body detection system 20. For example, a mat switch 40 or a passive sensor 42 may be installed instead of the living body detection system 20 or in combination with the living body detection system 20.

[0086] Alternatively, the living body detection system 20 may be an entry / exit count sensor 43 provided on the inner wall or ceiling of the storage box 8 near the storage door. When parking a vehicle 4 on the pallet 3A, a person F gets on the vehicle 4 and enters the boarding / deboarding compartment 2, so the entry / exit count sensor 43 cannot determine the number of people in the boarding / deboarding compartment, but when storing luggage H in the container 8B, the person F walks into the container 8B, so the entry / exit count sensor 43 can determine the number of people. The entrance / exit count sensor 43 is a detection device that counts the number of people entering and exiting a specified area using a range sensor and outputs the number of people. When installing the entrance / exit count sensor 43, it is preferable to use it in conjunction with the other detection devices 22, 40, and 42.

[0087] With this configuration, the unmanned confirmation system 30 of this embodiment can detect a person F who is behind luggage H even if the luggage H is stored randomly inside the storage box 8.

[0088] The presence or absence of a living body F on the outside of the container 8B is detected by a laser system 32 or a passive sensor 42 installed in the boarding / disembarking compartment 2. Note that, when the storage box 8 of the other embodiments is large enough to accommodate a person F (child), it is preferable that the unmanned confirmation system 30 combines the features of each embodiment with the features of the seventh embodiment. Other configurations, methods, and effects of the unmanned confirmation system 30 of this embodiment are the same as those of the first to sixth embodiments.

[0089] According to the embodiment of the present invention described above, in the mechanical parking device 1 that repurposes the empty pallet 3B as a storage space, the pallet passage 9, which is the area on the pallet that is accessible to the person F, is within the detection range of the laser system 32 or the living body detection system 20. Aisle-holding pallet Therefore, even if the mechanical parking device 1 uses the empty pallet 3B as a storage space, it can automatically confirm that there is no one inside the boarding / de-boarding compartment.

[0090] The present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the spirit of the present invention. For example, one mechanical parking device 1 may be any of the first to seventh embodiments. Aisle-holding pallet 3B may be mixed in.

[0091] In the above example, the mechanical parking device 1 has a car pallet 3A and Aisle-holding palletIt has 3B mixed in, but does not have car pallet 3A. Aisle-holding pallet In this case, the living body detection system 20 is not limited to the millimeter wave system 22 as long as it satisfies the required functions. The living body detection system 20 is required to have the following three functions. (1) The detection range is the space of length, width, and height from the front rear side of the boarding / disembarking room 2 to the entrance / exit gate 2b. (2) The presence or absence of a foreign object G (not necessarily a person F) the size of a child who can walk alone (for example, a 1.5-year-old) must be detectable. (3) Ability to detect moving foreign objects G.

[0092] As long as such required functions are met, the living body detection system 20 may be, for example, a mat switch 40 or a passive sensor 42. The mat switch 40 is a detection device that detects the load when a foreign object G is placed on it, and outputs a contact detection signal to the data processing device 36. The passive sensor 42 is a device that does not emit infrared rays itself, but detects the living body F by receiving infrared rays and heat emitted from the surface of the living body F.

[0093] Alternatively, the living body detection system 20 may be a detection device that detects the person F by capturing an image of the interior of the boarding / deboarding room 2 with a surveillance camera and analyzing the camera image with AI (artificial intelligence). Furthermore, the living body detection system 20 may be a detection device that detects a person F by performing positioning and sensing in space using Wi-Fi radio wave reflection data. [Explanation of symbols]

[0094] D0 Unmanned data, D1 Whole area data, F Living organisms (people, children), G Foreign objects, H Luggage, 1 Mechanical parking device, 1a power supply section, 1b PLC communication section, 1c. A control device for a mechanical parking device body; 2 boarding and disembarking room, 2a fixed position, 2b entrance and exit gate, 2c entrance and exit door, 3,3A,3B,3C pallets, 3A Car pallet, 3B Aisle-holding pallet , 3C: A pallet equipped with a power supply for electric vehicles; 4 Vehicle, 5 Boarding and alighting area, 6 Reflected wave data, 7 Millimeter wave, 7a Millimeter wave system detection range (millimeter wave irradiation range), 8 storage box, 8a storage door, 8B container, 8c handle, 8d rail, 8e caster, 9 Pallet over-pass, 13 elevator shaft, 14 storage shelf, 15 cage, 20 Biodetection system, 20a Detection range of biodetection system, 22 Millimeter wave systems, 22a Oscillators, 22b Parabolic antenna, 23 Forward life detection radar, 23a Forward life detection radar for storage box, 24 intermediate frequency amplifier 24, 26 discriminator, 27 Lateral life detection radar, 30 Unmanned confirmation system, 32 Laser system, 32A, 32B 3D laser radar, 33 Detection limit position, 33a 3D laser radar 32A detection limit position, 33b: Detection limit position of 3D laser radar 32B; 36 Data processing equipment, 40 Mat switch, 42 Passive sensor, 42a Passive sensor detection range, 43 Entry / exit count sensor, T1 unattended data storage step; T2 Data detection step when using storage box, T3 Foreign object detection step, T4 Storage box use confirmation step

Claims

1. An unmanned check system for a boarding / deboarding compartment of a mechanical parking device in which vehicles are stored on pallets and at least one pallet has an above-pallet walkway that is accessible to people above the pallet, A three-dimensional boarding and disembarking area for the vehicle is set inside the boarding and disembarking room, and a fixed position of the pallet is set at a lower end of the boarding and disembarking area, a millimeter wave system that irradiates the boarding and disembarking area with millimeter waves to detect only living bodies; a laser system that irradiates the entire interior of the boarding / deboarding compartment with laser light and detects coordinate data of the reflected position; a data processing device that detects a foreign object in the passenger compartment from detection data of both the laser system and the millimeter wave system, The pallet over-passage is located inside the boarding and disembarking area at the fixed position, The pallet on which the above-pallet passage is installed has the above-pallet passage within the detection range of the laser system or the millimeter wave system when in the fixed position, the data processing device stores unmanned data, which is detection data of the laser system when the over-pallet passage is located inside the boarding / deboarding area at the fixed position and no foreign object is present in the boarding / deboarding compartment; When the pallet passage is located inside the boarding / deboarding area, if the coordinate data obtained by the laser system is the same as the unmanned data and the living body is not detected by the millimeter wave system, it is determined that the boarding / deboarding area is unmanned; the millimeter wave system includes a side living body detection radar that irradiates the vehicle parked inside the boarding and disembarking area with the millimeter wave from a side, An unmanned inspection system in which the above-pallet passage is within the irradiation range of the millimeter waves from the lateral living body detection radar and is provided across the entire width of the pallet.

2. An unmanned check system for a boarding / deboarding compartment of a mechanical parking device in which vehicles are stored on pallets and at least one pallet has an above-pallet walkway that is accessible to people above the pallet, A three-dimensional boarding and disembarking area for the vehicle is set inside the boarding and disembarking room, and a fixed position of the pallet is set at a lower end of the boarding and disembarking area, a millimeter wave system that irradiates the boarding and disembarking area with millimeter waves to detect only living bodies; a detection device whose detection range includes the entire inside area of ​​the boarding / deboarding compartment and which is capable of detecting the presence or absence of a foreign object within the detection range; a data processing device that detects a foreign object in the passenger compartment from detection data from both the detection device and the millimeter wave system, The pallet over-passage is located inside the boarding and disembarking area at the fixed position, the pallet on which the over-pallet passage is installed has the over-pallet passage within a detection range of the detection device or the millimeter wave system at the fixed position; the data processing device determines that the passenger compartment is unoccupied when the detection device does not detect the foreign object and the millimeter wave system does not detect the living body when the over-pallet passage is located inside the passenger compartment; the millimeter wave system includes a side living body detection radar that irradiates the vehicle parked inside the boarding and disembarking area with the millimeter wave from a side, The above-pallet passage is within the irradiation range of the millimeter waves of the lateral living body detection radar and is provided across the entire width direction of the pallet, The pallet on which the above-pallet walkway is installed has a storage box that is located inside the boarding and disembarking area when in the fixed position and can contain items, An unmanned inspection system, wherein the above-pallet passage is located in the entire range of the top surface of the pallet excluding the range covered by the storage box.

3. The detection device includes: a mat switch that is laid over the entire upper pallet passage and the entire floor surface of the boarding / deboarding room, detects the load of the foreign object placed thereon, and outputs a contact detection signal as the detection data to the data processing device; a passive sensor that detects the living body as the foreign object by receiving infrared rays or heat emitted from the surface of the living body and that includes the entire inside area of ​​the boarding / deboarding cabin within its detection range, and outputs the detection data to the data processing device; a device that detects the person as the foreign object by capturing images of the entire interior of the boarding / deboarding compartment with a surveillance camera and analyzing the camera images with artificial intelligence; Alternatively, the unmanned confirmation system according to claim 2 is a device that detects the person as the foreign object by utilizing Wi-Fi radio wave reflection data to perform positioning or sensing within the boarding / deboarding compartment.

4. The pallet on which the above-pallet walkway is installed has a storage box that is located inside the boarding and disembarking area when in the fixed position and can contain items, 2. The unmanned confirmation system according to claim 1, wherein the above-pallet passage is located within the entire range of the top surface of the pallet excluding the area covered by the storage box.

5. 2. The unmanned inspection system according to claim 1, wherein the laser system is a plurality of three-dimensional laser radars installed so as to prevent the foreign object from entering between the interior wall and floor of the boarding / deboarding compartment, and positioned on either side of the boarding / deboarding area.

6. The unmanned confirmation system according to claim 1 , wherein the laser system is one or more three-dimensional laser radars installed in a position that allows a bird's-eye view of the entire inside of the boarding / de-boarding compartment.

7. 1. A method for unmanned confirmation of a boarding / deboarding compartment of a mechanical parking device in which vehicles are stored on pallets and at least one pallet has an over-pallet passageway that is provided on the pallet across the entire width of the pallet and is accessible by people, A three-dimensional boarding and disembarking area for the vehicle is set inside the boarding and disembarking room, and a fixed position of the pallet is set at a lower end of the boarding and disembarking area, an unmanned data storage step of storing unmanned data, which is detection data of the laser system when the over-pallet passage is located inside the boarding and disembarking area at the fixed position and no foreign object is present in the boarding and disembarking compartment; a foreign object detection step of determining that no foreign object is present when the coordinate data of the entire area inside the boarding / deboarding compartment obtained by the laser system is the same as the unmanned data when the above-pallet passage is located inside the boarding / deboarding area; and an unmanned confirmation step of determining that the boarding / alighting compartment is unmanned if the foreign object detection step determines that no foreign object is present and if a millimeter wave system that irradiates millimeter waves from the side of the boarding / alighting area to detect only living organisms does not detect any living organism in the boarding / alighting area.

8. 1. A method for unmanned confirmation of a boarding / deboarding compartment of a mechanical parking device in which vehicles are stored on pallets and at least one pallet has an over-pallet passageway that is provided on the pallet across the entire width of the pallet and is accessible by people, A three-dimensional boarding and disembarking area for the vehicle is set inside the boarding and disembarking room, and a fixed position of the pallet is set at a lower end of the boarding and disembarking area, and an unmanned confirmation step of determining that the interior of the boarding / alighting compartment is unmanned if no foreign object is detected by a detection device whose detection range includes the entire interior area of ​​the boarding / alighting compartment, and if no living body is detected in the boarding / alighting area by a millimeter wave system that irradiates the boarding / alighting area from the side with millimeter waves to detect only living bodies.

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