JP2012122204A - Mechanical parking device and movement control method of the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mechanical parking device and a movement control method of the mechanical parking device that, even when a storage shelf is provided for housing a specific vehicle that is preferentially treated so as to have a shorter time required for unloading than that for other vehicles, allow cars other than the specific car to be quickly unloaded.SOLUTION: A mechanical parking device 10, when unloading a general vehicle 12, calculates a fixed-state necessary time T1 required for a fixed-state transport procedure, in which the general vehicle 12 is unloaded with a fixed pallet 16 assigned to a specific shelf, and calculates a movable-state necessary time T2 required for a movable-state transport procedure, in which the general vehicle 12 is unloaded with the moving pallet 16 assigned to the specific shelf. Then, the mechanical parking device 10 performs a vehicle unloading of the general vehicle 12 following the fixed-state transport procedure when a time difference between the fixed-state necessary time T1 and the movable-state necessary time T2 is equal to or less than a predetermined set time T3, or performs a vehicle unloading of the general vehicle 12 following the movable-state transport procedure when the time difference above exceeds the set time T3.

Description

  The present invention relates to a mechanical parking apparatus and an operation control method for the mechanical parking apparatus.

  Arranged in a grid of N rows and M columns, a hangar having storage shelves for storing vehicles is provided, and a plurality of pallets for placing and transporting vehicles on the storage shelves are disposed, and the pallets are vertically arranged between the storage shelves. And the mechanical parking apparatus which conveys a vehicle within a hangar by moving horizontally in a horizontal direction has been developed.

More specifically, the mechanical parking apparatus includes a storage shelf in which a pallet is arranged and a storage shelf that is not a pallet and is an empty area as a storage shelf, and sends the pallet to the storage shelf in the empty area. Then move the pallet.
The mechanical parking apparatus moves the target pallet to the storage shelf at the designated position by repeatedly performing such a movement operation of the pallet.

Here, at the time of warehousing, the vehicle to be garnished stops at the loading / unloading section on the entry floor of the mechanical parking device, and the occupant gets off the vehicle. The mechanical parking device places a vehicle on a pallet on a lifting device (hereinafter referred to as “lift”), conveys the pallet to a hangar, and moves the pallet on which the vehicle is loaded from the lift to the hangar. Store the vehicle.
On the other hand, at the time of delivery, the mechanical parking device moves the pallet in the hangar, moves the pallet with the vehicle to be delivered to the lift, and transports the pallet to the entry / exit section on the entry floor by the lift. Let the vehicle go out.

  In such a mechanical parking device, a vehicle that has been placed is placed on a pallet and stored in a storage shelf, but the pallet on which the vehicle is placed moves as the other vehicle enters and exits, and the vehicle The position changes in the hangar. Therefore, when leaving the vehicle, if the vehicle has moved to a position away from the lift, it may take time to move out.

On the other hand, there is a need for a specific user (for example, important customers and company officers, hereinafter referred to as “specific person”) to always go out quickly. However, as described above, the position of the specific person's vehicle may change due to the loading / unloading operation of other vehicles that occur randomly, and it has been difficult to always leave the vehicle quickly.
In order to solve this problem, in Patent Document 1, a storage shelf in a place that is not directly connected to a lift for loading and unloading is set as a special space, and a specific person's vehicle is stored in the special space. There is described a technique for preventing the specific person's vehicle from leaving the lift by performing control not to move the pallet in the special space at the time of the vehicle entering / exiting operation, and shortening the leaving time of the specific person's vehicle.
Further, in Patent Document 2, a space close to a lift for loading / unloading is set as a reserved tray (pallet) waiting area, a specific person's vehicle is stored in the waiting area, and a specific person is specified during the loading / unloading operation of other vehicles. If the tray with the specific person's vehicle is out of the reserved tray waiting area after the end of the movement, the movement control to return to the reserved tray waiting area is performed. A technique for shortening the vehicle delivery time is described.

Japanese Patent No. 2715120 JP 2007-009499 A

As described above, in the technique described in Patent Document 1, the pallet in the special space is not moved except for the shipment of the specific vehicle. Therefore, when a general vehicle that is a non-specific person's vehicle is moved, if there is a special space between the position of the general vehicle in the hangar and the lift, the mechanical parking device uses the pallet on which the general vehicle is placed. Must be diverted from special space. For this reason, the path | route for taking out a general vehicle is restrict | limited, The time required for the delivery of a general vehicle becomes long, and the quick delivery of the general vehicle may be prevented.
Furthermore, if a plurality of special spaces are provided, a fixed area in which the pallet cannot be moved is formed in the vicinity of the lift. Therefore, there is a problem that it is difficult to provide a large number of special spaces because the probability that the time required for leaving a general vehicle increases and the influence of the special spaces increases as the number of special spaces increases.

  In the technique described in Patent Document 2, since the reserved tray waiting area is an area close to the lift, the movement of the tray always occurs in the reserved tray waiting area when the general vehicle enters and leaves. Therefore, after moving, the specific person's vehicle goes out of the reserved tray waiting area, and a return operation for returning the specified person's vehicle to the reserved tray waiting area often occurs. In the case of N = 3 and M = 4), there is a possibility that the return operation is likely to occur, and when the general vehicle is continuously discharged, the vehicle may be prevented from being quickly discharged.

  The present invention has been made in view of such circumstances, and is provided with a storage shelf for accommodating a specific vehicle that is preferentially handled so that the time required for delivery is shorter than that of other vehicles. Even so, an object of the present invention is to provide a mechanical parking device and a method for controlling the operation of the mechanical parking device that can cause a vehicle other than the specific vehicle to be delivered quickly.

In order to solve the above problems, the mechanical parking device and the operation control method for the mechanical parking device of the present invention employ the following means.
That is, the mechanical parking apparatus according to the present invention is an unloading unit for loading and unloading a vehicle, a plurality of storage shelves on which pallets for placing and transporting the vehicle are disposed, and an empty area in which the pallets are not disposed. A hangar in which one or more storage shelves are arranged in a grid, and an elevating device that moves up and down between the storage and storage unit and the hangar to convey the pallet, the pallet vertically and between the storage shelves A mechanical parking device that transports a vehicle in the hangar by moving horizontally in a horizontal direction, and a specific vehicle that is preferentially treated so that a required time for shipping is shorter than other vehicles. The storage shelves as specific shelves to be accommodated are set around the lifting device, and when a non-specific vehicle that is not the specific vehicle is issued, the pallet placed on the specific shelf is fixed and the Non-special A calculating means for calculating a first required time required for the first output operation to output the vehicle and a second required time required for the second output operation to output the non-specific vehicle by moving the pallet arranged on the specific shelf. When the time difference between the first required time and the second required time is less than or equal to a preset set time, the first shipping operation is performed, and when the time difference exceeds the set time, the first And an operation control means for performing a two shipping operation.

According to the present invention, the mechanical parking device is an unloading unit for loading and unloading a vehicle, a plurality of storage shelves on which pallets for placing and transporting the vehicle are disposed, and an empty area in which no pallets are disposed. A storage shed with more than two storage shelves arranged in a grid, and a lifting device that moves up and down between the storage section and the hangar to convey the pallet, and the pallet horizontally between the storage shelves vertically and horizontally By moving, the vehicle is transported in the hangar.
In addition, the mechanical parking device has a storage shelf as a specific shelf for accommodating a specific vehicle that is preferentially handled so that the time required for delivery is shorter than that of other vehicles. Yes.

When a non-specific vehicle that is not a specific vehicle is to be shipped, the first required time required for the first unloading operation for fixing the pallet placed on the specific shelf and discharging the non-specific vehicle is calculated by the calculating means. Further, the calculation means calculates the second required time required for the second unloading operation of moving the pallet arranged on the specific shelf and unloading the non-specific vehicle.
Then, when the time difference between the first required time calculated by the calculating means and the second required time is equal to or less than a preset set time by the operation control means, the first leaving operation is performed, and the time difference is set. When the time is exceeded, the second shipping operation is performed.
Therefore, even if a storage shelf is provided for accommodating a specific vehicle that is preferentially handled so that the required time for the delivery is shorter than that of other vehicles, vehicles other than the specific vehicle can be delivered quickly. it can.

  Further, in the mechanical parking device of the present invention, when the plurality of specific shelves are set, the calculating unit moves the second pallet arranged on the plurality of specific shelves, and The time required for the second unloading operation is calculated for all combinations in which a part of the pallets arranged on the plurality of specific shelves is moved and the remaining pallets are fixed, and the minimum required time is calculated as the second required time. When the operation control means performs the second delivery operation, the non-specific vehicle may be delivered by the second delivery operation of the combination calculated for the second required time.

According to the present invention, when a plurality of specific shelves are set by the calculation means, the second unloading operation for moving all of the pallets arranged on the plurality of specific shelves, and the pallets arranged on the plurality of specific shelves The time required for the second shipping operation is calculated for all combinations in which a part is moved and the remaining pallets are fixed. Among the calculated required times, the minimum required time is selected as the second required time.
And when performing 2nd delivery operation | movement, a non-specific vehicle is delivered by the 2nd delivery operation | movement of the combination from which the 2nd required time was calculated by the operation control means.
Therefore, this invention can issue a non-specific vehicle by a more suitable delivery operation when a non-specific vehicle is delivered by the second delivery operation.

  Further, in the mechanical parking device of the present invention, the storage shelf is set as a waiting-for-shipping shelf for placing a shipping reservation vehicle that is a vehicle that has been reserved for shipping at one or more locations. A movement processing means for moving the pallet on which the delivery reservation vehicle for which a reservation for delivery is designated is placed to the delivery waiting shelf when the instruction is received; And setting means for setting the delivery waiting shelf as the specific shelf after the movement to the waiting shelf and canceling the setting of the delivery waiting shelf as the specific shelf after the delivery reservation vehicle is delivered.

According to the present invention, one or more storage shelves are set as unloading waiting shelves on which to place unloading reservation vehicles, which are vehicles that have been reserved for unloading.
Then, when an instruction for reservation for delivery is received, the movement processing means moves the pallet on which the delivery reservation vehicle for which the reservation for delivery has been designated is placed to the exit waiting shelf. After the delivery reservation vehicle moves to the delivery waiting shelf, the setting means sets the delivery waiting shelf as a specific shelf. After the delivery reservation vehicle is delivered, the setting means sets the delivery waiting shelf to the specified shelf. This setting is canceled.
Therefore, according to the present invention, it is possible to prioritize a vehicle that has been reserved for delivery.

  Further, in the mechanical parking device of the present invention, the movement processing means is configured such that a distance from the position of the leaving reservation vehicle specified for the leaving reservation to the lifting device is set from the set position of the leaving waiting shelf. When it is shorter than the distance to the lifting device, the leaving reservation vehicle may not be moved to the leaving waiting shelf.

According to the present invention, when the distance from the position of the leaving reservation vehicle designated for the reservation to the lifting device to the lifting device is shorter than the distance from the set waiting shelf position to the lifting device, the leaving reservation vehicle is , It is not moved to the waiting rack.
Therefore, the present invention can prevent useless movement such that the moving distance becomes long with respect to a vehicle for which a reservation for leaving has been made.

  The mechanical parking device of the present invention, when setting the storage shelf as the specific shelf, the total of the first distance from the storage shelf set as the specific shelf to the lifting device, and the specific shelf A second difference between the distance from the other storage shelf to the lifting device when the pallet to be mounted is fixed and the distance from the other storage shelf to the lifting device when the specific shelf is not set You may provide the display means which displays the sum total of distance.

According to the present invention, when the storage shelf is set as the specific shelf, the sum of the first distances from the storage shelf set as the specific shelf to the lifting device is displayed by the display unit. Further, it is a difference between the distance from the other storage shelf to the lifting device when the pallet placed on the specific shelf is fixed by the display means and the distance from the storage shelf to the lifting device when the specific shelf is not set. The total sum of the second distances is displayed.
The position of the storage shelf set as the specific shelf is preferably as the sum of the first distance and the second distance is smaller.
Therefore, according to the present invention, the maintenance staff selecting the specific shelf can select the specific shelf while checking the sum of the first distance and the sum of the second distance, so that the convenience of the maintenance staff is improved. .

Moreover, the mechanical parking apparatus of this invention is good also considering the said specific shelf displayed on a display means as the leaving waiting shelf for placing the leaving reservation vehicle which is the vehicle by which the reservation of the leaving was carried out.
According to the present invention, the convenience of the maintenance staff who selects the storage waiting shelf is improved.

  On the other hand, in the operation control method of the mechanical parking apparatus according to the present invention, the loading / unloading unit for loading / unloading the vehicle, the plurality of storage shelves on which the pallets for placing and transporting the vehicle are disposed, and the pallets are not disposed. A hangar in which one or more storage shelves serving as vacant areas are arranged in a grid pattern, and an elevating device that moves up and down between the warehousing unit and the hangar to convey the pallet, and the pallet stores the storage By moving horizontally between shelves vertically and horizontally, the operation control method of the mechanical parking device that transports the vehicle in the hangar, so that the time required for delivery is shortened compared to other vehicles. In the case where the position of the specific shelf as the storage shelf for storing the specific vehicle treated preferentially is set around the lifting device, and the non-specific vehicle that is not the specific vehicle is issued, the specific shelf Fixing A first step of calculating a first required time required for a first leaving operation for releasing the non-specific vehicle, and a second required time required for a second unloading operation for moving the specific shelf to release the non-specific vehicle; When the time difference between the first required time and the second required time is equal to or less than a preset time, the first delivery operation is performed, and when the time difference exceeds the set time, the second delivery A second step of performing the operation.

  According to the present invention, even if a storage shelf is provided for accommodating a specific vehicle that is preferentially handled so that the time required for delivery is shorter than other vehicles, vehicles other than the specific vehicle can be quickly Can be issued.

  According to the present invention, even if a storage shelf is provided for accommodating a specific vehicle that is preferentially handled so that the time required for delivery is shorter than other vehicles, vehicles other than the specific vehicle can be quickly It has an excellent effect that it can be delivered.

It is a lineblock diagram of a mechanical parking device concerning a 1st embodiment of the present invention. It is a block diagram which shows the electric constitution of the control apparatus of the mechanical parking apparatus which concerns on 1st Embodiment of this invention. It is a flowchart which shows the flow of the entering / exiting operation | movement of the mechanical parking apparatus which concerns on 1st Embodiment of this invention. It is a schematic diagram which shows the example of a movement of the pallet in the hangar which concerns on 1st Embodiment of this invention. It is a schematic diagram which shows the movement example of the general vehicle which concerns on 1st Embodiment of this invention, and the movement example of a specific vehicle. It is a schematic diagram which shows the distance from each storage shelf to a lift which concerns on 1st Embodiment of this invention. It is a schematic diagram which shows the example of a setting of the specific shelf which concerns on 1st Embodiment of this invention. It is a flowchart which shows the flow of a process of the movement program between storage shelves which concerns on 1st Embodiment of this invention. It is a schematic diagram which shows the example of a movement to the leaving waiting shelf of the leaving reservation vehicle which concerns on 2nd Embodiment of this invention. It is a flowchart which shows the flow of a process of the reservation vehicle delivery program which concerns on 2nd Embodiment of this invention.

  EMBODIMENT OF THE INVENTION Below, one Embodiment of the mechanical parking apparatus which concerns on this invention, and the operation control method of a mechanical parking apparatus is described with reference to drawings.

[First Embodiment]
The first embodiment of the present invention will be described below.
FIG. 1 is a configuration diagram of a mechanical parking apparatus 10 according to the present embodiment.
The mechanical parking device 10 includes a loading / unloading unit 14 for loading / unloading the vehicle 12, a plurality of storage shelves 18 on which pallets 16 (plate-shaped bases) for placing and transporting the vehicle 12 are disposed, and a pallet 16. One or more storage shelves 18 that are not vacant areas are arranged in a grid (for example, N rows × M columns), and the pallet 16 is transported by moving up and down between the storage unit 14 and the storage 20. And lift 22.
Further, the mechanical parking device 10 includes a control device 24 for controlling movement of the pallet 16 and the lift 22 and the like.

  Each pallet 16 is assigned a different number in advance, and the mechanical parking device 10 identifies each pallet 16 by the added number.

Further, the entrance / exit section 14 is provided with a door 26 and an operation panel 28.
The operation panel 28 is provided outside the loading / unloading unit 14 so that a user of the mechanical parking apparatus 10 can operate, and for example, inputs various operations (such as instructions for loading or unloading) via a switch or the like. At the same time, various information is displayed for the user by an image display device such as a liquid crystal display device.

And the mechanical parking apparatus 10 conveys the vehicle 12 within the storage 20 by moving (circulating) the pallet 16 horizontally between the storage shelves 18 in the vertical and horizontal directions.
That is, the mechanical parking apparatus 10 according to the first embodiment is a puzzle type mechanical parking apparatus that horizontally circulates a pallet.

  The mechanical parking device 10 according to the first embodiment is a vehicle of a specific user such as an important customer or a company officer, and is prioritized so that the time required for delivery is shorter than other vehicles. A storage shelf 18 is provided as a specific shelf for accommodating a specific vehicle to be handled. The position of the specific shelf is set, for example, around (in the vicinity of) the lift 22. In the following description, a vehicle that is not a specific vehicle is referred to as a general vehicle.

Moreover, the mechanical parking apparatus 10 shown in FIG. 1 is an example. In FIG. 1, the storage shelf 18 of the hangar 20 has three layers, but may have one layer, two layers, or four layers or more. Moreover, although the storage 20 is arrange | positioned in the lower layer rather than the entering / exiting part 14, it is not restricted to this, The storage 20 may be arrange | positioned in the upper layer rather than the entering / exiting part 14, and it is rather than the entering / exiting part 14 You may arrange | position to both an upper layer and a lower layer.
Furthermore, the storage shelves 18 of each layer are connected by a lift 22, and the layout of each layer (number of storage shelves and aspect ratio, number of specific shelves set and position, etc.) may be the same or different.

FIG. 2 is a block diagram showing an electrical configuration of the control device 24 of the mechanical parking device 10.
The control device 24 includes a CPU (Central Processing Unit) 40, a ROM (Read Only Memory) 42 in which various programs and various parameters are stored in advance, and a RAM (Random Access) used as a work area when the CPU 40 executes various programs. Memory) 44 and an HDD (Hard Disk Drive) 46 as storage means for storing various programs and various information.

The HDD 46 stores encryption number information indicating the password of the user of the mechanical parking apparatus 10. When the vehicle 12 is stored, the user's personal identification number and the number of the pallet 16 on which the user's vehicle 12 is placed are related and stored in the HDD 46 as stored information.
Further, instead of the HDD 46, a storage element such as an EEPROM (Electrically Erasable Programmable Read-Only Memory), a flash memory, or an SRAM (Static Random Access Memory) with a battery backup may be used. Depending on the type of data such as a value, a storage element may be used and stored.

  Further, the control device 24 includes a motor control unit 48 that controls a motor (not shown) for driving the pallet 16 and the lift 22 and the like, and a sensor (not shown) that detects the operation state of the pallet 16 and the lift 22 and the like. The sensor signal receiving part 50 which receives this signal is provided.

  The CPU 40, ROM 42, RAM 44, HDD 46, motor controller 48, sensor signal receiver 50, and operation panel 28 are electrically connected to each other via a system bus 52. Therefore, the CPU 40 accesses the ROM 42, RAM 44, and HDD 46, grasps the operation state of the operation panel 28 and displays an image, drives the motor through the motor control unit 48, and the pallet 16 through the sensor signal receiving unit 50. And the operation state of the lift 22 and the like can be grasped.

Next, the operation of the mechanical parking apparatus 10 according to the first embodiment will be described.
When entering the vehicle 12, the mechanical parking device 10 takes out an empty pallet 16 on which the vehicle 12 is not placed from the storage shelf 18, and moves the removed pallet 16 to the entry / exit unit 14. Then, the vehicle 12 is placed on the pallet 16 in the loading / unloading unit 14, and the mechanical parking device 10 completes the warehousing by storing the pallet 16 on which the vehicle 12 is placed in the storage shelf 18.
On the other hand, when the vehicle 12 is unloaded, the mechanical parking apparatus 10 takes out the pallet 16 on which the vehicle 12 to be unloaded from the storage shelf 18 and moves the extracted pallet 16 to the loading / unloading unit 14. Then, the vehicle 12 is unloaded from the pallet 16 by the user at the loading / unloading unit 14, and the mechanical parking device 10 stores the empty pallet 16 in the storage shelf 18 to complete the loading.

FIG. 3 is a flowchart showing details of the flow of the entering / exiting operation in the mechanical parking apparatus 10 according to the first embodiment.
In the mechanical parking device 10, even if the vehicle is entering or leaving, there is a difference that the vehicle 12 is placed on the pallet 16 or the vehicle 12 is not placed, but the pallet 16 is taken out from the storage 20 and returned to the storage 20 again. Since the flow of operation is the same, warehousing and delivery are described in the same drawing.

  In step 100, an entry / exit instruction for the vehicle 12 is received via the operation panel 28. Receipt of entry / exit is performed by accepting an instruction for entry / exit along with the input of the user's password via the operation panel 28.

When the personal identification number is received, the control device 24 checks the personal identification number information stored in the HDD 46 and determines the pallet to be taken out from the storage 20 when the received personal identification number matches the personal identification number information stored. . In particular, in the case of delivery, the control device 24 determines the pallet 16 to be taken out (the pallet on which the vehicle 12 to be delivered is placed) based on the stored information.
Note that the information input via the operation panel 28 at the time of entry / exit may be an ID obtained by reading a dedicated IC card or magnetic card with a reader instead of the password. Further, a one-dimensional barcode or two-dimensional barcode described on a dedicated card may be read, the number of the palette 16 used by the user may be input, or the user may enter a remote control (infrared ray). The user code may be input by wireless).

Steps 102 to 106 are take-out processing for moving the pallet 16 decided to be taken out in step 100 to the loading / unloading unit 14.
In step 102, the pallet 16 is moved between the storage shelves 18 so as to be conveyed to the lift 22. In step 102, a storage shelf movement process described later is performed.
In the next step 104, the pallet 16 placed on the lift 22 is conveyed to the loading / unloading unit 14 by moving the lift 22 (in the first embodiment, rising).
In the next step 106, after the lift 22 is transported to the loading / unloading unit 14, the door 26 of the loading / unloading unit 14 is opened to allow the user and the vehicle 12 to enter and leave the loading / unloading unit 14.

  In the next step 108, the user gets on and off the vehicle 12.

The next steps 110 to 114 are storage processing for returning the pallet 16 in the loading / unloading unit 14 to the storage 20.
In step 110, after performing safety confirmation to confirm that there is no user or the like in the loading / unloading unit 14, the user closes the door 26 by operating the operation panel 28.
In the next step 112, the pallet 16 placed on the lift is transported to the hangar 20 by moving the lift 22 (lowering in the first embodiment).
In the next step 114, the pallet 16 is stored by transporting the pallet 16 from the lift 22 to the storage 20. In the mechanical parking device 10 which is a puzzle type, it is not necessary to return the pallet 16 to the initial position where the pallet 16 is taken out, and the pallet 16 may be returned to the same layer as the storage shelf 18 from which the pallet 16 is taken out. .

Step 116 and Step 118 specify the pallet 16 on which the specific vehicle is placed when the pallet 16 on which the specific vehicle to be positioned on the specific shelf is moved by performing the storage shelf movement process described later. This is a return operation for returning to the shelf.
In step 116, it is determined whether or not all the specific vehicles 12S that should be positioned on the specific shelf are positioned on the specific shelf. If the determination is affirmative, the loading / unloading operation is terminated, and if the determination is negative, the process proceeds to step 118. Transition.
In step 118, the pallet 16 carrying the specific vehicle 12S not located on the specific shelf is moved to the specific shelf, and the loading / unloading operation is completed.

FIG. 4 is a schematic diagram illustrating an example of a procedure for moving the pallet 16 in the hangar 20. Hereinafter, the movement of the pallet 16 in the hangar 20 will be described with reference to FIG.
The vertical and horizontal directions in each step in FIG. 4 indicate the position of the storage shelf 18, the pallet 16 is disposed on the storage shelf 18 indicated by diagonal lines, and the pallet 16 is not disposed on the storage shelf 18 indicated by white outline. . A pallet 16 on which the vehicle 12 is placed is disposed on a storage shelf 18 indicated by a combination of black circles (●) and diagonal lines. Each arrow indicates the direction of the pallet 16 to be moved in each step.

In this description, the vehicle 12 in the vertical B and horizontal 3 (hereinafter, the vertical and horizontal positions are abbreviated as “position B3” will be described) is moved to the position D1 where the lift 22 is located. Explain the case. That is, the pallet 16 having “●” is the pallet 16 to be taken out from the storage 20.
In step 0, the pallet 16 at the position B2 is moved to the position A2 of the storage shelf 18 where the pallet 16 is not arranged.
In the next step 1, the pallet 16 disposed at the position B3 is moved to the position B2 of the storage shelf 18 where the pallet 16 is not disposed.
Then, by sequentially moving the pallet 16 from step 2 to step 9 according to the arrows, the pallet 16 to be taken out can be moved to the position of the lift 22.

In the example shown in FIG. 4, since the lift 22 is moving up to step 3, the lift 22 is not in the layer and cannot be used.
As described above, when the lift 22 is not located in the layer where the movement of the pallet 16 is performed, the mechanical parking device 10 does not have the lift 22 in the layer, that is, the lift 22 as a candidate for the movement destination of the pallet 16. The pallet 16 is moved without adding the position. On the other hand, when the lift 22 is located in the layer where the movement of the pallet 16 is performed, the mechanical parking device 10 has the lift 22 in the layer, that is, the position of the lift 22 as a candidate for the movement destination of the pallet 16. Is added to move the pallet 16.

As described with reference to FIG. 4, the movement of the pallet 16 in the hangar 20 moves the pallet 16 to the lift 22 by sequentially moving the pallet 16. However, if the pallet 16 is far from the position of the lift 22, it takes time to move to the lift 22. Therefore, it is desirable that the vehicle 12 (specific vehicle) to be taken out earlier is in the vicinity (near the vicinity) of the lift 22.
Therefore, in the mechanical parking device 10 according to the first embodiment, a specific shelf for accommodating a specific vehicle is set as described above.

FIG. 5A shows an example of movement of a non-specific vehicle (hereinafter referred to as “general vehicle 12A”). In such movement of the general vehicle 12 </ b> A, a plurality of routes (for example, the route (a) to the route (C)) can be selected for the shortest movement to the lift 22. However, the position of the pallet 16 in the vicinity of the lift 22 moves to a position away from the lift 22 due to the movement of another vehicle 12, and it may take a long time to move to the lift 22. End up.
On the other hand, as shown in FIG. 5 (B), by providing a specific shelf in the vicinity of the lift 22 (portion indicated by the oblique lines in FIG. 5 (B)) and fixing the specific vehicle 12S to the specific shelf, It enables regular and short-term shipping.

FIG. 6 is an example showing the distance from the storage shelf 18 to the lift 22. 6A shows a case where the lift 22 is located at a corner of the hangar 20, and FIG. 6B shows a case where the lift 22 is located near the center of the hangar 20. .
In addition, it is close to the lift 22, and the range which can move to the lift 22 by the movement of 1 square (storage shelf 18) is the distance "1", and the place which can move to the movement lift 22 by 2 squares is the distance "2". Thus, the distances “3”, “4”... And the distances from all the storage shelves 18 to the lifts 22 can be obtained.
In FIG. 6B, the distance between the storage shelves 18 adjacent in the left-right direction of the lift 22 is “3” instead of “1” because it moves from the left-right direction of the lift 22 to the lift 22. This is because the robot cannot move to the lift 22 by turning around.

  When the distance from the storage shelf 18 to the lift 22 is set as described above, the shipping time tends to be shorter as the distance is smaller on average. However, even when the actual vehicle 12 is taken out from the same place, the time until the target vehicle 12 is moved depends on the position of the empty storage shelf 18 where the pallet 16 is not placed at the start of taking out. Preparation time may vary.

  Next, since the shorter the distance from the storage shelf 18 to the lift 22 can be delivered in a shorter time, a method for determining the position of the specific shelf using the distance as an index will be described below.

First, since the storage shelf 18 at a distance “1” from the lift 22 is closest to the lift 22, it is possible to reduce the shipping time. However, when the other vehicle 12 is shipped, there is a high possibility that the storage shelf 18 will pass through the storage shelf 18. Therefore, the vehicle 12 located on the storage shelf 18 has moved from the storage shelf 18 with the distance “1”, and when the storage shelf 18 with the distance “1” is set as the specific shelf, There is a high probability that a return operation is required to return the pallet 16 loaded with the vehicle 12 moved from the specific shelf back to the specific shelf. This returning operation may hinder smooth delivery of the general vehicle 12A when the general vehicle 12A is delivered continuously in a short time.
It is also possible to fix the specific shelf. In this case, in order to move the other general vehicle 12A, the pallet 16 on which the specific vehicle 12S located on the specific shelf is not moved. However, the other general vehicle 12A has to detour around the specific shelf and move to the lift 22, and in this case as well, there is a possibility of hindering the smooth delivery of the general vehicle 12A.

  It is effective to set the storage shelf 18 at the distance “1” as a specific shelf so that the specific vehicle 12 </ b> S having a very high priority is immediately issued. However, considering the influence on the user of the general vehicle 12A due to the return operation, it is preferable to set the storage shelf 18 having the distance “2” or the distance “3” not close to the lift 22 as the specific shelf. You might also say that.

  FIG. 7A to FIG. 7D show setting examples of specific shelves. 7A to 7D are different examples in which two specific shelves are set in the layout of FIG. 6B.

  FIG. 7A shows the left and right sides of the lift 22, and two storage shelves 18 at a distance “3” are specified shelves (the storage shelves 18 marked “special” in FIG. 7). This is an example in which the pallet 16 placed on the shelf is fixed (the pallet 16 is not moved). In this case, even if the storage shelf 18 is a specific shelf, the distance from the other storage shelf 18 to the lift 22 does not change.

  FIG. 7B shows an example in which the storage shelf 18 having a distance “3” adjacent to the right of the lift 22 and the storage shelf 18 having a distance “2” positioned below the storage shelf 18 are specified. In the case of this example, two storage shelves 18 (storage shelves 18 indicated by hatching in FIG. 7B) are generated that extend the distance to the lift 22.

  FIG. 7C is an example in which the storage shelf 18 at a symmetrical position with respect to the lift 22 is a specific shelf as compared with the example of FIG. 7B. In the case of this example, one storage shelf 18 that extends the distance to the lift 22 is generated.

  FIG. 7D is an example in which the storage shelves 18 having the distance “2” and the distance “3” are the specific shelves, as in FIGS. 7B and 7C, but the distance from the lift 22 is There is no storage shelf 18 extending.

設置距離は、特定棚がリフト２２に近いほうが良いため、設置距離の総和αが小さいほど好ましい。また、増加距離の総和βも、小さい方が好ましい。そして、これら２つ合算が最も小さいケースを最も好ましいケースとして選択する。 Next, Table 1 below shows the distance from each storage shelf 18 to the lift 22 as a specific shelf based on the examples of FIGS. 7A to 7D (hereinafter referred to as “installation distance”). Indicates the sum α. Table 1 shows the distance from the other storage shelf 18 to the lift 22 when the pallet 16 placed on the specific shelf is fixed, and the distance from the other storage shelf 18 to the lift 22 when no specific shelf is set. The total distance β, which is the difference from the distance, is displayed. Further, Table 1 displays the sum of the sum α and the sum β.

Since it is better that the specific shelf is closer to the lift 22, the installation distance is preferably as the total installation distance α is smaller. Further, it is preferable that the total distance β of the increase distance is also small. Then, the case with the smallest sum of these two is selected as the most preferable case.

In Table 1 based on the example of FIG. 7, the total installation distance α is the same in the case FIGS. 7B, 7 </ b> C, and 7 </ b> D. ) Is the most desirable.
The number of specific shelves set is preferably equal to the number of specific vehicles 12S. The specific vehicle 12S is registered in advance, and the registration information of the specific vehicle is associated with the user's personal identification number.
Moreover, the specific shelf set may be one or plural. When a plurality of specific shelves are set, the specific shelves may be set adjacent to each other or may be set apart from each other.

  In setting the specific shelf, the layout of the storage shelf 18 as shown in FIG. 7, the distance from each storage shelf 18 to the lift 22, and Table 1 are displayed on the screen of the image display device. When set, a setting device that indicates a change in the distance from the other storage shelf 18 to the lift 22 may be used. Thereby, the convenience of the maintenance worker who selects a specific shelf improves. The operation panel 28 may also serve as the setting device.

  Next, the movement process between storage shelves which moves the pallet 16 on which the vehicle 12 to be delivered is loaded to the lift 22 when the vehicle 12 is delivered will be described. As described above, the inter-storage shelf movement process is a process performed in step 102 of FIG.

  FIG. 8 is a flowchart showing the flow of processing of the storage shelf movement program executed by the CPU 40 of the control device 24 when the storage shelf movement processing is performed. The storage shelf movement program is stored in a predetermined area of the HDD 46 in advance. Has been. The inter-storage shelf moving program is started when an instruction to start execution of the take-out process is given.

  First, in step 200, it is determined whether or not the specific vehicle 12S is stored in the layer in which the pallet 16 on which the vehicle 12 to be delivered is placed. In the case of determination, the routine proceeds to step 204.

  In the next step 202, it is determined whether or not the vehicle 12 to be delivered is the specific vehicle 12S. If the determination is affirmative, the process proceeds to step 204. If the determination is negative, the process proceeds to step 210.

In step 204, the specific shelf is set to be movable (the pallet 16 arranged on the specific shelf can be moved).
That is, when the specific vehicle 12S is not stored, the process of giving priority to the specific vehicle 12S is not required, and therefore, in step 204, the specific shelf is set to be movable. If the vehicle 12 to be delivered is the specific vehicle 12S, the specific vehicle 12S cannot be delivered unless the specific shelf is movable. In step 204, the specific shelf is set to be movable.

  In the next step 206, a moving procedure to the lift 22 of the pallet 16 on which the vehicle 12 to be delivered is placed in a state where the specific shelf is set possible is derived, and the process proceeds to step 208. The moving procedure is derived according to the procedure described above.

  In the next step 208, the movement procedure derived in step 206 is set, and the process proceeds to step 228.

  Step 210 is a case where a negative determination is made in Step 202. In Step 210, when the specific shelf is set to be fixed (the pallet 16 arranged on the specific shelf is fixed), the pallet on which the vehicle 12 to be delivered is placed. The movement procedure up to 16 lifts 22 (hereinafter referred to as “movement procedure at the time of fixation”) is derived. The moving procedure is derived according to the procedure described above.

  In the next step 212, the time required for the operation of the fixed time movement procedure derived in step 210 (hereinafter referred to as “fixed time required T1”) is calculated. Since the time for moving the pallet 16 once from the storage shelf 18 to the other storage shelf 18 is specified in advance, the number of steps shown in FIG. 4 is multiplied by the specified time, The time required to move the pallet 16 to the lift 22 is calculated.

In the next step 214, when the specific shelf is set to be movable, a moving procedure to the lift 22 of the pallet 16 on which the vehicle 12 to be delivered is placed (hereinafter referred to as “moving procedure when moving”) is derived. The moving procedure is derived according to the procedure described above.
When a plurality of specific shelves are set, a moving procedure for moving all of the pallets 16 arranged on the plurality of specific shelves and a part of the pallets 16 arranged on the plurality of specific shelves are moved to The moving procedure for moving all combinations for fixing the pallet 16 arranged on the specific shelf is derived.

In the next step 216, the time required for the operation of the moving movement procedure derived in step 214 (hereinafter referred to as “movable time T2”) is calculated.
When a plurality of specific shelves are set, the required time for the moving procedure for all combinations is calculated, and the minimum required time is set as the movable required time T2.

In the next step 218, it is determined whether or not the time difference between the required time T1 at the fixed time and the required time T2 at the movable time is equal to or less than a preset time T3. If the determination is affirmative, the process proceeds to step 220. If the determination is negative, the process proceeds to step 224.
Here, if the set time T3 = 0, a shorter time is selected from the fixed required time T1 and the movable required time T2. However, when the moving procedure when moving is selected, as described above, the pallet 16 loaded with the specific vehicle 12S moved from the specific shelf is returned to the specific shelf again in accordance with the movement of the vehicle 12 to be delivered to the lift 22. There is a possibility of performing a return operation. This returning operation hinders quick delivery of the general vehicle 12 when, for example, the delivery of the general vehicle 12 continues in a short time.
Therefore, by setting the set time T3 to, for example, a time that does not cause inconvenience for the user (for example, 60 seconds), the return operation can be performed rather than the moving-time moving procedure that may perform the return operation. This makes it easier to select a fixed moving procedure.

  In step 220, the specific shelf is set to be fixed.

  In the next step 222, the fixed movement procedure derived in step 210 is set, and the process proceeds to step 228.

  In step 224, the specific shelf is set to be movable.

  In the next step 226, the moving-time moving procedure derived in step 214 is set, and the process proceeds to step 228.

  In step 228, a control signal is output to the motor control unit 48 so that the pallet 16 on which the vehicle 12 to be delivered is placed is moved to the lift 22 according to the set moving procedure, and this program is terminated.

As described above, the mechanical parking device 10 according to the first embodiment has a specific shelf for housing the specific vehicle 12S that is preferentially handled so that the time required for delivery is shorter than that of other vehicles. A storage shelf 18 is set around the lift 22.
The mechanical parking device 10 calculates the fixed time T1 required for the fixed moving procedure for fixing the pallet 16 placed on the specific shelf and releasing the general vehicle 12 when the general vehicle 12 is output. The movable time T2 required for the movable movement procedure for moving the pallet 16 arranged on the shelf to unload the general vehicle 12 is calculated. When the time difference between the fixed required time T1 and the movable required time T2 is equal to or less than the preset time T3, the mechanical parking device 10 performs the exit operation of the general vehicle 12 according to the fixed time moving procedure. If the time difference exceeds the set time T3, the exit operation of the general vehicle 12 is performed according to the moving procedure when moving.
Therefore, the mechanical parking device 10 according to the first embodiment is provided with a storage shelf for accommodating the specific vehicle 12S that is preferentially handled so that the time required for leaving the vehicle is shorter than that of other vehicles. However, general vehicles other than the specific vehicle 12S can also be issued quickly.

[Second Embodiment]
Hereinafter, a second embodiment of the present invention will be described.
In addition, since the structure of the mechanical parking apparatus 10 which concerns on this 2nd Embodiment is the same as that of the structure of the mechanical parking apparatus 10 which concerns on 1st Embodiment shown by FIGS. 1-2, description is abbreviate | omitted.
In the mechanical parking apparatus 10 according to the second embodiment, one or more locations on the storage shelf 18 are loaded with a reserved delivery vehicle, which is a vehicle 12 for which a reservation for delivery (hereinafter referred to as “reservation for delivery”) has been made. It is set as a waiting rack for delivery.

Hereinafter, the delivery reservation will be described.
Since the mechanical parking apparatus generally performs a process for unloading the vehicle after the user arrives before the loading / unloading unit, the user needs to wait in front of the loading / unloading unit. For example, in a mechanical parking device set in a condominium, etc., when the user leaves the home, the mechanical parking device is operated through an operation device provided at the entrance of the home, and the user leaves the home. When the vehicle arrives at the loading / unloading section, it is desirable that the loading process for the vehicle is completed.
However, if the vehicle is left in the loading / unloading section, for example, if the user returns to his / her home for something left behind, or if it is delayed for some reason, the mechanical parking device will The user's vehicle may be occupied and other users may not be able to use it.

Therefore, in the second embodiment, for example, when the user operates an operating device provided at home, the user is provided in the vicinity of the lift 22 in the hangar 20 as illustrated in an example of FIG. A user's delivery reservation vehicle is moved to a delivery waiting shelf (storage shelf 18 indicated by diagonal lines in FIG. 9). This process is called “shipment reservation”. In addition, the said operating device may be provided in the common space where several users pass not only at home, such as an elevator hall and a lobby of a condominium, for example.
As a result, when the user arrives at the loading / unloading unit 14 and inputs an instruction for leaving using the operation panel 28, the moving distance to the lift 22 has already been shortened due to the leaving reservation, so that the user can leave the store. Can be shortened. That is, the outgoing waiting rack is treated as a specific shelf, and the outgoing reservation vehicle located on the outgoing waiting shelf is handled as the specific vehicle 12S.

As the reservation for delivery, when the delivery reservation vehicle 12 is moved to the delivery waiting shelf immediately after the instruction for delivery reservation according to the setting, the reservation time is included in the instruction for delivery reservation, and the reservation vehicle 12 is issued after the reservation time is reached. Can be selected when moving to a shelf waiting for delivery.
In addition, when there is no outgoing reservation vehicle, the outgoing waiting shelf is used as a normal storage shelf 18, and when the outgoing reservation vehicle placed on the outgoing waiting shelf is output, the outgoing waiting shelf is used as an ordinary storage shelf 18. Used.
The position of the outgoing waiting shelf is set in advance, and may be one or plural. In the case where a plurality of positions of the outgoing waiting shelves are set, priorities for placing outgoing reservation vehicles on the outgoing waiting shelves are preset.

The setting of the shelf waiting for delivery is set by the same method as the setting of the specific shelf in the first embodiment.
It is desirable that the unloading waiting shelf is set in the vicinity of the lift 22. However, if a large number of waiting racks or specific shelves that may be fixed in the vicinity of the lift 22 are set, there is a possibility that the vehicle 12 located on the normal storage shelf 18 may not move smoothly. Therefore, the waiting shelves may be set at a distance farther from the lift 22 than the position where the specific shelf is set, assuming that the priority is lower than that of the specific shelf. In this case, for example, the position at which the outgoing waiting rack is set is set to a position from one third (1/3) to one half (1/2) of the distance from the lift 22 to the farthest storage shelf 18.

  Further, in setting the waiting shelves, the layout of the storage shelves 18, the distance from each storage shelf 18 to the lift 22, and a table similar to Table 1 are displayed on the screen of the image display device. When set, a setting device that indicates a change in the distance from the other storage shelf 18 to the lift 22 may be used. Thereby, the convenience of the maintenance worker who selects the waiting rack for delivery is improved. The operation panel 28 may also serve as the setting device.

FIG. 10 shows a process of a reserved vehicle exit program for executing a reserved vehicle exit process executed by the CPU 40 of the control device 24 when the mechanical parking device 10 according to the second embodiment accepts an exit reservation. It is a flowchart showing the flow, and the reserved vehicle delivery program is stored in a predetermined area of the HDD 46 in advance.
In the mechanical parking device 10, for example, a switch for instructing a leaving reservation is pressed via an operation device provided at home by the user, and the user's personal identification number is input via the operation device. To recognize the acceptance of the outgoing reservation.

  First, in step 300, in order to move the pallet 16 on which the vehicle 12 (departure reservation vehicle) associated with the input personal identification number is moved to the unloading shelf, the unloading waiting shelf as the destination is determined. When a plurality of outgoing waiting shelves are set, the outgoing waiting shelves to be moved are determined according to the priority order.

  In the next step 302, the distance from the unloading waiting shelf determined in step 300 to the lift 22 and the distance from the storage shelf 18 (current position) on which the pallet 16 on which the unloading reservation vehicle is placed to the lift 22 are calculated. In addition, it is determined whether the distance from the waiting rack to the lift 22 is shorter than the distance from the current position to the lift 22. If the determination is affirmative, the process proceeds to step 304. If the determination is negative The process proceeds to step 308.

  In the next step 304, the delivery reservation vehicle is moved to the delivery waiting shelf.

  In the next step 306, the outgoing shelf is set as a specific shelf.

  In the next step 308, it is determined whether or not a user who has made a reservation for delivery has input a delivery instruction for a delivery reservation vehicle from the operation panel 28 provided in front of the entry / exit unit 14. , The process proceeds to step 310. If the determination is negative, the process proceeds to step 312.

  In step 310, a delivery process for a delivery reservation vehicle located on the delivery waiting shelf is performed, and the process proceeds to step 318. The delivery process is performed using the inter-storage shelf movement process according to the first embodiment.

In Step 312, it is determined whether or not a predetermined time has passed. If the determination is affirmative, the process proceeds to Step 318. If the determination is negative, the process proceeds to Step 314.
The above-mentioned predetermined time is set in advance to handle the delivery reservation as canceled if there is no delivery instruction for the delivery reservation vehicle even after a certain period of time has passed since the delivery reservation vehicle was placed on the exit waiting shelf. It is time.

  In step 314, it is determined whether or not an instruction for entering / exiting the other vehicle 12 has been received. If the determination is affirmative, the process proceeds to step 316. If the determination is negative, the process returns to step 308.

  In step 316, the loading / unloading process of the other vehicle 12 is performed. The delivery process is performed using the inter-storage shelf movement process according to the first embodiment.

  In step 318, the setting for setting the outgoing waiting shelf to the normal storage shelf 18 is changed to cancel the setting of the outgoing waiting shelf as the specific shelf, and the program is terminated.

As described above, in the mechanical parking device 10 according to the second embodiment, one or more places on the storage shelf 18 are set as a waiting-for-out shelf for placing a reserved delivery vehicle that is a vehicle that has been reserved for delivery. Has been. The mechanical parking device 10 according to the second embodiment moves the pallet 16 on which the outgoing reservation vehicle designated for the outgoing reservation is placed to the outgoing waiting shelf when receiving an instruction for the outgoing reservation. And the mechanical parking apparatus 10 which concerns on this 2nd Embodiment sets the said waiting queue shelf as a specific shelf after moving the shipping reservation vehicle to the shipping waiting shelf, and outputs the said shipping reservation vehicle, Cancel the setting that sets the waiting shelf as a specific shelf.
Therefore, the mechanical parking apparatus 10 according to the second embodiment can give priority to a vehicle that has been reserved for delivery.

  As mentioned above, although this invention was demonstrated using said each embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. Various changes or improvements can be added to the above-described embodiments without departing from the gist of the invention, and embodiments to which the changes or improvements are added are also included in the technical scope of the present invention.

  For example, in each of the above-described embodiments, the mechanical parking device 10 has been described with respect to a form including one lift 22 common to entry and exit. However, the present invention is not limited to this, and the mechanical parking device 10 is A plurality of lifts 22 may be provided separately for entry and exit.

DESCRIPTION OF SYMBOLS 10 Mechanical parking apparatus 12 Vehicle 12S Specified vehicle 14 Entry / exit part 16 Pallet 18 Storage shelf 20 Storage 22 Lift 28 Operation panel 40 CPU

Claims (7)

A loading / unloading section for loading and unloading vehicles,
A plurality of storage shelves on which pallets for placing and transporting vehicles are arranged, and a hangar in which one or more storage shelves that are empty areas in which the pallets are not arranged are arranged in a grid pattern;
An elevating device that moves up and down between the storage and storage and conveys the pallet;
With
The pallet moves between the storage shelves horizontally in the vertical and horizontal directions, and is a mechanical parking device that transports a vehicle in the hangar,
The storage shelf as a specific shelf for accommodating a specific vehicle that is preferentially treated so that the required time for delivery is shorter than other vehicles is set around the lifting device and is not the specific vehicle When a non-specific vehicle is issued, the first required time required for a first delivery operation for fixing the pallet arranged on the specific shelf and delivering the non-specific vehicle, and the pallet arranged on the specific shelf Calculating means for calculating a second required time required for a second unloading operation of unloading the non-specific vehicle by moving
When the time difference between the first required time and the second required time is equal to or less than a preset time, the first delivery operation is performed, and when the time difference exceeds the set time, the second delivery Motion control means for performing the motion;
Mechanical parking device with When the plurality of specific shelves are set, the calculating means moves the second pallet arranged on the plurality of specific shelves, and the pallet disposed on the plurality of specific shelves. Calculating a required time for the second unloading operation in all combinations of moving a part of the pallet and fixing the remaining pallet, and selecting the minimum required time as the second required time;
2. The mechanical parking device according to claim 1, wherein, when performing the second delivery operation, the operation control means causes the non-specific vehicle to exit by the second delivery operation of the combination calculated for the second required time. The storage shelves are set as one or more waiting shelves for placing a delivery reservation vehicle that is a vehicle that has been reserved for delivery.
A movement processing means for moving the pallet on which the reservation vehicle for delivery designated for delivery is placed to the exit waiting shelf when receiving an instruction for reservation for delivery;
After the outgoing reservation vehicle has moved to the outgoing waiting shelf by the movement processing means, the outgoing waiting shelf is set as the specific shelf, and after the outgoing reservation vehicle has been released, the outgoing waiting shelf is set to the specified shelf. Setting means for canceling the setting, and
The mechanical parking apparatus of Claim 1 or Claim 2 provided with these.   The movement processing means, when the distance from the position of the delivery reservation vehicle for which the reservation for delivery is specified to the lifting device is shorter than the set distance from the waiting shelf to the lifting device, The mechanical parking apparatus according to claim 3, wherein the outgoing reservation vehicle is not moved to the outgoing waiting shelf.   When setting the storage shelf as the specific shelf, the sum of the first distances from the storage shelf to the lifting device set as the specific shelf, and the other when the pallet placed on the specific shelf is fixed Display means for displaying a sum of a second distance that is a difference between a distance from a storage shelf to the lifting device and a distance from another storage shelf to the lifting device when the specific shelf is not set The mechanical parking apparatus of any one of Claims 1-4 provided.   6. The mechanical parking device according to claim 5, wherein the specific shelf is a delivery waiting shelf on which a delivery reservation vehicle, which is a vehicle that has been reserved for delivery, is placed. A loading / unloading section for loading and unloading vehicles,
A plurality of storage shelves on which pallets for placing and transporting vehicles are arranged, and a hangar in which one or more storage shelves that are empty areas in which the pallets are not arranged are arranged in a grid pattern;
An elevating device that moves up and down between the storage and storage and conveys the pallet;
With
The pallet moves horizontally between the storage shelves in the vertical and horizontal directions, and is an operation control method for a mechanical parking device that transports a vehicle in the hangar,
The position of the specific shelf as the storage shelf for accommodating the specific vehicle that is preferentially handled so that the required time for the delivery is shorter than other vehicles is set around the lifting device, and the specific When leaving a non-specific vehicle that is not a vehicle, the first specific time required for a first unloading operation to fix the specific shelf and issue the non-specific vehicle, and move the specific shelf to leave the non-specific vehicle A first step of calculating a second required time required for the second shipping operation;
When the time difference between the first required time and the second required time is equal to or less than a preset time, the first delivery operation is performed, and when the time difference exceeds the set time, the second delivery A second step of performing the operation;
Control method for mechanical parking apparatus including

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