Mechanical parking system, its safety verification method, and safety verification program

Abstract

To further improve safety around an entrance / exit of a passenger entry / exit chamber.SOLUTION: The mechanical parking apparatus comprises: a passenger entry / exit chamber 7 for performing at least one of vehicle entry and vehicle exit; an entrance / exit door 4 provided at an entrance / exit 3 of the passenger entry / exit chamber 7; a monitoring area setting unit for setting a monitoring area in the vicinity of the entrance / exit door; and an entrance / exit sensor 20 provided near the entrance / exit door 4 and configured to detect an object in the monitoring area. The monitoring area setting unit sets each monitoring area during a door-opening operation period in which the entrance / exit door 4 is opened and during a vehicle movement period in which the vehicle moves.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present disclosure relates to a mechanical parking device, a safety confirmation method therefor, and a safety confirmation program.

Background Art

[0002] In mechanical parking devices, various methods have been proposed to ensure safety. For example, Patent Document 1 discloses providing a door peripheral sensor around the entrance / exit door and stopping the closing operation of the entrance / exit door when a foreign object is detected by the door peripheral sensor when closing the door.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] By the way, it is important to confirm safety not only when closing the entrance / exit door but also when opening the entrance / exit door. This is because if a user comes into contact with the operating entrance / exit door, there is a risk of a finger being drawn in.

[0005] The present disclosure has been made in view of such circumstances, and an object thereof is to provide a mechanical parking device, a safety confirmation method therefor, and a safety confirmation program that can improve safety around the entrance / exit.

Means for Solving the Problems

[0006] A mechanical parking system according to one aspect of the present disclosure comprises an entry / exit compartment for entering and exiting vehicles, an entrance / exit door provided at the entrance / exit of the entry / exit compartment, a monitoring area setting means for setting a monitoring area near the entrance / exit door, and an object detection means provided near the entrance / exit door for detecting objects in the monitoring area, wherein the monitoring area setting means sets each monitoring area during the door opening operation period when the entrance / exit door is opened and during the vehicle movement period when the vehicle is moved.

[0007] A mechanical parking system according to one aspect of this disclosure includes a passenger compartment for entering and exiting vehicles, An entrance door provided at the entrance to the passenger compartment, A mechanical parking system in which the transport control of the vehicle transport means is performed with all or part of the entrance / exit of the passenger compartment open, wherein the monitoring area during the operation period of the vehicle transport means and the monitoring area during the door operation period when the entrance door is opened and / or closed. to the aforementioned entrance / exit door In the vicinity of setting A means for setting the monitoring area, before It includes object detection means for detecting objects in the monitoring area. The monitoring area setting means changes the monitoring area according to the degree of opening of the entrance door during the door operation period. ru.

[0008] A safety confirmation method for a mechanical parking system according to one aspect of the present disclosure is a safety confirmation method for a mechanical parking system comprising an entry / exit compartment for entering and exiting vehicles, and an entrance / exit door provided at the entrance / exit of the entry / exit compartment, wherein a computer performs a monitoring area setting step of setting a monitoring area near the entrance / exit door, and an object detection step of determining whether or not an object has been detected in the monitoring area, and in the monitoring area setting step, each monitoring area is set during the door opening operation period when the entrance / exit door is opened and during the vehicle movement period when the vehicle is moved.

[0009] A safety confirmation method for a mechanical parking system according to one aspect of this disclosure includes a passenger compartment for entering and exiting a vehicle, and An entrance door provided at the entrance to the passenger compartment, A safety confirmation method for a mechanical parking system in which the transport control of a vehicle transport means is performed with all or part of the entrance / exit of the passenger compartment open, wherein the monitoring area during the operation period of the vehicle transport means is and the monitoring area during the door operation period when the entrance door is opened and / or closed. to the aforementioned entrance / exit door In the vicinity of settingThe process of setting the monitoring area, before The computer performs an object detection process that determines whether or not an object has been detected in the monitored area. Furthermore, in the monitoring area setting step, during the door operation period, the monitoring area is changed according to the degree of opening of the entrance door. ru.

[0010] A safety confirmation program for a mechanical parking system according to one aspect of this disclosure is a program that causes a computer to execute the above-described safety confirmation method for a mechanical parking system. [Effects of the Invention]

[0011] According to this disclosure, safety around the entrances and exits of passenger compartments can be further improved. [Brief explanation of the drawing]

[0012] [Figure 1] This is a longitudinal cross-sectional view of a mechanical parking device according to the first embodiment of the present disclosure. [Figure 2] This is a schematic perspective view showing the passenger compartment according to the first embodiment of this disclosure. [Figure 3] This figure shows an example configuration of a control panel according to the first embodiment of this disclosure. [Figure 4] This is a functional configuration diagram showing an example of the functions of a control device for a mechanical parking system according to the first embodiment of this disclosure. [Figure 5] This figure shows an example of a monitoring area in the case of a two-door mechanical parking device set during the door opening operation period according to the first embodiment of this disclosure. [Figure 6] This figure shows an example of a monitoring area in the case of a three-door mechanical parking system set during the door opening operation period according to the first embodiment of this disclosure. [Figure 7] This figure shows an example of a monitoring area set during the vehicle movement period of a mechanical parking system according to the first embodiment of this disclosure. [Figure 8] This is a flowchart showing an example of the processing procedure for receiving goods according to the first embodiment of this disclosure. [Figure 9] This is a flowchart showing an example of the processing procedure for receiving goods according to the first embodiment of this disclosure. [Figure 10] This is a flowchart showing an example of the processing procedure for the warehousing process according to the first embodiment of the present disclosure. [Figure 11] This is a flowchart showing an example of the processing procedure for the warehousing process according to the first embodiment of the present disclosure. [Figure 12] This is a flowchart showing an example of the processing procedure for the door opening process in the warehousing process according to the first embodiment of the present disclosure. [Figure 13] This is a diagram showing an example of the monitoring area set during the door closing operation period in the warehousing process according to the first embodiment of the present disclosure. [Figure 14] This is a diagram showing an example of the monitoring area set during the door opening operation period when a bottom-opening entrance / exit door with two leaves is adopted. [Figure 15] This is a schematic external view of the entrance / exit door according to Modification 1 of the present disclosure. [Figure 16] This is a diagram showing an example of the monitoring area when the opening degree is 0% set during the door opening operation period of Modification 1 of the present disclosure. [Figure 17] This is a diagram showing an example of the monitoring area when the opening degree is 50% set during the door opening operation period of Modification 1 of the present disclosure. [Figure 18] This is a diagram showing an example of the monitoring area set for the emergency escape door in Modification 1 of the present disclosure. [Figure 19] This is a schematic external view of the mechanical parking device according to the second embodiment of the present disclosure. [Figure 20] This is a schematic front view of the mechanical parking device according to the second embodiment of the present disclosure. [Figure 21] This is a diagram showing the state where the entrance / exit door is open in the mechanical parking device according to the second embodiment of the present disclosure. [Figure 22] This is a diagram showing an example of the mounting of the operation panel according to the second embodiment of the present disclosure. [Figure 23] This is a diagram showing an example of the mounting of the operation panel according to the second embodiment of the present disclosure. [Figure 24] This is a diagram showing an example of a configuration of the operation panel according to the second embodiment of the present disclosure. [Figure 25]This is a functional configuration diagram showing an example of the functions of a control device for a mechanical parking system according to the second embodiment of this disclosure. [Figure 26] This figure shows an example of a monitoring area set during the pallet transport period and the door opening operation period of a mechanical parking system according to the second embodiment of this disclosure. [Figure 27] This figure shows another example of a monitoring area set during the door opening operation period of a mechanical parking device according to the second embodiment of this disclosure. [Figure 28] This figure shows an example of a monitoring area set during the vehicle movement period of a mechanical parking system according to the second embodiment of this disclosure. [Figure 29] This figure shows an example of a monitoring area set during the door closing operation period of a mechanical parking device according to the second embodiment of this disclosure. [Figure 30] This is a flowchart showing an example of the processing procedure for receiving goods according to the second embodiment of this disclosure. [Figure 31] This is a flowchart showing an example of the processing procedure for receiving goods according to the second embodiment of this disclosure. [Figure 32] This flowchart shows an example of the processing procedure for pallet transport in the receiving process according to the second embodiment of this disclosure. [Figure 33] This is a schematic plan view of the passenger compartment (berth) of a berth-type mechanical parking system. [Figure 34] This is a schematic front view of the passenger compartment (berth) of a berth-type mechanical parking system. [Figure 35] This diagram shows an example of a monitoring area set during the vehicle movement period of a berth-type mechanical parking system. [Figure 36] This figure shows an example of a monitoring area set during the conveyor operation period of a berth-type mechanical parking system. [Modes for carrying out the invention]

[0013] [First Embodiment] Hereinafter, a mechanical parking system, a safety confirmation method thereof, and a safety confirmation program according to the first embodiment of this disclosure will be described with reference to the drawings. In the first embodiment described below, an elevator-type tower mechanical parking system will be used as an example.

[0014] Figure 1 is a longitudinal cross-sectional view of a mechanical parking system 1 according to the first embodiment of the present disclosure. As shown in Figure 1, the mechanical parking system 1 is an elevator-type tower-type multi-story parking facility capable of accommodating multiple vehicles 2, and includes a parking tower 5 provided with an entrance / exit 3 and an entrance / exit door 4. The ground floor of the parking tower 5 is an entry / exit room 7 for entering and exiting vehicles 2, and a turntable 8 for changing the direction of vehicles 2 is installed on its floor. The turntable 8 is configured with a rotating plate 10 and a rotating drive unit 11 provided in a concave pit 9 formed in the floor of the entry / exit room 7. In this embodiment, the case in which both entry and exit are performed in the entry / exit room 7 is shown, but it is not limited to this. For example, different entry / exit rooms may be provided for entry and exit, with an entry / exit room exclusively for entry and an entry / exit room exclusively for exit. Also, in this embodiment, one entry / exit room is shown, but multiple entry / exit rooms may be provided.

[0015] A vertical access passage 13 is formed in the center of the parking tower 5, and a lift 14 (an elevator-like conveyor) is installed within it so as to be able to move up and down. The lift 14 is suspended at its four corners by multiple wire ropes extending downward from a winch (not shown) located at the top of the parking tower 5, and can move up and down within the access passage 13 when the winch is activated.

[0016] On the other hand, vehicle storage racks 17 (parking spaces) are provided on both sides of the elevator passage 13. These vehicle storage racks 17 are arranged in a multi-tiered manner, vertically flanking the elevator passage 13, and each vehicle storage rack 17 houses one pallet 18 for loading vehicles. Note that the support columns and other components of the vehicle storage racks 17 are not shown in the illustration.

[0017] The floors of the lift 14 and the vehicle storage rack 17 are provided with a transfer mechanism (not shown) that allows for the smooth transfer of an empty pallet 18 or a pallet 18 loaded with a vehicle 2 from the lift 14 to the vehicle storage rack 17, or from the vehicle storage rack 17 to the lift 14, when the heights of the floors of the two are aligned.

[0018] Figure 2 is a schematic perspective view showing the passenger compartment 7. Inside the passenger compartment 7, there is a space in the center where a pallet 18 is placed. For example, the wall in front of the entrance door 4 is equipped with a mirror for the user (driver) to confirm the position of the vehicle 2, and an illuminated stopping position indicator light 25 that provides guidance for "forward," "stop," and "reverse."

[0019] The passenger compartment 7 is equipped with four cameras 35A to 35D to photograph the interior. In this embodiment, cameras 35A to 35D are, for example, video cameras, and are mounted on four different walls of the passenger compartment 7. For example, camera 35A is positioned to photograph the front of the vehicle 2 when it is parked inside the passenger compartment 7, camera 35B is positioned to photograph the rear of the vehicle 2, camera 35C is positioned to photograph the left side of the vehicle 2, and camera 35D is positioned to photograph the right side of the vehicle 2. The number of cameras to be installed is not limited to the above, and it is sufficient to have at least one camera.

[0020] An internal sensor 30 (see Figure 4) is installed inside the passenger compartment 7 to detect when the passenger compartment is unoccupied. Note that the internal sensor 30 is not shown in Figure 2. The internal sensor 30 is a sensor that detects objects (people, pets, luggage, etc.) inside the passenger compartment, and any known sensor can be used as appropriate. Examples of internal sensors 30 include multiple range sensors installed at diagonal or parallel positions in the passenger compartment 7, motion sensors installed in the front, right, left, and rear areas of the passenger compartment 7, photoelectric sensors, and a stop position detection sensor for detecting the vehicle's stopping position. Alternatively, the cameras 35A to 35D mentioned above can be used as another example of an internal sensor. In this case, the unoccupied state of the passenger compartment can be confirmed by image processing the image data acquired by the cameras 35A to 35D. The detection signal from the internal sensor 30 is output to the sensor control unit 57 (see Figure 4), which will be described later.

[0021] An entry / exit sensor 32 is provided at the entrance / exit 3 of the passenger compartment 7 to detect when a person or vehicle enters or exits the passenger compartment 7. The entry / exit sensor 32 includes, for example, a pair of sensors 32A provided on the inside of the entrance / exit 3 and a pair of sensors 32B provided on the outside of the entrance / exit 3. Sensors 32A and 32B are of a type that receives a beam transmitted from a transmitting unit at a receiving unit. When this beam is blocked by a vehicle 2 or a person, the sensor turns on, and the detection signal is transmitted to a sensor control unit 57 (see Figure 4), which will be described later.

[0022] The sensor control unit 57 determines, for example, that a person or vehicle has exited the passenger compartment 7 when ON signals are input to sensor 32A followed by sensor 32B. The sensor control unit 57 also determines, for example, that a person or vehicle has entered the passenger compartment 7 when ON signals are input to sensor 32B followed by sensor 32A.

[0023] The method for detecting the exit of a person or vehicle from the passenger compartment 7 is not limited to the above example. For example, instead of sensor 32A, a sensor for detecting a person in the rear area of ​​the passenger compartment 7 (such as a human presence sensor, an over-detection sensor for determining whether the rear of the vehicle has exceeded a predetermined stopping position, or a range sensor) or a predetermined sensor installed inside the passenger compartment may be used. Furthermore, in Figure 2, sensors 32A and 32B are provided on the inside and outside of the passenger compartment 7, respectively, with the entrance / exit door 4 in between, but this example is not limited to this. For example, sensors 32A and 32B may both be provided inside the passenger compartment, or they may both be provided outside the passenger compartment.

[0024] Furthermore, the sensor control unit 57 can determine whether it is a person entering or exiting, or a vehicle entering or exiting, based on the detection signals from the entry / exit sensors 32. For example, in the case of a person entering or exiting, sensors 32A and 32B do not output ON signals at the same time. In contrast, in the case of a vehicle 2 entering or exiting, since the vehicle has a certain length, there is a temporal overlap between the ON signals of sensor 32A and sensor 32B. In this way, it is possible to determine whether it is a person entering or exiting, or a vehicle 2 entering or exiting, based on the degree of temporal overlap between the ON signals of sensor 32A and sensor 32B.

[0025] In this embodiment, the entry / exit sensor 32 configured as described above is capable of detecting entry and exit, but the system is not limited to this example. For example, it is sufficient to have a configuration that can at least detect exit from the passenger compartment 7. One example is a camera 35.

[0026] Outside the passenger compartment 7, there is an operation panel 22 that receives input information for closing the entrance door 4. This operation panel 22 is operated by, for example, users, administrators, maintenance personnel, etc. Near the operation panel 22, there is a monitor 28 that displays real-time images captured by cameras 35A to 35D.

[0027] Figure 3 shows an example configuration of the control panel 22. As shown in Figure 3, the control panel 22 is housed in a metal casing 43 for protection from wind and rain and to prevent tampering, and this casing 43 is equipped with a lockable lid 44. When an operator operates the control panel 22, they unlock the lid 44 and open it to access the control panel 22.

[0028] The control panel 22 includes, for example, an authentication information input unit for receiving user authentication information. In this embodiment, an IC card reader 46 is provided as an example of the authentication information input unit, but the system is not limited to this example. The authentication information input unit may consist of, for example, a biometric information reading unit that reads so-called biometric authentication information such as a keypad, fingerprint, iris, vein information, or facial image, and a wireless communication unit that receives authentication information via wireless communication (e.g., 3G, 4G, 5G, 6G, wireless LAN, Wi-Fi, LTE, etc.).

[0029] The control panel 22 may also be equipped with a touch panel 45, a speaker 47 for providing voice instructions to the operator (e.g., a user), an emergency stop button 48 for emergency stopping the operation of the mechanical parking device 1, a microphone, and the like.

[0030] The touch panel 45 combines display and input functions. For example, the touch panel 45 displays various guidance information for performing loading and unloading operations, as well as operation buttons for the operator to perform loading and unloading operations. The display on the touch panel 45 is controlled by the control device 40, which will be described later, and the information entered when the touch panel 45 is operated by the operator is output to the control device 40.

[0031] As shown in Figure 2, an entrance / exit sensor (object detection means) 20 is provided outside the passenger compartment 7 near the entrance / exit 3 to detect objects near the entrance / exit door. The entrance / exit sensor 20 is installed, for example, facing downwards on the upper part of the entrance / exit door 4. The monitoring area of ​​the entrance / exit sensor 20 is set according to the entry or exit status by a monitoring area setting unit (monitoring area setting means) described later.

[0032] The entrance / exit sensor 20 is, for example, a range sensor (laser scanner) that outputs a search wave that has the property of hitting and reflecting off a target object, such as a laser beam or ultrasonic wave, and detects an object by scanning a predetermined angular range horizontally while receiving the reflected wave. In this embodiment, the example shown is when the search wave is scanned in two dimensions (planar), but it is not limited to this. For example, the object may be detected in three dimensions by scanning the search wave in three dimensions.

[0033] The installation location of the entrance / exit sensor 20 is not limited to the above example. For example, the entrance / exit sensor 20 may be installed on the right or left side of the entrance / exit 3. Furthermore, the entrance / exit sensor 20 is not limited to a range sensor, but may be multiple photoelectric sensors (reflective and transmissive) installed at multiple height and left / right positions, and known sensors can be appropriately adopted as long as they have the functionality to realize monitoring of the monitoring area described later.

[0034] Above the entrance / exit sensor 20, for example, an entry control light 21 equipped with blue and red lamps is provided. In addition, a control device 40 that controls the entire mechanical parking system 1 is installed inside or outside the passenger compartment 7.

[0035] Figure 4 is a functional configuration diagram showing an example of the functions of the control device 40 of the mechanical parking system 1 according to this embodiment. The control device 40 is, for example, an information processing device and includes a CPU, an auxiliary storage device for storing programs executed by the CPU, a main memory that functions as a work area when each program is executed, a communication interface for connecting to a network, and the like. The control device 40 also includes a comprehensive database 52 that stores various data necessary for controlling the mechanical parking system 1. The comprehensive database 52 stores vehicle occupancy status, pallet shape type, vehicle storage shelf shape type, identification information of persons authorized to use the mechanical parking system 1 (user ID, etc.), and contact information of users, etc. (e.g., registered email address, etc.). Persons authorized to use the mechanical parking system 1 include not only users but also administrators, maintenance personnel, etc.

[0036] Furthermore, the control device 40 is equipped with a storage unit 41 for storing necessary data in conjunction with the execution of the receiving and shipping processes described later. For example, the storage unit 41 stores the user ID (first authentication information) obtained when user authentication was successful in the first user authentication process, the monitoring area, information on various modes, and so on.

[0037] The auxiliary storage device of the control device 40 stores control programs for controlling each mechanism of the mechanical parking device 1. The CPU reads the various programs stored in the auxiliary storage device into the main memory and executes them to realize the functions of each part described later. In executing the programs, the CPU also refers to and uses various data stored in the integrated database 52 and the storage unit 41.

[0038] The control program described above may be pre-stored in an auxiliary storage device such as ROM during the manufacturing of the control device 40, or it may be downloaded and installed from a server that distributes control programs after installation. It may also be installed via an external storage device. Thus, there are no particular limitations on the method of installing various programs.

[0039] The control device 40 includes a main control unit 50. In addition to the comprehensive database 52 mentioned above, the main control unit 50 is connected to an entrance / exit door control unit 55, a transporter control unit 56, a sensor control unit 57, a camera control unit 58, an image database 59, a vehicle measurement control unit 61, a turning control unit 62, and the like. Furthermore, an operation panel 22 is connected to the main control unit 50, enabling bidirectional communication.

[0040] The entrance / exit door control unit 55 opens and closes the entrance / exit door 4 by receiving operation commands from the main control unit 50 and controlling the door drive unit 63 that drives the entrance / exit door 4 to open and close. The entrance / exit door control unit 55 also receives a position signal of the entrance / exit door 4 from the entrance / exit door sensor 67 and feeds this information back to the main control unit 50. The door drive unit 63 is configured to include, for example, a motor. Various known configurations can be appropriately adopted for the door drive unit 63.

[0041] The entrance / exit door sensor 67 detects, for example, when the entrance / exit door 4 is fully open or fully closed, and outputs a detection signal (door fully open signal, door fully closed signal) to the entrance / exit door control unit 55 to indicate this. Any known sensor can be appropriately used as the entrance / exit door sensor 67. For example, a limit switch is one example of an entrance / exit door sensor 67. Furthermore, the entrance door sensor 67 may also include a sensor that outputs information regarding the opening degree of the entrance door 4. For example, a pair of photoelectric sensors (not shown) may be provided at predetermined height positions at both ends of the entrance door 3, and the opening degree of the entrance door 4, in other words, the position in the height direction, may be detected based on whether or not the light rays from these photoelectric sensors are blocked. In this embodiment, the case in which a pair of photoelectric sensors are provided at a height of 300 mm from the ground is used as an example, but the invention is not limited to this. For example, multiple sets of sensors may be provided to detect multiple height positions. Also, the means for detecting the opening degree of the entrance door 4 is not limited to the photoelectric sensors described above. For example, a limit switch may be used, or the opening degree may be detected using an encoder provided on the motor of the door drive unit 63.

[0042] The conveyor control unit 56 controls the raising and lowering of the lift 14 and the loading and unloading of the pallets 18 by controlling the lift drive unit 64, which drives the lift 14, in response to an operation command from the main control unit 50. The conveyor control unit 56 also receives a position signal of the lift 14 from the conveyor position sensor 68 and feeds this information back to the main control unit 50.

[0043] The sensor control unit 57 receives detection signals from the entrance / exit sensor 20 and the internal sensor 30, and outputs this information to the main control unit 50. The sensor control unit 57 also determines whether a person or vehicle has entered or exited based on the detection signal from the entry / exit sensor 32, and outputs the determination result to the main control unit 50.

[0044] The camera control unit 58 receives an operation command from the main control unit 50 and causes the cameras 35 (35A~35D) installed inside the passenger compartment 7 to capture images, and outputs the image information to the main control unit 50. This image information is stored in the image database 59 for a predetermined period. The image database 59 may be located inside the integrated database 52 or on the cloud.

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

[0046] The rotation control unit 62 receives an operation command from the main control unit 50 and operates the turntable 8 by controlling the rotation drive unit 11 that rotates the turntable 8. The rotation control unit 62 also receives a rotation position signal of the turntable 8 from the turntable position sensor 71 and feeds this information back to the main control unit 50.

[0047] The main control unit 50 operates the mechanical parking system 1 based on feedback from each control unit 55, 56, 57, 58, 61, and 62, and input information from the control panel 22. The main control unit 50 also executes control programs for vehicle entry and vehicle exit based on various information exchanged with the control panel 22. The detection signals from the entrance / exit sensor 20, the internal sensor 30, and the entry / exit sensor 32 may be input directly to the main control unit 50 instead of being input to the main control unit 50 via the sensor control unit 57 described above. This makes it possible to implement faster control in response to the detection signals.

[0048] Furthermore, the main control unit 50 includes a monitoring area setting unit (monitoring area setting means) 80 that sets a monitoring area at least when an object is being received and when an object is being shipped out, and an object detection control unit 81 that performs predetermined control when an object is detected in the monitoring area.

[0049] The monitoring area setting unit 80 sets a monitoring area, for example, near an entrance / exit. For example, the monitoring area setting unit 80 sets a monitoring area during the door opening operation period when the entrance / exit door 4 is opened and during the vehicle movement period when the vehicle 2 is moving. Specifically, the monitoring area setting unit 80 makes the monitoring area during the door opening operation period and the monitoring area during the vehicle movement period different.

[0050] For example, the monitoring area setting unit 80 may set the monitoring area to include all overlapping portions D of each door constituting the entrance door 4 during the door opening operation period. Figure 5 shows an example of the monitoring area in the case of two doors, and Figure 6 shows an example of the monitoring area in the case of three doors. Furthermore, the monitoring area setting unit 80 may change the monitoring area according to the degree of opening of the entrance door 4 during the door opening operation period. For example, the area in which the entrance door 4 is located may be set as the monitoring area. This allows the monitoring area to change dynamically in accordance with the movement of the entrance door 4.

[0051] The monitoring area setting unit 80 sets a monitoring area according to the type of vehicle during the vehicle movement period. The monitoring area setting unit 80 may, for example, classify vehicle types into three categories: regular cars, mid-roof cars, and high-roof cars, and set different monitoring areas according to each of these classifications. For example, the monitoring area may be set so that the lower end of the monitoring area is higher in the order of regular cars, mid-roof cars, and high-roof cars. Figure 7 shows an example of a monitoring area during the vehicle movement period. In Figure 7, in the case of high-roof cars, area C may be set as the monitoring area for detecting vehicles that cannot enter the parking area; in the case of mid-roof cars, areas B to C may be set as the monitoring area; and in the case of regular cars, areas A to C may be set as the monitoring area.

[0052] Vehicle type information may be stored in the integrated database 52, for example, associated with the user ID. Alternatively, instead of vehicle type information, information about the monitoring area corresponding to the vehicle type information may be stored in the integrated database 52, associated with the user ID. The monitoring area setting unit 80 has a table or the like that associates the monitoring areas and conditions (setting timing) described above, and by referring to this information, it realizes the monitoring area setting function described above. Note that the monitoring area setting method described above is just one example and is not limited to this. For example, the monitoring area can be set appropriately according to the door opening and closing method and the required safety level.

[0053] The object detection control unit 81 stops the operation of the entrance door 4 if an object is detected in the monitoring area during the door opening operation period. Alternatively, it may reverse the operation of the entrance door 4. The object detection control unit 81 may also determine whether to stop the operation or reverse the operation depending on the degree to which the entrance door 4 is opened when the object is detected.

[0054] The object detection control unit 81 issues an error notification if an object is detected in the monitoring area during the vehicle movement period. This makes it possible to notify the user (e.g., the driver) that the vehicle being parked differs from the vehicle type set at the time of parking, or the vehicle type associated with the pallet. If a vehicle is detected in area C, a notification that parking is not permitted may be issued.

[0055] [Inbound processing] Next, an example of the receiving process performed by the control device 40 at the time of receiving goods will be explained with reference to the figures. Figures 8 to 11 are flowcharts showing an example of the procedure for receiving goods performed by the control device 40.

[0056] First, when entering the parking area, the user moves vehicle 2 in front of entrance / exit 3, disembarks, and approaches the control panel 22. Then, they unlock the lock with a special key and open the cover 44 of the housing 43. When the control device 40 detects that the cover 44 has been opened (SA1 in Figure 8), it displays the first user authentication screen on the touch panel 45 of the control panel 22 (SA2).

[0057] When a user touches their IC card to the IC card reader 46, the user ID (first authentication information) registered on the IC card is read and transmitted to the control device 40. When the control device 40 receives the user ID (SA3), it performs a first user authentication (first authentication) to determine whether the person attempting to enter the warehouse is a pre-registered user (SA4). Specifically, the control device 40 accesses the integrated database 52 and determines whether the entered user ID is registered. If the first user authentication fails as a result (SA5:NO), the control device 40 notifies the user that authentication has failed by displaying a message on the touch panel 45 indicating that user authentication has failed, and then displays the first user authentication screen (SA2).

[0058] On the other hand, if the first user authentication is successful (SA5:YES), that is, if the user ID is registered in the comprehensive database 52, the system is set to an operation-permitted state where input operations from the touch panel 45 of the control panel 22 are possible (SA6), the user ID for which the first user authentication was successful is stored in the storage unit 41 (SA7), and the storage entry start confirmation screen is displayed on the touch panel 45 of the control panel 22 (SA8).

[0059] When the start button is pressed on the vehicle entry start confirmation screen (SA9), the control device 40 enters an operation permission state that allows the operation of vehicle transport mechanisms such as the lift 14 and mechanical mechanisms such as the entrance / exit door 4 (SA10), and retrieves an empty pallet from the vehicle storage rack 17 (SA11 in Figure 9). At this time, a vehicle entry waiting confirmation screen indicating the waiting status may also be displayed on the touch panel 45.

[0060] Next, when the empty pallet arrives at the passenger compartment 7 (SA12), the control device 40 displays a door open screen on the touch panel 45 indicating that the entrance / exit door 4 is open, and performs the door opening process to open the entrance / exit door 4 (SA13). Details of the door opening process will be described later. Next, when the entrance / exit door 4 is fully open, the control device 40 locks the operation of the mechanical mechanism (vehicle transport means such as the lift 14 and the entrance / exit door 4) (SA14), and further locks the operation to prevent input from the touch panel 45 of the control panel 22 (SA15). This prevents a third party from inputting from the touch panel 45 while the user is away from the control panel 22.

[0061] Next, the control device 40 determines whether or not vehicle 2 has begun to enter the passenger compartment 7 (SA16). In other words, it determines whether or not an object has been detected by the entry / exit sensor 32 (specifically, sensor 32B). If, as a result, vehicle 2 has not yet moved to the position of sensor 32B (SA16: NO), the determination process is repeated. On the other hand, once vehicle 2 has begun to enter the passenger compartment 7 (SA16: YES), the control device 40 sets a monitoring area according to the vehicle type information of vehicle 2 (SA17). As a result, if vehicle 2 is a regular car, areas A to C are set as the monitoring area; if it is a mid-roof car, areas B to C are set; and if it is a high-roof car, area C for detecting vehicles that cannot enter is set as the monitoring area (see Figure 7).

[0062] Next, the control device 40 determines whether or not an object has been detected in the monitoring area by the entrance / exit sensor 20 (SA18). In other words, it determines whether or not the height of the vehicle 2 is within a specified value. If no object is detected in the monitoring area as a result (SA18: NO), it determines whether or not the vehicle 2 has completed its entry into the passenger compartment 7 (SA19). That is, it determines whether or not the entry / exit sensor 32 has stopped detecting an object (vehicle). If the entry of the vehicle 2 has not completed as a result (SA19: NO), it returns to step SA18 and repeats the above process. Also, if an object is detected in step SA18 (SA18: YES), it determines that the height of the vehicle 2 is above a specified value and issues an error notification (SA20). The error notification may be made, for example, by a speaker installed in the passenger compartment, or by installing a display at the front of the passenger compartment and displaying a message on the display. Furthermore, if communication with the in-vehicle device installed in vehicle 2 is possible, notification may be sent via the wireless communication unit through the in-vehicle device.

[0063] On the other hand, once vehicle 2 has entered the vehicle without any objects being detected (SA19: YES), the monitoring area setting is released (SA21 in Figure 10). This temporarily stops object detection near the entrance and exit. Next, the user stops vehicle 2 at a designated position inside the passenger compartment and exits from the passenger compartment 7. When the entry / exit sensor 32 detects that the user has exited the passenger compartment 7, the control device 40 displays a second user authentication screen on the touch panel 45 of the control panel 22 and prompts the user to enter authentication information (SA22).

[0064] As a result, when a user or other person touches the IC card to the IC card reader 46 and authentication information (second authentication information) is entered (SA23), the control device 40 performs second user authentication (SA24). In the second user authentication (second authentication), it is determined whether the received user ID (second authentication information) is a user ID that has been registered in advance.

[0065] If the second user authentication is successful (SA25:YES), then a verification process is performed to determine whether the user ID entered in the first user authentication (first authentication information) and the user ID entered in the second user authentication (second authentication information) are the same (SA26). In the verification process, it is determined whether the person who opened the entrance door 4 and the person who closed it are the same. If the verification process is successful (SA27:YES), the process proceeds to step SA28 in Figure 11.

[0066] On the other hand, if the second user authentication fails (SA25:NO in Figure 10), or if the matching process fails (SA27:NO), the system returns to step SA22 and displays the second user authentication screen. At this point, the system may also notify the user that authentication or matching failed.

[0067] In step SA28 of Figure 11, the control device 40 sets the operation panel 22 to an operation permission state. Subsequently, the control device 40 displays an unoccupied confirmation screen on the touch panel 45 to allow the user to perform an unoccupied confirmation of the passenger compartment, and provides guidance to the user to perform the unoccupied confirmation (SA29).

[0068] On the unoccupied confirmation screen, when the unoccupied confirmation button is pressed (SA30), the control device 40 displays a door closing screen for closing the entrance door 4 on the touch panel 45 of the control panel 22 (SA31). On the door closing screen, for example, a door closing button is displayed, along with guidance prompting the user to confirm that the entrance / exit compartment is unoccupied before pressing the door closing button. On this door closing screen, when the door closing button is pressed (SA32), the control device 40 determines that the entrance / exit compartment is unoccupied based on the detection signal from the internal sensor 30 (SA33). At this time, as shown in Figure 13, a monitoring area may be set over the entire entrance / exit 3, and object detection may be further performed by the entrance / exit sensor 20 within this monitoring area. As a result, if an object is detected by the internal sensor 30 or the entrance / exit sensor 20 (SA33: NO), the process returns to step SA29, and the user is asked to confirm that the area is unoccupied again. On the other hand, if no object is detected and the area is confirmed to be unoccupied (SA33: YES), the door closing process is performed (SA34), the user ID (first authentication information) stored in the memory unit 41 is erased (SA35), and the storage process is terminated. The door closing process will be described later. In addition, if an object is detected in step SA33, instead of returning to step SA29, the system may return to step SA22 in Figure 10 and proceed from the second user authentication.

[0069] [Door opening process] Next, the door opening process performed in step SA13 of the receiving process (see Figure 9) will be explained with reference to Figure 12. Figure 12 is a flowchart showing an example of the procedure for the door opening process in the receiving process.

[0070] In the door opening process for receiving goods, the control device 40 sets a monitoring area (see, for example, Figure 5) (SB1), and then determines whether an object has been detected in the monitoring area based on the detection signal from the entrance / exit sensor 20 (SB2). If an object is detected in the monitoring area (SB2: YES), an error process is performed (SB3). In the error process, for example, the user is notified that an object has been detected in the monitoring area and is prompted to check the safety of the area around the entrance / exit door 4. The notification is made, for example, by a speaker installed on the control panel 22. Alternatively, a display may be installed around the entrance / exit door 4 and the message may be displayed on the display. Once the error process is completed in this way, the process returns to step SB2.

[0071] On the other hand, if no object is detected in the monitoring area (SB2:NO), the control device 40 starts the door opening operation (SB4). Next, the control device 40 determines whether or not an object has been detected in the monitoring area based on the detection signal from the entrance / exit sensor 20 (SB5). If no object is detected as a result (SB5:NO), it determines whether or not the door is fully open (SB6). If the door is not fully open as a result (SB6:NO), it returns to step SB5 and repeats the object detection determination until the door is fully open.

[0072] If an object is detected in the monitoring area (SB5:YES), the control device 40 stops the opening operation of the entrance door 4 (SB7) and performs error processing (SB8). The error processing here is the same as in step SB3, so the explanation is omitted. Next, the control device 40 determines whether or not an object has been detected in the monitoring area based on the detection signal from the entrance sensor 20 (SB9). If an object has been detected (SB9:YES), the process returns to step SB8. On the other hand, if no object has been detected in step SB9 (SB9:NO), the opening operation of the entrance door 4 is restarted (SB10), and the process returns to step SB5. When the entrance door 4 is fully open (SB6:YES), the opening process ends.

[0073] [Door closing process] Next, we will explain the door closing process performed in step SA34 of the receiving process (see Figure 11). The door closing process is basically the same as the door opening process shown in Figure 12, except that the entrance / exit door 4 is driven from the fully open state to the fully closed state and the monitoring area is different from that of the door opening process, so a detailed explanation will be omitted here. The monitoring area set during the door closing process, in other words, the monitoring area during the door opening operation period, is set to cover the entire entrance / exit area, for example, as shown in Figure 13. Alternatively, during the door closing process, instead of stopping the door opening operation in step SB7, a door reversal process may be performed. In this case, if an object is detected in the monitoring area while the door closing operation is in progress, the door will be driven in reverse and return to the fully open state. Afterward, if it is confirmed that no object is detected in the monitoring area based on the detection signal from the entrance / exit sensor 20, the door closing operation is resumed.

[0074] [Outbound processing] The outbound process is the same as the inbound process described above, except that the inbound startup confirmation screen in step SA8 of Figure 8 becomes the outbound startup confirmation screen, the pallet with vehicle 2 on it is called in step SA11 instead of an empty pallet, and the processing in steps SA16 to SA21 is omitted. Therefore, a detailed explanation is omitted.

[0075] As described above, the mechanical parking device 1, its safety confirmation method, and safety confirmation program according to this embodiment include a monitoring area setting unit 80 that sets a monitoring area near the entrance door 4, and an entrance / exit sensor 20 provided near the entrance door that detects objects in the monitoring area. The monitoring area setting unit 80 sets the monitoring area during the door opening operation period when the entrance door 4 is opened and during the vehicle movement period when the vehicle 2 is moving. This allows for the detection of contact between the entrance / exit door 4 and people during the door opening operation, preventing accidents such as fingers getting caught. Furthermore, during the vehicle movement phase, it becomes possible to detect vehicles with non-standard heights. This improves the safety of the mechanical parking system 1. Furthermore, since a common entrance / exit sensor 20 performs both contact detection between the entrance / exit door and a person, and vehicle height determination, the installation of additional sensors can be avoided. This helps to keep costs down.

[0076] The processing procedures and contents related to the receiving and shipping processes according to this embodiment are examples only and are not limited thereto. For example, it is possible to add, omit, or change the procedures as appropriate. In addition, it is possible to appropriately adopt known processes for user authentication, unattended verification, etc. Furthermore, although this embodiment has described an upward-opening entrance door 4 as an example, it is not limited to this. For example, a downward-opening entrance door can also be used. In this case, for example, as illustrated in Figure 14, a monitoring area may be set on the lower side of the entrance door 4 during the opening operation period of the entrance door 4. Figure 14 is a diagram showing an example of a monitoring area when a two-door entrance door 4 is used.

[0077] [Variation 1] Furthermore, for the entrance and exit doors, for example, as shown in Figure 15, a horizontally opening (left and right opening) entrance and exit door 4' may be used. Figure 15 is a diagram showing the configuration around the entrance and exit 3 of a mechanical parking system according to Modification 1. As shown in Figure 15, the entrance and exit 3 is provided with a horizontally opening entrance and exit door 4'. In addition, an emergency escape door 6 is provided near the entrance and exit 3. The emergency escape door 6 is an outward-opening door.

[0078] In the case of a horizontally opening entrance door 4', the monitoring area setting unit 80 sets the monitoring area during the door opening operation period. In this case, as described above, the monitoring area may be changed according to the degree of opening of the entrance door 4'. Even with horizontal opening, it is preferable to set the monitoring area so that the overlapping portion of the door is included. Figure 16 shows an example of the monitoring area when fully closed (opening degree 0%), and Figure 17 shows an example of the monitoring area when the opening degree is 50%.

[0079] Furthermore, when the entrance / exit door 4' is fully closed, a monitoring area including the entire emergency escape door 6 may be set, as shown in Figure 18, and object detection within the set monitoring area may be performed by the entrance / exit sensor 20. If an object is detected by the entrance / exit sensor 20, the mechanical parking system may be brought to an emergency stop to ensure safety. This is because if the emergency escape door 6 is open, it can be assumed that a person has been trapped inside the passenger compartment. Furthermore, the monitoring of the emergency escape door 6 as described above can be broadly applied to mechanical parking systems 1 that have an emergency escape door 6, regardless of the opening and closing method of the entrance and exit doors.

[0080] [Second Embodiment] Hereinafter, a mechanical parking device, a safety confirmation method thereof, and a safety confirmation program according to a second embodiment of this disclosure will be described with reference to the drawings. In the second embodiment described below, a two-tiered mechanical parking device 100 will be described as an example of the mechanical parking device of this disclosure.

[0081] Figure 19 is a schematic external view of a mechanical parking system 100 according to a second embodiment of the present disclosure, and Figure 20 is a schematic front view of the mechanical parking system 100 according to this embodiment. In this embodiment, a single-row type mechanical parking system 100 in which the passenger compartments 107a to 107f of the mechanical parking system 100 are arranged in a single row in the width direction of the vehicle will be described as an example.

[0082] As shown in Figures 19 and 20, the mechanical parking system 100 is a single-row, two-tiered, lifting and traversing type parking system, comprising six entry / exit rooms 107a to 107f located on the ground floor and six storage compartments located on the floors above. The storage compartments may be located on floors below the entry / exit floor. Furthermore, the entry / exit rooms 107 may be areas where both entry and exit are possible, or areas where either entry or exit is possible. Hereafter, when it is necessary to distinguish between passenger compartments 107a to 107f individually, they will be referred to as passenger compartment 107a, 107b, 107c, etc., and when it is not necessary to distinguish between them, they will simply be referred to as passenger compartment 107. The same treatment will apply to other configurations.

[0083] Each entrance / exit of passenger compartments 107a to 107f is provided with an entrance / exit door 104a to 104f. In this embodiment, the example given is that each entrance / exit of the vehicle has its own entrance / exit door 104, but the invention is not limited to this. For example, one door may be provided for multiple entrances / exits. The height L of the entrance / exit doors 104a to 104f (see Figure 20) is set to a predetermined height, and when fully closed, the top of the entrance / exit is open. Therefore, the transport control of the pallet (vehicle transport means), which will be described later, is performed with a portion of the entrance / exit open.

[0084] Figures 19 and 20 show the mechanical parking system 100 with the entrance doors 104a to 104f closed (opening 0%). Figure 21 shows the mechanical parking system 100 with the entrance door 104 (in this case, entrance door 104d) open (opening 100%). As shown in Figure 21, the entrance door 104 is opened by sliding upward, and is considered fully open (100% open) when the upper end of the entrance door 104 reaches a predetermined height.

[0085] An internal sensor 130 (see Figure 25) is provided inside the passenger compartment 107 to detect when the passenger compartment 107 is empty. In addition, an entry / exit sensor 132 (see Figure 25) is provided near the entrance to the passenger compartment 107 to detect when an object enters or leaves the passenger compartment 107. Note that these sensors are not shown in Figures 19 and 20. Regarding the types, placement, and control of the internal sensors 130 and entry / exit sensors 132, known technologies can be used as appropriate, and a detailed explanation is omitted here.

[0086] In the mechanical parking system 100, for example, an entrance / exit sensor 120 is provided at the upper part of the passenger compartments 107a to 107f, approximately in the center in the width direction, for detecting objects near the entrance / exit. The entrance / exit sensor 120 is, for example, a range sensor (laser scanner), which outputs a search wave that has the property of hitting and reflecting off a target object, such as a laser beam or ultrasonic wave, and detects an object by scanning a predetermined angular range horizontally while receiving the reflected wave. In this embodiment, the case in which the search wave is scanned two-dimensionally (planar) is illustrated, but it is not limited to this. For example, the object may be detected three-dimensionally by scanning the search wave three-dimensionally.

[0087] The number and location of the entrance / exit sensors 120 are not limited to the above example. For example, the entrance / exit sensors 120 may be installed on the right or left side of the entrance / exit. Also, the entrance / exit sensors 120 may be installed corresponding to each entrance / exit door 104a to 104f. Furthermore, the entrance / exit sensor 120 is not limited to a range sensor, but may also be a set of multiple photoelectric sensors (reflective and transmissive) installed at multiple height and left / right positions. Known sensors can be appropriately adopted as long as they have the functionality to realize monitoring of the monitoring area described later.

[0088] The mechanical parking system 100 is equipped with an operation panel 122 for users to perform various input operations for entering and exiting the parking space and to input the completion of unmanned confirmation. In this embodiment, the operation panel 122 is provided on a support column between the passenger compartments 107c and 107d, but is not limited to this. It may be provided on any of the support columns, for example, on the support column at the right end or the left end.

[0089] Figures 22 and 23 show examples of the installation of the control panel 122. Figure 22 is a view of the installation of the control panel 122 from above, and Figure 23 is a schematic front view of the control panel 122 showing an example of the arrangement of the support members 123 that support the control panel 122. As shown in Figures 22 and 23, the control panel 122 is supported by two rod-shaped support members 123 relative to the support column 135. The sensing position of the entrance / exit sensor 120 is set to pass between the control panel 122 and the support column 135. The size (diameter) of the support members 123 is set to be less than or equal to the size that the entrance / exit sensor 120 can detect. This prevents the support members 123 from being detected as objects.

[0090] Figure 24 shows an example configuration of the control panel 122. As shown in Figure 24, the control panel 122 is equipped with a power key 111, an emergency stop button 112, and a touch panel 113. By operating the control panel 122, users can call for empty pallets when entering the depot and call for vehicles when leaving the depot. The touch panel 113 of the control panel 122 displays a numeric keypad for entering the pallet number to call up the desired pallet, a pallet activation button to call up the pallet, an unattended confirmation button to indicate the completion of unattended confirmation, a door open button to open the door, and a door close button to close the door.

[0091] Next, the control device 140 of the mechanical parking system 100 according to this embodiment will be described with reference to Figure 25. Figure 25 is a functional configuration diagram showing an example of the functions of the control device 140 according to this embodiment. The control device 140 is, for example, an information processing device and includes a CPU, an auxiliary storage device for storing programs executed by the CPU, a main memory that functions as a work area when each program is executed, a communication interface for connecting to a network, and the like. The control device 140 also includes a comprehensive database 152 that stores various data necessary for controlling the mechanical parking system 100. The comprehensive database 152 stores various information necessary for controlling the entry and exit of the mechanical parking system.

[0092] Furthermore, the control device 140 includes a storage unit 141 for storing necessary data in conjunction with the execution of the receiving and shipping processes, which will be described later. For example, the storage unit 141 stores information about the monitoring area according to the progress of each stage of the receiving and shipping processes.

[0093] The auxiliary storage device of the control device 140 stores control programs and other information for controlling each mechanism of the mechanical parking device 100. The CPU reads the various programs stored in the auxiliary storage device into the main memory and executes them to realize the functions of each part described later. In executing the programs, the CPU also refers to and uses various data stored in the integrated database 152.

[0094] The control program described above may be pre-stored in an auxiliary storage device such as ROM during the manufacturing of the control device 140, or it may be downloaded and installed from a server that distributes control programs after installation. It may also be installed via an external storage device. Thus, there are no particular limitations on the method of installing the various programs.

[0095] The control device 140 includes a main control unit 150. In addition to the aforementioned integrated database 152, the main control unit 150 is connected to an entrance / exit door control unit 155, a conveyor control unit 156, a sensor control unit 157, and the like. Furthermore, the main control unit 150 is connected to an operation panel 122, enabling bidirectional communication.

[0096] The entrance / exit door control unit 155 receives operation commands from the main control unit 150 and controls the door drive unit 163, which drives each entrance / exit door 104a to 104f to open and close, thereby opening and closing the entrance / exit doors 104a to 104f. The entrance / exit door control unit 155 also receives position signals of the entrance / exit doors 104a to 104f from the entrance / exit door sensor 167 and feeds this information back to the main control unit 50. The door drive unit 163 is configured, for example, with a motor or the like. Various known configurations can be appropriately adopted for the door drive unit 163.

[0097] The entrance / exit door sensor 167 detects, for example, when the entrance / exit door 104 is fully closed (see Figure 20) or fully open (see Figure 21), and outputs a detection signal (door fully closed signal, door fully open signal) to the entrance / exit door control unit 155 to indicate this. Any known sensor can be appropriately used as the entrance / exit door sensor 167. For example, a limit switch or the like is one example of an entrance / exit door sensor 167. Furthermore, the entrance / exit door sensor 167 may also include a sensor that outputs information regarding the opening degree of the entrance / exit door 104. For example, a pair of photoelectric sensors (not shown) may be provided at predetermined height positions at both ends of the entrance / exit 3, and the opening degree of the entrance / exit door 104, in other words, its position in the height direction, may be detected based on whether or not the light rays from these photoelectric sensors are blocked. The entrance / exit door sensor 167 may have multiple sets of sensors to detect multiple height positions, for example. Also, the means for detecting the opening degree of the entrance / exit door 104 is not limited to the photoelectric sensors described above. For example, a limit switch may be used, or the opening degree may be detected using an encoder provided on the motor of the door drive unit 163.

[0098] The conveyor control unit 156 controls the traverse and lifting drives of the pallet (vehicle conveying means) by receiving operation commands from the main control unit 150 and controlling the pallet drive unit 164 that drives the pallet. Note that known technologies can be used for driving the pallet, and a detailed explanation is omitted here.

[0099] The sensor control unit 157 receives detection signals from the entrance / exit sensor 120, the internal sensor 130, and the entry / exit sensor 132, and outputs that information to the main control unit 150.

[0100] The main control unit 150 operates the mechanical parking system 100 based on feedback from the control units 155, 156, and 157, and input information from the control panel 122. The main control unit 150 also performs parking entry and exit processing based on various information exchanged with the control panel 122. The detection signals from the entrance / exit sensor 120, the internal sensor 130, and the entry / exit sensor 132 may be input directly to the main control unit 150 instead of being input to the main control unit 150 via the sensor control unit 157 mentioned above. This makes it possible to perform faster control in response to the detection signals.

[0101] Furthermore, the main control unit 150 includes a monitoring area setting unit (monitoring area setting means) 180 that sets a monitoring area at least when an object is being received or when an object is being shipped out, and an object detection control unit 181 that performs predetermined control when an object is detected in the monitoring area. This allows for the setting of an appropriate monitoring range according to the vehicle's location and the progress of its entry and exit, thereby improving safety.

[0102] The monitoring area setting unit 180 sets a monitoring area, for example, near the entrance door 104. For example, the monitoring area setting unit 180 sets a monitoring area during the pallet transport period (operation period of the vehicle transport means) when the pallet is transported, the door opening operation period when the entrance door 4 is opened, the vehicle movement period when the vehicle 2 moves between the passenger compartment and the front yard, and the door closing operation period when the entrance door 4 is closed.

[0103] For example, the monitoring area setting unit 180 sets a monitoring area corresponding to the height L of the entrance / exit door 104 during the pallet transport period. For example, as shown in Figure 26, the area above the reference position D3, which is set slightly below the upper end of the entrance / exit door 4 when it is fully closed, may be set as the monitoring area.

[0104] Furthermore, the monitoring area setting unit 180 may, for example, set the same monitoring area during the door opening operation period as during the pallet transport period. Also, the monitoring area setting unit 180 may change the monitoring area according to the degree of opening. For example, as shown in Figure 27, the monitoring area setting unit 180 may set the monitoring area above the entrance door 104 so as to include a part of the entrance door 104 when it is open. This allows the monitoring area to be dynamically set in accordance with the movement of the entrance door 104. Furthermore, the monitoring area setting unit 180 may set the monitoring area to monitor the entire entrance / exit, for example, in the same way as the door closing operation period described later (see Figure 29).

[0105] The monitoring area setting unit 180 sets each monitoring area according to the type of vehicle during the vehicle movement period. Figure 28 shows an example of monitoring areas during the vehicle movement period. The monitoring area setting unit 180 may, for example, classify vehicle types into three categories: regular cars, mid-roof cars, and high-roof cars, and set different monitoring areas according to each of these classifications. For example, the monitoring areas may be set so that the lower end of the monitoring area is higher in the order of regular cars, mid-roof cars, and high-roof cars. The method for setting these monitoring areas is, for example, as described in the first embodiment. Vehicle type information may be stored in the integrated database 152, for example, associated with the user ID. Alternatively, instead of vehicle type information, information about the monitoring area corresponding to the vehicle type information may be stored in the integrated database 152, associated with the user ID. Furthermore, vehicle type information may be information entered by the user at the time of vehicle entry.

[0106] The monitoring area setting unit 180 sets a monitoring area over the entire entrance / exit, for example, during the door closing operation period, as shown in Figure 29. The monitoring area setting unit 180 has information about monitoring areas associated with the progress of receiving and shipping processes, and by referring to this information, it realizes the monitoring area setting function described above.

[0107] The object detection control unit 181 stops the pallet drive if an object is detected in the monitoring area during the pallet transport period. Furthermore, if an object is detected in the monitoring area during the door opening operation period, the object detection control unit 181 stops the operation of the entrance door 104. Alternatively, the object detection control unit 181 may determine whether to stop the operation or reverse the operation depending on the degree to which the entrance door 104 is opened when an object is detected.

[0108] The object detection control unit 181 issues an error notification if an object is detected in the monitoring area during the vehicle movement period. This makes it possible to notify the user (e.g., the driver) that the vehicle being parked differs from the vehicle type set at the time of parking, or the vehicle type associated with the pallet. If an object (vehicle) is detected in area C, which is used to detect vehicles that cannot be parked, a notification of parking restriction may be issued.

[0109] The object detection control unit 181 stops or reverses the operation of the entrance door 104 if an object is detected in the monitoring area during the door closing operation period. The object detection control unit 181 may also determine whether to stop the operation or reverse the operation depending on the degree to which the entrance door 104 is open when the object is detected.

[0110] [Inbound processing] Next, an example of the receiving process performed by the control device 140 at the time of receiving goods will be explained with reference to the figures. Figures 30 to 31 are flowcharts showing an example of the procedure for the receiving process performed by the control device 140.

[0111] First, the user turns on the power to the control panel 122 (SC1), and when a pallet retrieval operation is performed by specifying the desired pallet number (SC2), a pallet transport process is performed to transport the specified empty pallet to the passenger compartment 107 from which the retrieval was made (SC3). Details of the pallet transport process will be described later.

[0112] When the designated empty pallet arrives at the designated boarding / alighting room 107 (SC3), a door-opening process is performed to fully open the entrance / exit door 104 corresponding to the boarding / alighting room 107 where the empty pallet arrived (SC4). In the door-opening process, for example, a monitoring area shown by hatching in Figure 26 is set, and while monitoring for object detection in this monitoring area, the entrance / exit door 104 is moved to the fully open position. The specific processing details are the same as those of the first embodiment described above, so a detailed explanation is omitted here.

[0113] When the entrance door 104 is fully open, the control device 40 enters an operation lock state (SC5) that does not accept input from the touch panel 113 of the control panel 122. This makes it possible to prevent a third party from inputting from the touch panel 113 while the user is away from the control panel 122.

[0114] Next, the control device 140 determines whether or not a vehicle has begun to enter the passenger compartment 107 (SC6). In other words, it determines whether or not an object has been detected by the entry / exit sensor 132. If the result is that the vehicle has not moved to the position of the entry / exit sensor 132 (SC6: NO), the determination process is repeated. On the other hand, if a vehicle has begun to enter the passenger compartment 107 (SC6: YES), the control device 140 sets a monitoring area according to the vehicle type information (SC7). As a result, if the vehicle is a regular car, areas A to C are set as the monitoring area; if it is a mid-roof vehicle, areas B to C are set; and if it is a high-roof vehicle, area C for detecting vehicles that cannot enter is set as the monitoring area (see Figure 7).

[0115] Next, the control device 140 determines whether or not an object has been detected in the monitoring area by the entrance / exit sensor 120 (SC8). In other words, it determines whether or not the vehicle's height is within a specified value. If no object is detected in the monitoring area as a result (SC8:NO), it determines whether or not the vehicle has completed its entry into the passenger compartment 107 (SC9). That is, it determines whether or not the entry / exit sensor 132 has stopped detecting an object (vehicle). If the vehicle has not completed its entry as a result (SC9:NO), it returns to step SC8 and repeats the above process. Also, if an object is detected in step SC8 (SC8:YES), it determines that the vehicle's height is above a specified value and issues an error notification (SC10). The error notification may be made, for example, by a speaker installed in the passenger compartment, or by installing a display at the front of the passenger compartment and displaying a message on the display. Furthermore, if communication with an on-board device mounted on the vehicle is possible, the notification may be made via the on-board device through the wireless communication unit.

[0116] On the other hand, if no object is detected (SC8: NO) and the vehicle's entry is complete (SC9: YES), the monitoring area setting is deactivated (SC11 in Figure 31). This temporarily stops object detection near the entrance / exit door 104. Subsequently, the user stops the vehicle at the designated position inside the passenger compartment and exits from the passenger compartment 107.

[0117] When the entry / exit sensor 132 detects that a user has exited the passenger compartment 107, the control device 140 sets the control panel 122 to an operable state (SC12) and displays an unoccupied confirmation button on the touch panel 113 (SC13). When the unoccupied confirmation button is pressed by a user who has performed the unoccupied confirmation (SC14), the control device 140 displays a door-close instruction button on the touch panel 113 (SC15). When the door-close instruction button is pressed by a user and a door-close instruction is input (SC16), the control device 140 determines that the passenger compartment is unoccupied based on the detection signal from the internal sensor 130 (SC17). At this time, as shown by the hatching in Figure 29, a monitoring area may be set over the entire entrance / exit, and object detection may be further performed by the entrance / exit sensor 120 within this monitoring area.

[0118] As a result, if an object is detected by the internal sensor 130 or the entrance / exit sensor 120 (SC17: NO), the process returns to step SC13, and the user is asked to confirm that the area is unoccupied again. On the other hand, if no object is detected and the area is confirmed to be unoccupied (SC17: YES), the door closing process is performed to close the entrance / exit door 104 (SC18). In the door closing process, for example, a monitoring area shown by hatching in Figure 29 is set, and while monitoring for object detection in this monitoring area, the entrance / exit door 104 is moved to the fully closed state. Note that the specific processing details are the same as in the first embodiment described above, so a detailed explanation is omitted here.

[0119] Then, once the entrance / exit door 104 is completely closed and the door closing process is finished, the user turns off the power to the control panel 122 (SC19). When the user turns off the power to the control panel 122, the control device 140 terminates the storage process.

[0120] [Pallet transport process] Next, the pallet transport process performed in step SC3 of the receiving process (see Figure 30) will be explained with reference to the figure. Figure 32 is a flowchart showing an example of the processing procedure for the pallet transport process. Note that the following processes are performed by the control device 140 not only during receiving but also during the pallet transport period when pallet transport is performed.

[0121] In the pallet transport process, the control device 140 sets a monitoring area (see, for example, the hatched area in Figure 26) (SD1), and then determines whether or not an object has been detected in the monitoring area based on the detection signal from the entrance / exit sensor 120 (SD2). If an object is detected in the monitoring area (SD2: YES), error processing is performed (SD3). In the error processing, for example, the user is notified that an object has been detected in the monitoring area and is prompted to check the safety of the area around the entrance / exit door 104. The notification is made, for example, by a speaker installed on the control panel 122. When the error processing is completed in this way, the process returns to step SD2.

[0122] On the other hand, if no object is detected in the monitoring area (SD2:NO), the control device 140 starts pallet transport (SD4). Next, the control device 140 determines whether or not an object has been detected in the monitoring area based on the detection signal from the entrance / exit sensor 120 (SD5). If no object is detected as a result (SD5:NO), the control device 140 determines whether or not the transport process to transport the specified pallet to the desired location (for example, the called boarding / alighting room 107) has been completed (SD6). If the pallet transport has not been completed as a result (SD6:NO), the process returns to step SD5 and the object detection determination is repeated until the pallet transport is completed.

[0123] If an object is detected in the monitoring area (SD5:YES), the control device 140 stops pallet transport (SD7) and performs error processing (SD8). The error processing here is the same as in step SD3, so the explanation is omitted. Next, the control device 140 determines whether or not an object has been detected in the monitoring area based on the detection signal from the entrance / exit sensor 120 (SD9). If an object has been detected (SD9:YES), the process returns to step SD8. On the other hand, if no object has been detected in step SD9 (SD9:NO), the pallet transport is resumed (SD10), and the process returns to step SD5. When pallet transport is complete (SD6:YES), the pallet transport process ends.

[0124] [Outbound processing] In the case of vehicle departure, the only difference is that the pallet on which the vehicle is placed is called to a designated boarding / alighting room 107, and when the pallet arrives at the boarding / alighting room 107, the user enters the room, boards the vehicle on the pallet, and departs the vehicle from the boarding / alighting room 107. Other aspects are almost the same, so an explanation is omitted.

[0125] The processing procedures and contents related to the receiving and shipping processes according to the embodiment described above are examples only and are not limited thereto. For example, it is possible to add, omit, or change the procedures as appropriate. It is also possible to adopt known processes as appropriate. For example, in the receiving process described above, processes such as user authentication and security checks were omitted, but these processes may be added. For example, as in the first embodiment, an IC card reader or keypad for performing user authentication may be provided on the control panel 122, and user authentication may be performed as appropriate.

[0126] As described above, the mechanical parking device 100, its safety confirmation method, and safety confirmation program according to this embodiment include a monitoring area setting unit 180 that sets a monitoring area near the entrance door 104, and an entrance sensor 120 that is provided near the entrance door and detects objects in the monitoring area. The monitoring area setting unit 180 sets the monitoring area for, for example, the pallet transport period during which pallets are transported, the door opening operation period during which the entrance door 104 is opened, the vehicle movement period during which vehicles are moved, and the door closing operation period during which the entrance door 104 is closed. This allows for the detection of contact between the entrance / exit door 104 and people during pallet transport, door opening, and door closing operations, thereby preventing accidents such as fingers getting caught. Furthermore, during vehicle movement, it becomes possible to detect vehicles with non-standard heights. This improves the safety of the mechanical parking system 1. Furthermore, since the common entrance / exit sensor 120 performs both contact detection between the entrance / exit door 104 and people, and vehicle height determination, the installation of additional sensors can be avoided. This helps to keep costs down.

[0127] Furthermore, although the above-described embodiment illustrates an upward-opening door 104 that slides upward, the opening and closing method of the entrance door 104 is not limited to this. For example, it may be a downward-opening door in which the entrance door 104 slides into a pocket (door storage space) provided below, and the entire entrance door 104 is stored downward to open and close. In this case, as shown in Figure 29, the entire entrance may be set as the monitoring area. Alternatively, the monitoring area may include all entrance doors 104 as well as a portion of the area above them.

[0128] Furthermore, the entrance / exit door 104 may be a horizontally opening door that slides left and right. In this case, as shown in Figure 29, the entire entrance / exit may be set as the monitoring area. Alternatively, for example, as illustrated in Figures 16 and 17, the monitoring area may be set according to the degree of opening. Thus, the monitoring area can be appropriately configured according to the door opening and closing method and the required level of security.

[0129] Although the present disclosure has been described above using the embodiments described above, the technical scope of the present disclosure is not limited to the scope described in the embodiments above. Various modifications or improvements can be made to the embodiments above without departing from the gist of the disclosure, and such modified or improved forms are also included in the technical scope of the present disclosure. Furthermore, the flow of each process (step) described in each of the embodiments described above is merely an example, and it is possible to delete some processes, add new processes, or change the order of processes. In addition, it is possible to appropriately adopt some of the processes of known receiving and shipping processes, for example, by adding known processes or replacing some processes with known processes.

[0130] For example, in the embodiments described above, the case where the vehicle exits in the same direction as when entering the depot was explained, but the invention is not limited to this example. For example, the front of the passenger compartment 7 (for example, the wall on which the stopping position indicator light 25 (see Figure 2) is installed) may be configured to open and close, so that when exiting the depot, the vehicle exits through the front of the passenger compartment 7. Alternatively, different passenger compartments may be used for entering and exiting the depot.

[0131] Furthermore, although the above-described embodiments used elevator-type mechanical parking systems 1 and multi-stage mechanical parking systems 100 as examples, the invention is not limited to these examples. The mechanical parking systems of this disclosure may also be vertical circulation systems, multi-layer circulation systems, horizontal circulation systems, planar reciprocating systems, etc. In addition, conveyor-type or fork-type mechanical parking systems that do not use pallets may also be used.

[0132] Furthermore, in the embodiments described above, mechanical parking systems 1 and 100 were described in which entrance doors 4 and 104 are provided at the entrances and exits of the passenger compartments 7 and 107. However, for example, a mechanical parking system may also exist in which entrance doors are not installed at the entrances and exits to the passenger compartments. An example of such a mechanical parking system is the berth-type mechanical parking system 200 shown in Figures 33 and 34. Figure 33 is a schematic plan view of the passenger compartment (berth) 207 of the berth-type mechanical parking system 200, and Figure 34 is a schematic front view of the passenger compartment 207. As shown in Figures 33 and 34, the passenger compartment 207 is provided with an entrance and exit 203 for entering or exiting vehicles, and an entrance and exit sensor 220 is provided above the entrance and exit 203 for detecting objects near the entrance and exit.

[0133] A lift room 205 is located adjacent to the passenger compartment 207. A partition door 204 is provided between the passenger compartment 207 and the lift room 205. A conveyor (vehicle transport means) 210 is provided in the passenger compartment 207, and vehicles are transported (moved laterally) between the passenger compartment 207 and the lift room 205 by the conveyor 210. In the lift room 205, vehicles are transported (lifted up and down, moved laterally, etc.) between the vehicle storage rack and the lift room by a lift, etc. An automatic door 215 is provided at the back of the passenger compartment 207 for people to enter and exit the passenger compartment 207.

[0134] When parking in such a mechanical parking system 200, the user enters the passenger compartment 207 through the entrance / exit 203, stops the vehicle at the designated parking position, disembarks, and exits the passenger compartment through the automatic door 215. Once the user's exit is confirmed and a transport instruction is given on an operation panel (not shown), the compartment door 204 is opened from a fully closed position and the conveyor 210 is activated, transporting the vehicle. When a vehicle enters the parking area, as in the first and second embodiments described above, a monitoring area C for detecting vehicles that do not meet parking specifications may be set as a monitoring area, as shown in Figure 35, and the entrance / exit sensor 220 may be used to detect vehicles that do not meet parking specifications.

[0135] Furthermore, during the operation period of the conveyor 210 that moves the vehicle to the lifting room 205 (the operation period of the vehicle transport means), as shown in Figure 36, the entire entrance area may be set as a monitoring area, and objects may be detected by the entrance sensor 220. This makes it possible to quickly detect the entry of people or animals during the opening and closing of the partition door and during the vehicle transport period, thereby improving safety.

[0136] The mechanical parking device, its safety confirmation method, and safety confirmation program described in the embodiments above can be understood, for example, as follows.

[0137] A mechanical parking device (1,100) according to a first aspect of the present disclosure comprises an entry / exit compartment (7,107) for entering and exiting a vehicle (2), an entrance / exit door (4,104) provided at the entrance / exit of the entry / exit compartment, monitoring area setting means (80,180) for setting a monitoring area near the entrance / exit door, and object detection means (20,120) provided near the entrance / exit door for detecting objects in the monitoring area, wherein the monitoring area setting means sets each monitoring area during the door opening operation period when the entrance / exit door is opened and during the vehicle movement period when the vehicle is moved.

[0138] According to this embodiment, during the opening operation of the entrance / exit door, contact between the door and a person can be detected, and during the vehicle movement period, vehicles with non-standard heights can be detected. Furthermore, by using a common object detection means to perform both contact detection between the entrance / exit door and a person and vehicle height determination, the installation of additional sensors can be avoided. This makes it possible to suppress cost increases.

[0139] In the mechanical parking device (1,100) according to a second aspect of the present disclosure, in the first aspect, the monitoring area setting means makes the monitoring area during the door opening operation period and the monitoring area during the vehicle movement period different.

[0140] According to this embodiment, it becomes possible to set appropriate monitoring areas during the door opening operation period and the vehicle movement period, respectively. This allows for setting an appropriate monitoring range according to the progress of vehicle entry and exit.

[0141] In the mechanical parking device (1) according to a third aspect of the present disclosure, in the first or second aspect described above, the monitoring area setting means changes the monitoring area according to the degree of opening of the entrance door during the door opening operation period.

[0142] According to this embodiment, it becomes possible to set an appropriate monitoring area according to the degree to which the entrance / exit door is opened.

[0143] In the mechanical parking device (1,100) according to the fourth aspect of this disclosure, in any of the first to third aspects, the monitoring area setting means sets each monitoring area according to the type of vehicle during the vehicle movement period.

[0144] According to this embodiment, it becomes possible to set an appropriate monitoring area according to the type of vehicle.

[0145] A mechanical parking device (1,100) according to a fifth aspect of the present disclosure includes, in any of the first to fourth aspects described above, control means (40, 140) that stops the opening operation of the entrance door or controls the reversal of the entrance door when an object is detected in the monitoring area during the door opening operation period.

[0146] According to this embodiment, if an object is detected in the monitoring area, the opening operation of the entrance door is stopped or the entrance door is reversed, so that it is possible to quickly detect when a person has come into contact with the entrance door and take safety measures.

[0147] A mechanical parking device (1,100) according to a sixth aspect of this disclosure includes, in any of the first to fifth aspects described above, a notification means for providing an error notification when an object is detected in the monitoring area during the vehicle movement period.

[0148] According to the above embodiment, it becomes possible to notify the system when a vehicle with a height outside the specified range is detected.

[0149] A mechanical parking system (100, 200) according to a seventh aspect of the present disclosure comprises a passenger compartment (107, 207) for loading and unloading vehicles, and a vehicle transport means (210) for transport control when all or part of the entrance / exit (203) of the passenger compartment is open, and further comprises a monitoring area setting means (180) for setting a monitoring area near the entrance / exit during the operation period of the vehicle transport means (210), and an object detection means (120, 220) for detecting objects in the monitoring area during the operation period of the vehicle transport means.

[0150] According to this embodiment, it becomes possible to quickly detect the entry of people or other objects during the operating period of the vehicle transport system. This improves safety.

[0151] In the eighth aspect of the present disclosure, the mechanical parking system stops the operation of the vehicle transport means when an object is detected in the monitoring area, as described in the seventh aspect.

[0152] According to this embodiment, if an object is detected in the monitoring area, the operation of the vehicle transport means is stopped, thereby preventing accidents from occurring.

[0153] A safety confirmation method for a mechanical parking system according to a ninth aspect of the present disclosure is a safety confirmation method for a mechanical parking system comprising an entry / exit compartment for entering and exiting vehicles, and an entrance / exit door provided at the entrance / exit of the entry / exit compartment, wherein a computer performs a monitoring area setting step of setting a monitoring area near the entrance / exit door, and an object detection step of determining whether or not an object has been detected in the monitoring area, and in the monitoring area setting step, each monitoring area is set during the door opening operation period when the entrance / exit door is opened and during the vehicle movement period when the vehicle is moved.

[0154] A safety confirmation method for a mechanical parking system according to a tenth aspect of the present disclosure is a safety confirmation method for a mechanical parking system in which a vehicle is brought in and out of a vehicle, and a vehicle transport means is controlled when all or part of the entrance to the vehicle is open, wherein a computer performs a monitoring area setting step of setting a monitoring area near the entrance to the vehicle transport means during the operating period of the vehicle transport means, and an object detection step of determining whether or not an object has been detected in the monitoring area during the operating period of the vehicle transport means.

[0155] The safety confirmation program for a mechanical parking device according to the eleventh aspect of this disclosure is a safety confirmation program that causes a computer to execute the safety confirmation method described above. [Explanation of Symbols]

[0156] 1: Mechanical parking system 2: Vehicles 3: Entrance / exit 4: Entrance / Exit Door 4': Entrance / Exit Door 5: Parking Tower 6: Emergency exit door 7: Passenger compartment 14: Lift 18: Palette 20: Entrance / Exit Sensor 22: Control panel 25: Parking position indicator light 28: Monitor 30: Internal Sensor 32: Entry / exit sensor 40: Control device 41: Storage section 45: Touch panel 46: IC card reader 47: Speaker 50: Main control unit 52: Comprehensive Database 55: Entrance / Exit Door Control Unit 56: Conveyor Control Unit 63: Door drive unit 64: Lift drive unit 67: Entrance / Exit Door Sensor 68: Conveyor position sensor 69: Vehicle measuring instruments 71: Turntable position sensor 73: Vehicle weight sensor 80:Monitoring area setting section 81: Object detection control unit 100: Mechanical parking system 104a: Entrance / Exit Door 104b: Entrance / Exit Door 104c: Entrance / Exit Door 104d: Entrance / Exit Door 104e: Entrance / Exit Door 104f: Entrance / Exit Door 107a: Passenger compartment 107b: Passenger compartment 107c: Passenger compartment 107d: Passenger compartment 107e: Passenger compartment 107f: Passenger compartment 111: Power key 113: Touch panel 120: Entrance / Exit Sensor 122:Operation panel 123: Support member 130: Internal Sensor 132: Entry / Exit Sensor 135: Post 140: Control device 141: Storage section 150: Main Control Unit 152: Comprehensive Database 155: Entrance / Exit Door Control Unit 156: Conveyor Control Unit 157: Sensor Control Unit 163: Door drive unit 164: Pallet drive unit 167: Entrance / Exit Door Sensor 180:Monitoring area setting section 181: Object detection control unit 200: Mechanical parking system 203: Entrance / exit 204: Compartment Door 205: Lift room 207: Passenger compartment 210: Conveyor 215: Automatic door 220: Entrance / Exit Sensor

Claims

1. A mechanical parking system comprising a passenger compartment for entering and exiting vehicles, an entrance door provided at the entrance to the passenger compartment, and a vehicle transport system in which transport control of the vehicle transport means is performed with all or part of the entrance to the passenger compartment open, A monitoring area setting means for setting a monitoring area in the vicinity of the entrance door for the operating period of the vehicle transport means and for the monitoring area in the vicinity of the entrance door for the door operation period of opening and / or closing the entrance door, Object detection means for detecting objects in the aforementioned monitoring area Equipped with, The monitoring area setting means is a mechanical parking device that changes the monitoring area according to the degree of opening of the entrance door during the door operation period.

2. The mechanical parking device according to claim 1, wherein the monitoring area setting means sets a monitoring area for detecting contact between a person and an entrance door provided at the entrance to the passenger compartment during the operation period of the vehicle transport means.

3. The mechanical parking device according to claim 1, wherein the monitoring area setting means sets a monitoring area corresponding to the height of the entrance door provided at the entrance to the passenger compartment during the operating period of the vehicle transport means.

4. The mechanical parking device according to claim 1, wherein the monitoring area setting means sets the monitoring area to include a part of the entrance door in operation during the door operation period.

5. The mechanical parking device according to claim 1, wherein the operation of the vehicle transport means is stopped when an object is detected in the monitoring area.

6. The mechanical parking device according to claim 1, wherein the monitoring area setting means sets a monitoring area according to the type of vehicle during the vehicle movement period in which the vehicle is moving.

7. A safety confirmation method for a mechanical parking system comprising a passenger compartment for entering and exiting vehicles, an entrance door provided at the entrance to the passenger compartment, and a method for controlling the transport of a vehicle transport means while all or part of the entrance to the passenger compartment is open, A monitoring area setting step, in which a monitoring area during the operation period of the vehicle transport means and a monitoring area during the door operation period when the entrance door is opened and / or closed are set near the entrance door, An object detection step that determines whether or not an object has been detected in the monitoring area. The computer executes this, A safety confirmation method for a mechanical parking device, wherein, in the monitoring area setting step, the monitoring area is changed according to the degree of opening of the entrance / exit door during the door operation period.

8. A safety confirmation program for causing a computer to execute the safety confirmation method for a mechanical parking device described in claim 7.

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