Parking device

Abstract

To provide a parking device capable of switching detection of an object by an upper detection unit between valid and invalid as occasion demands.SOLUTION: In the parking device, a lower detection unit is provided with a first lower sensor that detects an object at a first lower detection position, and a second lower sensor that detects an object at a second lower detection position closer to an advancing direction side than the first lower detection position, and a processing unit switches detection of an object by the upper detection unit from invalid to valid in vehicle height determination when a first state where the first lower sensor detects the object while the second lower sensor does not detect the object is set and then the first state is changed to a second state where both the first and second lower sensors detect the objects.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] This application relates to a parking device.

Background Art

[0002] Conventionally, for example, a parking device includes an upper sensor and a lower sensor that detect an object, and a processing unit that determines based on the detections of the upper sensor and the lower sensor whether a vehicle higher than a vehicle height limit value enters (for example, Patent Document 1). By the way, in the parking device according to Patent Document 1, since the detection of an object by the upper sensor is always effective, for example, it cannot be denied that it may have an adverse effect on the determination by the processing unit.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Therefore, the problem is to provide a parking device capable of switching the validity and invalidity of the detection of an object by the upper detection unit as needed.

Means for Solving the Problems

[0005] [1] The parking device comprises a lower detection unit for detecting objects, an upper detection unit for detecting objects located above the position of objects detected by the lower detection unit, and a vehicle height determination processing unit that determines the height of an approaching vehicle based on the detection by the upper detection unit. The lower detection unit comprises a first lower sensor for detecting objects at a first lower detection position and a second lower sensor for detecting objects at a second lower detection position located on the approaching side of the first lower detection position. The processing unit switches the detection of objects by the upper detection unit from disabled to enabled in the vehicle height determination when it enters a first state in which the first lower sensor detects an object and the second lower sensor does not detect an object, and then moves from the first state to a second state in which both the first and second lower sensors detect objects.

[0006] [2] Furthermore, in the parking device described in [1] above, the upper detection unit may be configured to include a plurality of upper sensors that detect objects at different positions in the vertical direction.

[0007] [3] Furthermore, the parking device described in [1] or [2] above may also be configured to further include a plurality of movable pallets, wherein there are multiple vehicle height limit values ​​for each pallet, and the processing unit stores the vehicle height limit value for each pallet and determines, based on the detection by the upper detection unit, whether the height of the approaching vehicle is higher than the vehicle height limit value of the pallet into which it is approaching.

[0008] [4] Alternatively, any one of the parking devices described in [1] to [3] above may further include an output unit that outputs information, and the processing unit may determine, based on the detection by the upper detection unit, whether the height of the approaching vehicle is higher than the vehicle height limit, and if it determines that the height of the approaching vehicle is higher than the vehicle height limit, it may cause the output unit to output information.

[0009] [5] Furthermore, any one of the parking devices described in [1] to [4] above may further include a plurality of movable pallets and a gate that is positioned on the exit side of the pallets and is movable up and down, wherein the first lower detection position is closer to the gate than the second lower detection position in the entry and exit direction, and the processing unit stops the raising and lowering of the gate when the first lower sensor detects an object, and the second lower detection position is the position of the gate-side end of the pallet into which the vehicle enters, or a position between the pallet and the gate, and the processing unit stops the movement of the pallet when the second lower sensor detects an object.

[0010] [6] Furthermore, in any one of the parking devices described in [1] to [5] above, the position detected by the upper detection unit is the same as the second lower detection position in the entry / exit direction, and the processing unit may be configured such that, from the second state, the second lower sensor detects an object and the first lower sensor does not detect an object, and then, from the third state, the system moves to a fourth state where both the first lower sensor and the second lower sensor do not detect an object, in which case the upper detection unit switches the detection of an object from enabled to disabled in the vehicle height determination.

[0011] [7] Furthermore, in any one of the parking devices described in [1] to [5] above, the processing unit may be configured to switch the detection of an object by the upper detection unit from enabled to disabled in the vehicle height determination when the vehicle moves from the second state to a third state in which the second lower sensor detects an object and the first lower sensor does not detect an object. [Brief explanation of the drawing]

[0012] [Figure 1] Front view of a parking device according to one embodiment. [Figure 2] Side view of the parking device according to the same embodiment. [Figure 3] Enlarged view of area III in Figure 2 [Figure 4] Enlarged view of area IV in Figure 1 [Figure 5] Control block diagram of the parking device according to the embodiment [Figure 6] Control flow diagram of the detection switching control of the upper detection unit [Figure 7] Explanatory diagram of the detection switching control of the upper detection unit ((a) Diagram showing the first state, (b) Diagram showing the second state) [Figure 8] Explanatory diagram of the detection switching control of the upper detection unit ((a) Diagram showing the third state, (b) Diagram showing the fourth state) [Figure 9] Explanatory diagram of the detection switching control of the upper detection unit ((a) Diagram showing the first state, (b) Diagram showing the third state) [Figure 10] Side view of the main part of the parking device according to another embodiment [Figure 11] Side view of the main part of the parking device according to still another embodiment [Figure 12] Side view of the main part of the parking device according to still another embodiment

Mode for Carrying Out the Invention

[0013] In each drawing, the dimensions of the components may be enlarged or reduced with respect to the actual dimensions for ease of understanding, for example, and the dimensional ratios between the drawings may not match. In addition, in each drawing, a part of the components may be omitted for ease of understanding, for example.

[0014] Terms including ordinals such as first, second, etc. are used to describe various components, but this term is used only for the purpose of distinguishing one component from another, and the components are not particularly limited by this term. Note that the number of components including ordinals is not particularly limited, and may be, for example, one. Also, the ordinals used in the following specification and drawings may be different from those described in the claims.

[0015] Hereinafter, an embodiment of the parking device will be described with reference to FIGS. 1 to 9. The following embodiment is an example for helping the understanding of the configuration of the parking device and does not limit the configuration of the parking device.

[0016] As shown in FIGS. 1 and 2, the parking device 1 may include, for example, a pallet 2 on which a vehicle X1 is placed, a moving device 3 that moves the pallet 2, a device body 4 that supports the pallet 2, a gate 5 that moves up and down, and a board 6. Then, for example, when the pallet 2 is moved by the moving device 3, a desired vehicle X1 can exit from the pallet 2 or enter the desired pallet 2.

[0017] Note that the first lateral direction D1 is also referred to as an entrance / exit direction D1 in which the vehicle X1 enters and exits the parking device 1 (specifically, the pallet 2), and the second lateral direction D2 is a lateral direction orthogonal to the first lateral direction D1 and is also referred to as a width direction D2. Also, in the entrance / exit direction D1, the direction in which the vehicle enters the parking device 1 (pallet 2) is referred to as an entry direction D1a, and the direction in which the vehicle exits the parking device 1 (pallet 2) is referred to as an exit direction D1b.

[0018] In FIGS. 1 and 2, five pallets 2 are arranged in the vertical direction D3, one pallet 2 is arranged in the first lateral direction D1, and two or three pallets 2 are arranged in the second lateral direction D2. That is, the parking device 1 is a lift-and-transverse type device in which the pallet 2 can move in the vertical direction D3 and the second lateral direction D2. Thereby, the parking device 1 has three entrance / exit portions 1a on the first floor where the vehicle X1 can enter and exit the pallet 2.

[0019] Note that the number of pallets 2 arranged in each direction D1, D2, D3 may be, for example, one, or may be, for example, a plurality, and is not particularly limited. That is, the parking device 1 may be, for example, a lift type device in which the pallet 2 can move only in the vertical direction D3, or may be, for example, a lift-and-transverse-and-longitudinal type device in which the pallet 2 can move in the vertical direction D3, the first lateral direction D1, and the second lateral direction D2.

[0020] Furthermore, the parking device 1 may be, for example, an elevator system, a vertical circulation system, a horizontal circulation system, a multi-layer circulation system, etc., and the method of moving the pallet 2 is not particularly limited. Also, the parking device 1 may be configured such that the pallet 2 moves only on the ground, as in this embodiment, or it may be configured such that the pallet 2 also moves to an underground pit.

[0021] Furthermore, there may be multiple height limits for pallet 2, as in this embodiment. While not particularly limited, for example, in this embodiment, the height limit for pallet 2 located on the 1st or 5th floor is a first height H1 (e.g., 2,100 mm), the height limit for pallet 2 located on the 3rd floor is a second height H2 (e.g., 1,850 mm), which is lower than the first height H1, and the height limit for pallet 2 located on the 2nd or 4th floor is a third height H3 (e.g., 1,550 mm), which is lower than the second height H2.

[0022] Gate 5 may be positioned on the exit direction D1b side of pallet 2, for example, as in this embodiment. In this way, gate 5 separates the inside from the outside of parking device 1. Specifically, gate 5 separates the storage space for storing the vehicle X1 placed on pallet 2 from the external space which is outside the storage space.

[0023] As shown in Figures 3 and 4, the parking device 1 may include, for example, a lower detection unit 7 that detects objects in the entrance / exit section 1a, an upper detection unit 8 that detects objects at positions P3 to P5 above the positions P1 and P2 of objects detected by the lower detection unit 7 in the entrance / exit section 1a, and fixing means 9 for fixing each of the detection units 7 and 8 to the entrance / exit section 1a.

[0024] The lower detection unit 7 may, for example, include a first lower sensor 7a that detects an object at a first lower detection position P1, and a second lower sensor 7b that detects an object at a second lower detection position P2 which is on the entry direction D1a side of the first lower detection position P1. The number of sensors 7a and 7b in the lower detection unit 7 is not particularly limited as long as there are multiple sensors, for example, there may be three or more.

[0025] The upper detection unit 8 may, for example, include a first upper sensor 8a for detecting an object at a first upper detection position P3, a second upper sensor 8b for detecting an object at a second upper detection position P4 lower than the first upper detection position P3, and a third upper sensor 8c for detecting an object at a third upper detection position P5 lower than the second upper detection position P4 and higher than the first and second lower detection positions P1 and P2, as in this embodiment. The number of sensors 8a to 8c in the upper detection unit 8 is not particularly limited; for example, there may be one, two, or four or more.

[0026] The configuration of each sensor 7a-7b, 8a-8c is not particularly limited as long as it can detect an object at the desired detection position P1-P5. Each sensor 7a-7b, 8a-8c may be, for example, a photoelectric sensor consisting of a light-emitting part and a light-receiving part separated in the width direction D2, as in this embodiment, or it may be, for example, an ultrasonic sensor, or for example, a contact type sensor.

[0027] The first lower sensor 7a may be positioned on the side of the exit direction D1b from gate 5, for example, as in this embodiment, such that the first lower detection position P1 is on the exit direction D1b side from gate 5. The second lower sensor 7b may also be positioned on the side of the entry direction D1a from gate 5, for example, as in this embodiment, such that the second lower detection position P2 is on the entry direction D1a side from gate 5.

[0028] Furthermore, the second lower detection position P2 may be, for example, as in this embodiment, the position of the gate 5 side end of the pallet (hereinafter also referred to as the "entry target pallet") 2 into which the vehicle X1 enters in the entry direction D1, that is, the position of the exit direction D1b side end of the entry target pallet 2.

[0029] As a result, the second lower sensor 7b can detect vehicle X1 if, for example, vehicle X1 has not entered the pallet 2 in the entry direction D1a to the correct position relative to the pallet 2. The position of the end of the pallet 2 on the gate 5 side may be, for example, a position within 500 mm of the edge of the pallet 2 on the gate 5 side, or it may be, for example, a position within 100 mm of the edge of the pallet 2 on the gate 5 side.

[0030] Furthermore, the first lower detection position P1 may be, for example, a position closer to the gate 5 in the entry / exit direction D1 than the second lower detection position P2, as in this embodiment. This allows the first lower sensor 7a to detect a person, for example, when a person is near or has entered the gate 5.

[0031] The distance between the first lower detection position P1 and gate 5 in the entry / exit direction D1 is not particularly limited, but may be, for example, 10 mm to 300 mm, or 50 mm to 200 mm. Similarly, the distance between the second lower detection position P2 and gate 5 in the entry / exit direction D1 is not particularly limited, but may be, for example, 100 mm to 600 mm, or 200 mm to 400 mm.

[0032] Furthermore, although not particularly limited, the first lower detection position P1 may be the same position as the second lower detection position P2 in the vertical direction D3 (including not only the exact same position, but also approximately the same position differing by less than 30 mm), as in this embodiment. The distance between the first lower detection position P1 and the second lower detection position P2 in the vertical direction D3 is not particularly limited, but may be, for example, 0 mm to 100 mm.

[0033] The first upper sensor 8a may be positioned such that, for example, the first upper detection position P3 is higher than the first height H1, as in this embodiment. For example, the first upper detection position P3 may be set at a height of the vehicle X1 such that it does not hit the pallet 2 directly above (on the second floor) when placed on the pallet 2 on the first floor. Although not particularly limited, the first upper detection position P3 may be set to a position 30 mm to 100 mm higher than the first height H1, for example.

[0034] The second upper sensor 8b may be positioned below the first upper sensor 8a, for example, as in this embodiment, such that the second upper detection position P4 is lower than the first height H1 and higher than the second height H2. For example, the second upper detection position P4 may be set at a height of the vehicle X1 such that it does not hit the pallet 2 directly above (on the fourth floor) when placed on the pallet 2 on the third floor. Although not particularly limited, the second upper detection position P4 may be set to a position 30 mm to 100 mm higher than the second height H2.

[0035] The third upper sensor 8c may be positioned below the second upper sensor 8b, for example, as in this embodiment, such that the third upper detection position P5 is lower than the second height H2 and higher than the third height H3. For example, the third upper detection position P5 may be set at a height of the vehicle X1 that does not come into contact with the pallet 2 directly above it (on the third or fifth floor) when placed on a pallet 2 on the second or fourth floor. Although not particularly limited, the third upper detection position P5 may be set to a position 30 mm to 100 mm higher than the third height H3.

[0036] Furthermore, each upper sensor 8a to 8c may be positioned on the side of the entry direction D1a that is closer to the entry direction D1a than the gate 5, for example, as in this embodiment. And, for example, the distance between each upper detection position P3 to P5 and the second lower detection position P2 in the entry / exit direction D1 may be smaller than the distance between the first lower detection position P1 and the second lower detection position P2 in the entry / exit direction D1.

[0037] While not particularly limited, for example, as in this embodiment, each upper detection position P3 to P5 may be at the same position as the second lower detection position P2 in the entry / exit direction D1 (including not only the exact same position, but also approximately the same position differing by less than 30 mm). That is, as in this embodiment, the distance between each upper detection position P3 to P5 and the second lower detection position P2 in the entry / exit direction D1 may be zero.

[0038] Furthermore, the fixing means 9 may connect the device body 4 to each of the sensors 7a-7b and 8a-8c in order to fix each of the sensors 7a-7b and 8a-8c to the inlet / outlet section 1a, as in this embodiment. Each of the sensors 7a-7b and 8a-8c may be provided for each of the inlet / outlet sections 1a, as in this embodiment.

[0039] For example, the fixing means 9 may connect the pallet 2 to each of the sensors 7a-7b, 8a-8c, and each of the sensors 7a-7b, 8a-8c may be provided for each of the pallets 2. Also, for example, at least one of the multiple sensors 7a-7b, 8a-8c may also serve as the detection unit 7, 8 of the multiple inlet / outlet units 1a. That is, for example, if the detection unit 7, 8 that serves as the detection unit is a photoelectric sensor consisting of a light-emitting unit and a light-receiving unit, then multiple inlet / outlet units 1a may be arranged between the light-emitting unit and the light-receiving unit in the width direction D2.

[0040] As shown in Figure 5, the parking device 1 may include, for example, an input unit 10 into which various information is input, an output unit 11 into which various information is output, and a processing unit 12 that processes the various information and controls the parking device 1. Although not particularly limited, the input unit 10, output unit 11, and processing unit 12 may each be arranged on a panel 6 (see Figure 1).

[0041] The input unit 10 is not particularly limited, but may be, for example, a switch (push button switch, select switch, etc.), a touch panel, etc. The output unit 11 may also include, for example, a display unit 11a (e.g., a display panel, indicator light) for displaying information and a sound-emitting unit 11b (e.g., a buzzer, speaker) for emitting sound, as in this embodiment.

[0042] The processing unit 12 may, for example, include an acquisition unit 12a that acquires information from each of the units 7, 8, and 10, a storage unit 12b that stores the information, an calculation unit 12c that performs calculations on the information, and a control unit 12d that controls each of the units 3, 5, and 11, as in this embodiment. The calculation unit 12c may, for example, include an upper detection determination unit 12e that determines whether to enable or disable the detection of the upper detection unit 8, and a vehicle height determination unit 12f that determines whether the height of the approaching vehicle X1 is higher than the vehicle height limit of the approaching pallet 2, as in this embodiment.

[0043] The processing unit 12 may be a computer equipped with, for example, a processor such as a CPU and MPU (e.g., arithmetic unit 12c, control unit 12d), memory such as ROM and RAM (e.g., acquisition unit 12a, storage unit 12b), and various interfaces (e.g., acquisition unit 12a). In this configuration, the processor executes the program stored in memory, and the software and hardware work together to realize each of the processing unit 12a to 12d.

[0044] Furthermore, the processing unit 12 may consist of, for example, a single device, or it may consist of, for example, multiple devices that can communicate with each other. Specifically, each part 12a to 12d of the processing unit 12 may be provided in, for example, a single device, or it may be distributed and provided in, for example, multiple devices that can communicate with each other.

[0045] Here, we will explain each control of the parking device 1 according to this embodiment. Note that the control of the parking device 1 is not limited to the following controls.

[0046] <Gate Lifting Control> Returning to Figure 3, the first lower detection position P1 is closer to the gate 5 than the second lower detection position P2 in the entry / exit direction D1. Therefore, when the first lower sensor 7a detects an object, the processing unit 12 stops (does not allow) the raising and lowering of the gate 5. This allows the raising and lowering of the gate 5 to be stopped, for example, when a person is near or entering the gate 5.

[0047] <Palette movement control> The second lower detection position P2 is the position of the gate 5 side end of the pallet 2 to be entered in the entry / exit direction D1. Therefore, when the second lower sensor 7b detects an object, the processing unit 12 stops (does not permit) the movement of the pallet 2 to be entered. This makes it possible to stop the movement of the pallet 2 to be entered, for example, if a vehicle X1 is protruding from the pallet 2 to be entered.

[0048] <Upper detection unit switching control> As shown in Figure 6, first, the processing unit 12 (specifically, the upper detection determination unit 12e) disables the detection of the upper detection unit 8 (S1). The form in which the detection of the upper detection unit 8 is disabled is not particularly limited. For example, even if the processing unit 12 receives an output signal from the upper detection unit 8, the processing unit 12 may not use that signal for control. Alternatively, the processing unit 12 may not receive signals from the upper detection unit 8 by, for example, stopping the power supply to the upper detection unit 8 or stopping communication between the processing unit 12 and the upper detection unit 8.

[0049] Then, when the first lower sensor 7a detects an object and the second lower sensor 7b does not detect an object, the first requirement is met (S3). Subsequently, when the system moves from the first state (S5, "Y") to the second state where both the first lower sensor 7a and the second lower sensor 7b detect an object (S4, "Y"), the second requirement is met (S6).

[0050] As a result, the processing unit 12 switches the detection of the upper detection unit 8 from disabled to enabled (S7). For example, the control may be such that the second requirement is met (S6) immediately after the second state is reached (Y in S4), or the control may be such that the second requirement is met (S6) after the second state continues for a set time (e.g., 0.2 seconds to 1.0 second) (Y in S4).

[0051] For example, as shown in Figure 7(a), the vehicle X1 enters the first state (S2 "Y" in Figure 6) when it enters the target pallet 2. Then, as the vehicle X1 enters the target pallet 2 further, the first state continues (S5 "Y" in Figure 6), and as shown in Figure 7(b), the system enters the second state (S4 "Y" in Figure 6). As a result, the detection by the upper detection unit 8 switches from disabled to enabled (S7 in Figure 6), and for example, the detection of the vehicle X1 by the second and third upper sensors 8b and 8c is used for control (for example, the "vehicle height determination control" described later).

[0052] Furthermore, each of the upper detection positions P3 to P5 is in the same position as the second lower detection position P2 in the entry / exit direction D1 (see Figure 3). As a result, when the end of vehicle X1 on the entry direction D1a side (the rear end of vehicle X1 in Figures 7 and 8) passes through the upper detection positions P3 to P5, the detection of the upper detection unit 8 switches from disabled to enabled.

[0053] Returning to Figure 6, after the detection of the upper detection unit 8 switches from disabled to enabled (S7), the third requirement is met (S10) when the system transitions from the second state ("Y" in S9) to the third state in which the first lower sensor 7a does not detect an object and the second lower sensor 7b does detect an object ("Y" in S8). Subsequently, the fourth requirement is met (S13) when the system transitions from the third state ("Y" in S12) to the fourth state in which both the first lower sensor 7a and the second lower sensor 7b do not detect an object ("Y" in S11).

[0054] As a result, the processing unit 12 switches the detection of the upper detection unit 8 from enabled to disabled (S1). For example, the control may be such that the fourth requirement is met immediately after the fourth state is reached ("Y" in S11) (S13), or the control may be such that the fourth requirement is met after the fourth state continues for a set time (for example, 0.2 seconds to 1.0 second) ("Y" in S11) (S13).

[0055] For example, as shown in Figure 7(b), after the detection of the upper detection unit 8 switches from disabled to enabled (S7 in Figure 6), the vehicle X1 further enters the target pallet 2, and from the state in which the second state is continued ("Y" in S9 in Figure 6), it transitions to the third state ("Y" in S8 in Figure 6), as shown in Figure 8(a). Subsequently, as the vehicle X1 further enters the target pallet 2, the state in which the third state is continued ("Y" in S12 in Figure 6), transitions to the fourth state ("Y" in S11 in Figure 6), as shown in Figure 8(b), and the detection of the upper detection unit 8 switches from enabled to disabled (S1 in Figure 6).

[0056] Furthermore, each of the upper detection positions P3 to P5 is at the same position as the second lower detection position P2 in the entry / exit direction D1 (see Figure 3). As a result, after the end of the vehicle X1 on the exit direction D1b side (the front end of the vehicle X1 in Figures 7 and 8) passes through the upper detection positions P3 to P5, the detection of the upper detection unit 8 switches from enabled to disabled. Therefore, the upper detection unit 8 can detect the vehicle X1 over its entire length in the entry / exit direction D1 as it enters.

[0057] Returning to Figure 6, after the detection of the upper detection unit 8 is switched to enabled (S7), for example, vehicle X1 may exit in the exit direction D1b. In such cases, if the first state or the fourth state is reached ("N" in S9, "N" in S12), the fulfilled requirements are released, and the detection of the upper detection unit 8 switches from enabled to disabled (S1).

[0058] Incidentally, if the first requirement is met (S3), but the system does not proceed to the second state ("N" in S4), and the first state does not continue ("N" in S5), the fulfillment of the first requirement is canceled, and the processing unit 12 maintains the detection of the upper detection unit 8 in a disabled state (S1). As a result, even if the system subsequently proceeds to, for example, the second or third state ("N" in S2), the processing unit 12 maintains the detection of the upper detection unit 8 in a disabled state (S1).

[0059] For example, as shown in Figure 9(a), the first state is reached when person X2 enters the pallet 2 (S2 "Y" in Figure 6). Then, when person X2 enters the pallet 2 further, for example, the fourth state is reached (S5 "N" in Figure 6), and then, as shown in Figure 9(b), if the third state is reached (S2 "N" in Figure 6), the detection by the upper detection unit 8 remains disabled (S1).

[0060] As a result, even if the third upper sensor 8c detects a person X2, for example, that detection will be invalidated. Therefore, since the detection of the upper detection unit 8 can be switched on and off as needed, it is possible to suppress, for example, misjudgment of vehicle height due to the detection of a person X2 by the upper detection unit 8.

[0061] Furthermore, the distance between the first lower detection position P1 and the second lower detection position P2 in the entry / exit direction D1 may be longer than a person's stride. While not particularly limited, the distance between the first lower detection position P1 and the second lower detection position P2 in the entry / exit direction D1 may be, for example, 300 mm or more, or 400 mm or more. Also, while not particularly limited, the distance between the first lower detection position P1 and the second lower detection position P2 in the entry / exit direction D1 may be, for example, 800 mm or less.

[0062] Thus, the detection by the first lower sensor 7a is used not only to switch between allowing and stopping the raising and lowering of the gate 5, but also to switch between enabling and disabling the detection by the upper detection unit 8. Similarly, the detection by the second lower sensor 7b is used not only to switch between allowing and stopping the movement of the pallet 2 to enter, but also to switch between enabling and disabling the detection by the upper detection unit 8.

[0063] <Vehicle Height Detection and Control>

[0064] The processing unit 12 (specifically, the storage unit 12b) stores a vehicle height limit value for each pallet 2. In this embodiment, the vehicle height limit value for a pallet 2 housed on the 1st or 5th floor is the first height H1, the vehicle height limit value for a pallet 2 housed on the 3rd floor is the second height H2, and the vehicle height limit value for a pallet 2 housed on the 2nd or 4th floor is the third height H3.

[0065] The processing unit 12 (specifically, the vehicle height determination unit 12f) determines, based on the detection by the upper sensors 8a to 8c, whether the height of the approaching vehicle X1 is higher than the vehicle height limit of the approaching pallet 2. If the processing unit 12 determines that the height of the vehicle X1 is higher than the vehicle height limit, the output unit 11 outputs information. This allows the system to recognize that the height of the approaching vehicle X1 is higher than the vehicle height limit.

[0066] The timing at which the output unit 11 stops outputting the information is not particularly limited. For example, the output of the output unit 11 may be stopped when information to stop output is input to the input unit 10. Alternatively, the output of the output unit 11 may be stopped when, for example, vehicle X1 has completely exited the target pallet 2, that is, when it has transitioned in the order of second state, first state, and fourth state.

[0067] For example, when the target pallet 2 is a pallet 2 located on the 1st or 5th floor, if the first upper sensor 8a detects a vehicle X1, the processing unit 12 determines that the height of the vehicle X1 is higher than the vehicle height limit. If the first upper sensor 8a does not detect a vehicle X1, the processing unit 12 determines that the height of the vehicle X1 is less than or equal to the vehicle height limit.

[0068] Furthermore, for example, when the target pallet 2 is a pallet 2 located on the 3rd floor, if at least one of the first and second upper sensors 8a and 8b detects vehicle X1, the processing unit 12 determines that the height of vehicle X1 is higher than the vehicle height limit, and if neither of the first and second upper sensors 8a and 8b detects vehicle X1, the processing unit 12 determines that the height of vehicle X1 is less than or equal to the vehicle height limit.

[0069] Furthermore, for example, when the target pallet 2 is a pallet 2 located on the 2nd or 4th floor, if at least one of the 1st to 3rd upper sensors 8a to 8c detects vehicle X1, the processing unit 12 determines that the height of vehicle X1 is higher than the vehicle height limit. If none of the 1st to 3rd upper sensors 8a to 8c detect vehicle X1, the processing unit 12 determines that the height of vehicle X1 is less than or equal to the vehicle height limit.

[0070] In this way, the first to third upper sensors 8a to 8c detect objects at different positions P3 to P5 in the vertical direction D3, making it possible to determine multiple heights for an approaching vehicle X1. Furthermore, it is possible to determine whether the height of the vehicle X1 is appropriate for each of the multiple pallets 2 with different vehicle height limits.

[0071] Based on the above, the parking device 1, as in this embodiment, comprises a lower detection unit 7 for detecting objects, an upper detection unit 8 for detecting objects at positions P3 to P5 above the positions P1 and P2 of objects detected by the lower detection unit 7, and a vehicle height determination processing unit 12 that determines the height of the approaching vehicle X1 based on the detection by the upper detection unit 8. The lower detection unit 7 comprises a first lower sensor 7a for detecting objects at a first lower detection position P1, and a second lower sensor 7b for detecting objects at a second lower detection position P2 which is on the approaching direction D1a side of the first lower detection position P1. The processing unit 12 preferably switches the detection of objects by the upper detection unit 8 from disabled to enabled in the vehicle height determination when it enters a first state in which the first lower sensor 7a detects an object and the second lower sensor 7b does not detect an object, and then moves from the first state to a second state in which both the first lower sensor 7a and the second lower sensor 7b detect objects.

[0072] With this configuration, the system enters a first state where the first lower sensor 7a detects an object and the second lower sensor 7b does not detect an object. Subsequently, when the system transitions from the first state to a second state where both the first lower sensor 7a and the second lower sensor 7b detect an object, the object detection by the upper detection unit 8 is switched from disabled to enabled in the vehicle height determination. This allows the upper detection unit 8 to switch between enabled and disabled as needed.

[0073] Furthermore, in the parking device 1, it is preferable that the upper detection unit 8, as in this embodiment, is equipped with a plurality of upper sensors 8a to 8c that detect objects at different positions P3 to P5 in the vertical direction D3.

[0074] With this configuration, multiple upper sensors 8a to 8c detect objects at different positions P3 to P5 in the vertical direction D3, making it possible to determine multiple heights for an approaching vehicle X1.

[0075] Furthermore, the parking device 1, as in this embodiment, preferably comprises a plurality of movable pallets 2, where there are multiple vehicle height limit values ​​for each pallet 2, and the processing unit 12 stores the vehicle height limit value for each pallet 2, and based on the detection of the upper detection unit 8, determines whether the height of the approaching vehicle X1 is higher than the vehicle height limit value of the pallet 2 into which it is approaching.

[0076] With this configuration, since a vehicle height limit is stored for each pallet 2, it is determined whether the height of the approaching vehicle X1 is higher than the vehicle height limit of the pallet 2 it is approaching. This allows the suitability of the vehicle X1's height to be determined for each pallet 2.

[0077] Furthermore, the parking device 1 preferably includes an output unit 11 that outputs information, and the processing unit 12 determines whether the height of the approaching vehicle X1 is higher than the vehicle height limit value based on the detection of the upper detection unit 8, and if it determines that the height of the approaching vehicle X1 is higher than the vehicle height limit value, it causes the output unit 11 to output information.

[0078] With this configuration, it is determined whether the height of the approaching vehicle X1 is higher than the vehicle height limit, and if it is determined that the height of the approaching vehicle X1 is higher than the vehicle height limit, the output unit 11 outputs information. This makes it possible to recognize that the height of the approaching vehicle X1 is higher than the vehicle height limit.

[0079] Furthermore, the parking device 1, as in this embodiment, further comprises a plurality of movable pallets 2 and a gate 5 positioned on the exit direction D1b side of the pallets 2 and capable of being raised and lowered, wherein the first lower detection position P1 is closer to the gate 5 than the second lower detection position P2 in the entry / exit direction D1, the processing unit 12 stops the raising and lowering of the gate 5 when the first lower sensor 7a detects an object, the second lower detection position P2 is the position of the end of the pallet 2 on the gate 5 side into which the vehicle X1 enters, or a position between the pallet 2 and the gate 5 (in this embodiment, the position of the end of the pallet 2 on the gate 5 side), and the processing unit 12 stops the movement of the pallet 2 when the second lower sensor 7b detects an object.

[0080] With this configuration, when the first lower sensor 7a detects an object, the raising and lowering of the gate 5 is stopped. Therefore, the detection by the first lower sensor 7a is used not only to enable and disable the detection by the upper detection unit 8, but also to enable and stop the raising and lowering of the gate 5. Furthermore, when the second lower sensor 7b detects an object, the movement of the pallet 2 is stopped. Therefore, the detection by the second lower sensor 7b is used not only to enable and disable the detection by the upper detection unit 8, but also to enable and stop the movement of the pallet 2.

[0081] Furthermore, in the parking device 1, as in this embodiment, the positions P3 to P5 detected by the upper detection unit 8 are the same as the second lower detection position P2 in the entry / exit direction D1, and the processing unit 12 is configured such that, from the second state, the second lower sensor 7b detects an object and the first lower sensor 7a does not detect an object, and then, from the third state, both the first lower sensor 7a and the second lower sensor 7b do not detect an object, it is preferable to switch the detection of an object by the upper detection unit 8 from enabled to disabled in the vehicle height determination.

[0082] With this configuration, from the second state to the fourth state, the detection of objects by the upper detection unit 8 is effective in determining the vehicle height. As a result, the upper detection unit 8 can detect the vehicle X1 over its entire length in the entry / exit direction D1.

[0083] It should be noted that the parking device 1 is not limited to the configuration of the embodiment described above, nor is it limited to the effects and benefits described above. Furthermore, it goes without saying that the parking device 1 can be modified in various ways without departing from the spirit of the present invention. For example, one or more of the configurations and methods described below may be arbitrarily selected and adopted in the configurations and methods of the embodiment described above.

[0084] (A) The parking device 1 according to the above embodiment is configured to include a plurality of movable pallets 2. However, the parking device 1 is not limited to this configuration. For example, the parking device 1 may not include pallets 2 and the parking space may not move (for example, parking on a floor with a ceiling inside a building).

[0085] (B) In addition, in the parking device 1 according to the above embodiment, there are multiple vehicle height limits on the pallet 2. However, the parking device 1 is not limited to this configuration. For example, there may be a configuration in which there is only one vehicle height limit on the pallet 2.

[0086] (C) In addition, in the parking device 1 according to the above embodiment, the first lower detection position P1 is located closer to the gate 5 in the entry / exit direction D1 than the second lower detection position P2. However, the parking device 1 is not limited to this configuration. For example, the second lower detection position P2 may be located closer to the gate 5 in the entry / exit direction D1 than the first lower detection position P1.

[0087] (D) In ​​addition, in the parking device 1 according to the above embodiment, the raising and lowering of the gate 5 is stopped when the first lower sensor 7a detects an object. However, the parking device 1 is not limited to this configuration. For example, the raising and lowering of the gate 5 is not stopped when the first lower sensor 7a detects an object. In such a configuration, although not particularly limited, for example, the raising and lowering of the gate 5 is stopped when the first lower sensor 7a and another third lower sensor detect an object.

[0088] (E) In addition, in the parking device 1 according to the above embodiment, the second lower detection position P2 is the position of the end of the pallet 2 on the gate 5 side into which the vehicle X1 enters. However, the parking device 1 is not limited to this configuration. For example, the second lower detection position P2 may be the position between the pallet 2 into which the vehicle X1 enters and the gate 5. Also, for example, the second lower detection position P2 may be the position on the entry direction D1a side of the end of the pallet 2 on the gate 5 side into which the vehicle X1 enters.

[0089] (F) In addition, in the parking device 1 according to the above embodiment, the movement of the pallet 2 is stopped when the second lower sensor 7b detects an object. However, the parking device 1 is not limited to this configuration. For example, the movement of the pallet 2 may not be stopped when the second lower sensor 7b detects an object. In such a configuration, although not particularly limited, for example, the movement of the pallet 2 may be stopped when the second lower sensor 7b and another third lower sensor detect an object.

[0090] (G) In addition, in the parking device 1 according to the above embodiment, the positions P3 to P5 detected by the upper detection unit 8 are the same as the second lower detection position P2 in the entry / exit direction D1. However, the parking device 1 is not limited to this configuration. For example, the distance between each upper detection position P3 to P5 and the second lower detection position P2 in the entry / exit direction D1 may be 30 mm or more. That is, the positions P3 to P5 detected by the upper detection unit 8 may be different from the second lower detection position P2 in the entry / exit direction D1.

[0091] Alternatively, for example, the positions P3 to P5 detected by the upper detection unit 8 may be located on the entry direction D1a side of the second lower detection position P2. Alternatively, for example, the positions P3 to P5 detected by the upper detection unit 8 may be located on the exit direction D1b side of the second lower detection position P2.

[0092] (H) Furthermore, in the parking device 1 according to the above embodiment, the processing unit 12 is configured to switch the detection of objects by the upper detection unit 8 from enabled to disabled in the vehicle height determination when it moves from the second state to the third state, and then from the third state to the fourth state. However, the parking device 1 is not limited to this configuration.

[0093] For example, the processing unit 12 may be configured to switch the detection of objects by the upper detection unit 8 from enabled to disabled in the vehicle height determination when another third lower sensor, which detects objects on the entry direction D1a side of the second lower sensor 7b, detects an object. Alternatively, for example, as shown in Figure 10, the processing unit 12 may be configured to switch the detection of objects by the upper detection unit 8 from enabled to disabled in the vehicle height determination when the system changes from the second state to the third state.

[0094] (H-1) The upper detection unit switching control shown in Figure 10 will be explained below.

[0095] For example, if person X2 enters pallet 2, resulting in a first state (first lower sensor 7a: on, second lower sensor 7b: off), and then directly transitions to a second state (first lower sensor 7a: on, second lower sensor 7b: on), as shown in Figure 10(a), the detection of the upper detection unit 8 is switched to enabled. Subsequently, as shown in Figure 10(b), if a third state (first lower sensor 7a: off, second lower sensor 7b: on) is entered, the detection of the upper detection unit 8 is switched to disabled.

[0096] As a result, even if the upper detection unit 8 (third upper sensor 8c) subsequently detects a person X2, for example, that detection will be invalidated. Therefore, since the detection of the upper detection unit 8 can be switched on and off as needed, it is possible to suppress, for example, misjudgment of vehicle height due to the detection of a person X2 by the upper detection unit 8.

[0097] Furthermore, for example, with respect to the upper detection unit switching control shown in Figure 10, the second lower detection position P2 may be configured as in the above embodiment, where the second lower detection position P2 is the position of the end of the pallet 2 on the gate 5 side into which the vehicle X1 enters, or a position between the pallet 2 and the gate 5. In addition, the processing unit 12 may be configured to stop the movement of the pallet 2 when the second lower sensor 7b detects an object.

[0098] With this configuration, the second lower sensor 7b detects the vehicle X1 when the vehicle X1 has not fully entered the target pallet 2. In that state (third state), even if the upper detection unit 8 detects the person X2 when the person X2 gets out of the vehicle X1 and heads toward, for example, the control panel 6 (see Figure 1), the detection is invalidated. This allows the upper detection unit 8 to be enabled and disabled as needed, thereby preventing, for example, misjudgment of vehicle height due to the detection of person X2 by the upper detection unit 8.

[0099] Thus, in the parking device 1, as shown in Figure 10, the processing unit 12 may be configured to switch the detection of an object by the upper detection unit 8 from enabled to disabled in the vehicle height determination when the second lower sensor 7b detects an object and the first lower sensor 7a does not detect an object, from the second state.

[0100] With this configuration, the detection of objects by the upper detection unit 8 is disabled in the vehicle height determination process by switching from the second state to the third state. This allows the detection of the upper detection unit 8 to be enabled and disabled as needed, thereby suppressing, for example, misjudgment of vehicle height due to the detection of a person X2 by the upper detection unit 8.

[0101] (I) In addition, in the parking device 1 according to the above embodiment, the first lower detection position P1 detected by the first lower detection unit 7a is at the same position as the second lower detection position P2 detected by the second lower detection unit 7b in the vertical direction D3. However, the parking device 1 is not limited to this configuration. For example, as shown in Figure 11, the distance between the first lower detection position P1 and the second lower detection position P2 in the vertical direction D3 may be 30 mm or more. That is, the first lower detection position P1 may be at a different position from the second lower detection position P2 in the vertical direction D3.

[0102] (J) In addition, in the parking device 1 according to the above embodiment, the processing unit 12 (vehicle height determination unit 12f) is configured to determine the vehicle height based only on the detection of the upper sensors 8a to 8c. However, the parking device 1 is not limited to this configuration.

[0103] For example, as shown in Figures 11 and 12, the processing unit 12 may be configured to determine the vehicle height based on the detections of the upper sensors 8a and 8b and the detections of the second lower sensor 7b. Although not particularly limited, the position where the second lower sensor 7b detects an object in Figures 11 and 12 may be the same position P3 where the third upper sensor 8c detects an object in the above embodiment.

[0104] With this configuration, the system enters a first state where the first lower sensor 7a detects an object and the second lower sensor 7b does not detect an object. Subsequently, when the system transitions from the first state to a second state where both the first lower sensor 7a and the second lower sensor 7b detect an object, the object detection by the upper detection unit 8 is switched from disabled to enabled in the vehicle height determination. Consequently, the detection by the second lower sensor 7b is also switched from disabled to enabled in the vehicle height determination.

[0105] (K) For example, the detection of an object by the upper detection unit 8 may also be used for control other than vehicle height determination. Then, when the vehicle enters a first state in which the first lower sensor 7a detects an object and the second lower sensor 7b does not detect an object, and then transitions from the first state to a second state in which both the first lower sensor 7a and the second lower sensor 7b detect an object, the upper detection unit 8 may switch from disabled to enabled in the vehicle height determination, for example, only in the vehicle height determination, or in some control including the vehicle height determination, or in all control including the vehicle height determination.

[0106] (L) For example, the execution order of operations, procedures, steps, and stages in the systems, methods, programs, and apparatus shown in the claims, specifications, and drawings can be implemented in any order, as long as the output of the previous process is not used in the subsequent process. For example, even if "first," "next," etc. are used for convenience in the explanation, it does not mean that the processes must be executed in that order. [Explanation of Symbols]

[0107] 1… Parking device, 1a… Entrance / exit section, 2… Pallet, 3… Moving device, 4… Device body, 5… Gate, 6… Board, 7… Lower detection section, 7a… First lower sensor, 7b… Second lower sensor, 8… Upper detection section, 8a… First upper sensor, 8b… Second upper sensor, 8c… Third upper sensor, 9… Fixing means, 10… Input section, 11… Output section, 11a… Display section, 11b… Sound output section, 12… Processing section, 12a… Acquisition section, 12b… Storage section, 12c… Arithmetic section, 12d… Control section, 12e… Upper detection determination section, 12f… Vehicle height determination section, D1… Entrance / exit direction (first lateral direction), D1a… Entrance direction, D1b… Exit direction, D2… Width direction (second lateral direction), D3… Vertical direction, H1… First height, H2… Second height, H3… Third height, P1… First lower detection position, P2… Second lower detection position, P3… First upper detection position, P4… Second upper detection position, P5… Third upper detection position, X1… Vehicle, X2… Person

Claims

1. A lower detection unit for detecting objects, An upper detection unit detects an object located above the position of the object detected by the lower detection unit, The system includes a processing unit that performs vehicle height determination based on the detection of the upper detection unit, which determines the height of the approaching vehicle. The lower detection unit comprises a first lower sensor for detecting an object at a first lower detection position, and a second lower sensor for detecting an object at a second lower detection position which is on the approach side of the first lower detection position. Parking device, wherein the processing unit enters a first state in which the first lower sensor detects an object and the second lower sensor does not detect an object, and then, when the system moves from the first state to a second state in which both the first lower sensor and the second lower sensor detect an object, the processing unit switches in the vehicle height determination from an invalid state in which it does not use the output signal from the upper detection unit for control, or does not receive the output signal from the upper detection unit, to an enabled state in which it receives the output signal from the upper detection unit and uses it for control.

2. The parking device according to claim 1, wherein the upper detection unit comprises a plurality of upper sensors that detect objects at different positions in the vertical direction.

3. It also features multiple movable pallets, There are multiple vehicle height limit values ​​for the aforementioned pallet. The aforementioned processing unit, The vehicle height limit value is stored for each pallet. The parking device according to claim 1 or 2, which determines whether the height of the approaching vehicle is higher than the vehicle height limit of the pallet into which the vehicle is to be approached, based on the detection of the upper detection unit.

4. It also includes an output unit that outputs information, The aforementioned processing unit, Based on the detection by the aforementioned upper detection unit, it is determined whether the height of the approaching vehicle is higher than the vehicle height limit. The parking device according to claim 1 or 2, wherein the output unit outputs information when it is determined that the height of the approaching vehicle is higher than the vehicle height limit.

5. Multiple movable pallets, The system further comprises a gate positioned on the exit side of the aforementioned pallet and capable of being raised and lowered, The first lower detection position is closer to the gate than the second lower detection position in the entry / exit direction. The processing unit stops the raising and lowering of the gate when the first lower sensor detects an object. The second lower detection position is the position of the gate-side end of the pallet into which the vehicle enters, or a position between the pallet and the gate. The parking device according to claim 1 or 2, wherein the processing unit stops the movement of the pallet when the second lower sensor detects an object.

6. The position detected by the upper detection unit is the same as the second lower detection position in the in / out direction. The parking device according to claim 1 or 2, wherein the processing unit switches from the second state to a third state in which the second lower sensor detects an object and the first lower sensor does not detect an object, and then from the third state to a fourth state in which both the first lower sensor and the second lower sensor do not detect an object, and then switches the vehicle height determination from the enabled state to the disabled state.

7. The parking device according to claim 1 or 2, wherein the processing unit switches from the second state to a third state in which the second lower sensor detects an object and the first lower sensor does not detect an object, in the vehicle height determination, from the enabled state to the disabled state.

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