JP2014091934A - Control device of mechanical parking facility, control method for the same, control program for the same and mechanical parking device mounted with the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce waiting time of a user of a vehicle to be loaded or unloaded after an electric vehicle is loaded.SOLUTION: A control device 24 is applied to a mechanical parking facility 10 which: has storage shelves 18 including one or more charging shelf 30 with a power source facility to charge an electric vehicle 12'; has a plurality of pallets 16 including at least one charging pallet 31 with a charging mechanism; and transfers a vehicle 12 inside a storage shed by moving pallets 16 in longitudinal and lateral directions in a plane between shelves. When detecting a reservation of succeeding loading or unloading of a vehicle to the storage stage where the charging pallet 31 is transferred, after transferring the charging pallet 31 with the electric vehicle 12' thereon by a lift 22 to a storage stage having the charging shelf 30 on the basis of a request to store the electric vehicle 12' in the storage shelf 18 and to charge the same, the control device 24 prioritizes a process to load or unload the vehicle for which the reservation is made over a transfer process of the charging pallet 31 to the charging shelf 30.

Description

  The present invention relates to a control device for a mechanical parking device, a control method therefor, a control program therefor, and a mechanical parking device including the control program.

  In recent years, electric vehicles have been widely used due to increasing interest in environmental issues. An electric vehicle comprising a charging shelf that is a storage shelf provided with a contact for supplying electric power to the electric vehicle in the mechanical parking device, and a charging pallet that is a pallet that can receive power from the charging shelf and energize an outlet on the pallet. And charging pallets connected by a charging cable are stored in charging shelves to provide a function of charging an electric vehicle.

For example, in Patent Document 1 below, a power supply side contact connected to a power source is provided in the storage space of the pallet, a charge side contact that can be connected to the power supply side contact is provided on the pallet for charging, and the charge side contact and the electric vehicle are connected. A technique for charging by connecting is described.
The following Patent Document 2 describes a technology that enables entry / exit of a vehicle placed on another pallet even during a period during which the electric vehicle is being charged, and charging the vehicle without disturbing the entry / exit of the other vehicle. Has been.
Patent Document 3 below describes a technique for continuously supplying electric power to a vehicle by a power feeding means even when the pallet moves.

JP 2011-38334 A JP 2011-106257 A JP 2012-107447 A

By the way, such a charging shelf includes a storage in which storage shelves for storing vehicles are arranged in a grid of N rows × M columns, and the pallet moves between the storage shelves in a vertical direction and a horizontal direction in a horizontal plane, In a puzzle-type mechanical parking device that transports vehicles in the hangar, there is a tendency to be provided at a position away from the lift, so the charging pallet is stored in the storage shelf before the lift from the lift and then charged from the position before the lift. It was necessary to move to the position of the shelf.
However, if the mechanical parking device is composed of a plurality of stages (floors) and there is a request for entry / exit to the same stage as the stage for moving to the charging shelf, the charging pallet on which the electric vehicle is placed Until the battery is stored in the charging shelf, the loading / unloading process for the same stage cannot be started, and there is a problem that the waiting time of the user waiting for the next loading / unloading of the electric vehicle becomes long.
To deal with such a problem, it may be possible to prevent the waiting time of the user of the subsequent vehicle from becoming longer by simultaneously moving two pallets on the same stage. If the position of the pallet to be operated and the position of the charging shelf are close, the transfer operations may interfere with each other, causing a delay in the overall processing time. However, the above problem could not be solved completely.

  This invention is made in view of such a situation, Comprising: The control apparatus of the mechanical parking apparatus which can reduce the waiting time of the user who comes in / out next to the receipt of an electric vehicle, and its control It is an object to provide a method, a control program thereof, and a mechanical parking apparatus provided with the method.

In order to solve the above problems, the present invention employs the following means.
The present invention includes a loading / 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 one or more storage shelves that are empty areas in which the pallets are not disposed. A hangar arranged in a lattice, and a lifting device that moves up and down between the loading / unloading unit and the hangar to convey the pallet, and the storage shelf includes power supply equipment for charging an electric vehicle. Including a charging pallet including a charging mechanism in at least one of the plurality of pallets, wherein the pallet moves between the storage shelves in a vertical direction and a horizontal direction in a horizontal plane. , A control device applied to a mechanical parking device that transports a vehicle in the hangar, wherein the electric vehicle is placed on the basis of a request to store and charge the electric vehicle in the storage shelf. After the electric pallet is transported by the lifting device to the storage stage having the charging shelf, the charging pallet is detected when the next warehousing reservation or outgoing reservation for the storage stage to which the charging pallet is transported is detected. There is provided a control device that gives priority to the next reserved warehousing process or evacuation process over the conveying process of conveying the item to the charging shelf.

  A plurality of storage shelves on which pallets for placing and transporting vehicles are arranged, a hangar in which one or more storage shelves that are vacant areas where no pallets are arranged are arranged in a grid pattern, and an entry / exit for loading and unloading vehicles A lifting device that lifts and lowers between the unloading unit and the hangar to convey the pallet, and the storage shelf includes one or more charging shelves having power supply facilities for charging the electric vehicle, and the plurality of pallets At least one includes a charging pallet having a charging mechanism, and the pallet moves between storage shelves in the horizontal and vertical directions and is applied to a mechanical parking device that transports the vehicle in the hangar. After the charging pallet on which the electric vehicle is mounted based on the request for storing and charging the electric vehicle is transported by the lifting device to the storage stage having the charging shelf, the charging pallet is If the next receipts reservation or goods issue reservation for feeding been stored stage is detected, the conveying process for conveying the charging pallet charging shelf storage operation or retrieval operation reserved then takes precedence.

  Conventionally, a pallet is transported from a loading / unloading unit to a hangar by a lifting device, and when it arrives at the hangar, the pallet is lowered from the lifting device and transported to a desired storage stage, and the vehicle is stored. After the placed charging pallet is transported to the storage stage having the charging shelf, it is determined whether there is an incoming process or an outgoing process for the storage stage, and if there is an incoming process or an outgoing process, the transport to transport the charged pallet to the charging shelf Prior to the process, the next warehousing process or evacuation process is prioritized and processed first. In this way, since the warehousing process or the warehousing process is interrupted during the transportation process of the electric vehicle, the waiting time of the user of the vehicle waiting for the warehousing process or the evacuation process after the warehousing of the electric car is Compared with the case where the process or the delivery process is not interrupted, the process can be shortened, leading to an improvement in user convenience.

Moreover, there is a concern that the time from when the electric vehicle arrives at the storage stage until it is transported to the charging shelf may be increased by interrupting another warehousing process or leaving process. Since the mechanical parking apparatus is released when the charging pallet starts to be transported, the length of time it takes for the charging pallet to be transported to the charging shelf does not directly affect the user of the electric vehicle. It is estimated that the charging start will be delayed and the charging time will be shortened by giving priority to the warehousing process or the leaving process of other vehicles rather than storing the charging pallet in the charging shelf. The delay in starting charging due to the delay in order is about several minutes. This is because it takes about several hours (e.g., 8 hours) to fully charge an electric vehicle, and thus it can be said that the effect of a decrease in the amount of charge due to a delay in transportation is negligible.
On the other hand, whether or not there is a transportation time from when the charging pallet arrives at the storage stage until it is transported to the charging shelf is related to the waiting time of the user of the vehicle next to the electric vehicle that is performing the transportation process. The degree of influence (ratio) on the user's waiting time (for example, about several minutes) is large. For this reason, the waiting time reduction according to the present invention has a great effect.

  When there is a request to store and charge the electric vehicle in the charging shelf, the control device conveys the charging pallet on which the electric vehicle is placed from the loading / unloading unit to the storage stage by the lifting device, A first transfer process for moving the charging pallet on which the electric vehicle is mounted from the lifting device to the storage shelf; and a second transfer process for transferring the charging pallet on which the electric vehicle is mounted to the charging shelf. It is preferable to divide into a plurality of transport processes.

  When storing an electric vehicle with a charging request, dividing the transfer process into the first transfer process and the second transfer process makes it easier to interrupt the warehousing process or the leaving process of another vehicle.

  The control device causes the lifting device to transport the charging pallet on which the electric vehicle is placed to the storage stage having the charging shelf based on a request for storing and charging the electric vehicle in the charging shelf. Then, when there is no next entry reservation or exit reservation for the storage stage where the charging pallet is transferred, a transfer process for transferring the charging pallet on which the electric vehicle is placed to the charging shelf is performed. It is preferable to do.

  If there is no next warehousing reservation or warehousing reservation with respect to the storage stage in which the electric vehicle is received, the electric vehicle is transferred to the charging shelf, so that the electric vehicle is reliably transferred to the charging shelf.

  In the control device, a transfer process for transferring the charging pallet on which the electric vehicle is placed to the charging shelf is reserved next to the incoming warehousing process or the outgoing process. When the above request is detected, it may have a first control function for reserving another reserved warehousing process or unloading process after the conveying process for conveying the charging pallet to the charging shelf.

  As a result, even when other newly generated processing continues, other processing is added after the transport processing in which the charging pallet on which the electric vehicle is placed is transported to the charging shelf (first control). Function), preventing the charging pallet transport process from being postponed. This is suitable for use in cases where a request for warehousing / exiting processing occurs continuously in a commercial facility or the like.

  In the control device, a transfer process for transferring the charging pallet on which the electric vehicle is placed to the charging shelf is reserved next to the incoming warehousing process or the outgoing process. When the request is detected, prior to the transfer process for transferring the charging pallet to the charging shelf, the other warehousing process or the outgoing process is reserved for interruption, and the other warehousing process or the outgoing process is prioritized. It may have a control function.

  Other warehousing processes or evacuation processes that occur during the period of the warehousing process or evacuation process that is executed in advance are prioritized over transporting the charging pallet to the charging shelf (second control function), and thus newly occur It is possible to reduce the waiting time of the user of the entering / exiting process. This is suitable for a case where the time for which entering / exiting requests are continuous is limited, such as a condominium or an office building, and the stoppage time for entering the storage shelf is long.

  The control device may perform other warehousing process or warehousing process in a period from the start of the conveying process for conveying the charging pallet on which the electric vehicle is placed to the charging shelf until the charging pallet is stored in the charging shelf. When the above request is detected, a third control function may be provided in which the transfer process for transferring the charging pallet to the charging shelf is postponed, and another warehousing process or warehousing process is interrupted and executed.

  Even if the process of storing the charging pallet on which the electric vehicle is placed in the charging shelf has been started, priority is given to the other warehousing process or the warehousing process (third control function). The waiting time of the waiting user can be reduced.

  In the control device, a transfer process for transferring the charging pallet on which the electric vehicle is placed to the charging shelf is reserved next to the incoming warehousing process or the outgoing process. A first control function for reserving another reserved warehousing process or unloading process after the transporting process for transporting the charging pallet to the charging shelf; Next to the unloading process, a transfer process for transferring the charging pallet on which the electric vehicle is placed to the charging shelf is reserved, and when a request for another storing process or unloading process is detected, Prior to the transfer process for transferring the charging pallet to the charging shelf, a second control function for making an interrupt reservation for another warehousing process or a leaving process and giving priority to the other warehousing process or the leaving process; When a request for another warehousing process or unloading process is detected in a period from the start of the conveyance process for conveying the charging pallet on which the automobile is placed to the charging shelf until the charging pallet is stored in the charging shelf Is a control device having at least one control function among a third control function to postpone the transport process for transporting the charging pallet to the charging shelf and to interrupt and execute another warehousing process or a warehousing process. And it is good also as comprising the selection means which selects the said control function based on the selection instruction | command input according to the operation condition of the said mechanical parking apparatus.

  Since the control function can be selected, for example, it is possible to optimally operate the mechanical parking device by switching the control function to be selected according to the operation status such as time zone, day of the week, type of event at the event hall, etc. it can. In the case of a control device having a plurality of control functions, the selection by the selection means includes disabling any control function and switching and selecting one control function. Further, in the case of a control device having only one control function, the selection means includes selecting whether or not to enable the control function.

  The present invention provides a mechanical parking device including any one of the control devices described above.

  The present invention includes a loading / 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 one or more storage shelves that are empty areas in which the pallets are not disposed. A hangar arranged in a lattice, and a lifting device that moves up and down between the loading / unloading unit and the hangar to convey the pallet, and the storage shelf includes power supply equipment for charging an electric vehicle. Including a charging pallet including a charging mechanism in at least one of the plurality of pallets, wherein the pallet moves between the storage shelves in a vertical direction and a horizontal direction in a horizontal plane. A control method applied to a mechanical parking device that transports a vehicle in the hangar, wherein the electric vehicle is placed on the basis of a request to store and charge the electric vehicle in the storage shelf. After the electric pallet is transported by the lifting device to the storage stage having the charging shelf, the charging pallet is detected when the next warehousing reservation or outgoing reservation for the storage stage to which the charging pallet is transported is detected. There is provided a control method that gives priority to the next reserved warehousing process or evacuation process over the conveying process of conveying the item to the charging shelf.

  The present invention includes a loading / 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 one or more storage shelves that are empty areas in which the pallets are not disposed. A hangar arranged in a lattice, and a lifting device that moves up and down between the loading / unloading unit and the hangar to convey the pallet, and the storage shelf includes power supply equipment for charging an electric vehicle. Including a charging pallet including a charging mechanism in at least one of the plurality of pallets, wherein the pallet moves between the storage shelves in a vertical direction and a horizontal direction in a horizontal plane. A control program applied to a mechanical parking device that transports a vehicle in the hangar, wherein the electric vehicle is mounted based on a request to store and charge the electric vehicle in the storage shelf. After the charging pallet is transported by the lifting device to the storage stage having the charging shelf, when the next entry reservation or exit reservation for the storage stage to which the charging pallet is transported is detected, the charging pallet Provided is a control program for causing a computer to prioritize the next reserved warehousing process or unloading process over a conveying process for conveying a pallet to the charging shelf.

  The present invention has an effect that it is possible to reduce the waiting time of the user who enters and exits after the entry of the electric vehicle.

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 the 1st Embodiment of this invention. An example of the processing order management table of the control device according to the first embodiment is shown. (A) is a state where there is no required process, (b) is a state where the first transport process is registered, (c) is a state where another process is registered after the first transport process, and (d) is a state where the first transport process is registered. The state where one transport process is completed and the second transport process is registered, (e) is a state where a new other process is registered, and (f) is a state where the second transport process is in the processing order “1”. Show. It is an operation | movement flow of the control apparatus which concerns on 1st-3rd embodiment. It is a continuation of FIG. 4 of the operation | movement flow of the control apparatus which concerns on 1st Embodiment. It is a continuation of FIG. 4 of the operation | movement flow of the control apparatus which concerns on 2nd Embodiment. An example of the processing order management table of the control device according to the second embodiment is shown. (A) is a state where there is no required process, (b) is a state where the first transport process is registered, (c) is a state where another process is registered after the first transport process, and (d) is a state where the first transport process is registered. The state where one transport process is completed and the second transport process is registered, (e) is a state where a new other process is registered and the second transport process is deferred, and (f) is the process order of the second transport process. A state of “1” is shown. It is a continuation of FIG. 4 of the operation | movement flow of the control apparatus which concerns on 3rd Embodiment. An example of the processing order management table of the control device according to the third embodiment is shown. (A) is a state where there is no required process, (b) is a state where the first transport process is registered, (c) is a state where another process is registered after the first transport process, and (d) is a state where the first transport process is registered. The state where one transport process is completed and the second transport process is registered, (e) is a state where a new other process is registered and the second transport process is deferred, and (f) is the process order of the second transport process. A state of “1” is shown.

  Hereinafter, embodiments of a control device for a mechanical parking device, a control method thereof, a control program thereof, and a mechanical parking device including the control device according to the present invention will be described with reference to the drawings.

[First Embodiment]
FIG. 1 is a schematic configuration diagram of a mechanical parking apparatus 10 according to the first embodiment.
The mechanical parking apparatus 10 includes a loading / unloading unit 14 for loading and unloading the vehicle 12, a plurality of storage shelves 18 on which pallets (plate-shaped platforms) 16 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 a lift (elevating device) 22. The mechanical parking device 10 includes a control device 24 that controls movement of the pallet 16 and the lift 22.

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 device 10 can operate. For example, the operation panel 28 can perform various operations (such as loading or unloading) via a switch, a touch panel, an IC card, a remote control device, and the like. (E.g. exit instructions), and displays various information for the user by using a liquid crystal display device that displays characters, images, etc., a display device such as a display lamp, a voice synthesizer, and a speaker that emits an alarm sound. To provide.

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

Moreover, the vehicle driven with the electric power of the provided electrical storage apparatus among the vehicles 12 stored in the mechanical parking apparatus 10 which concerns on this embodiment is shown as electric vehicle 12 '.
The electric vehicle 12 ′ has a connection portion for connecting a charging cable, and charges the power storage device with electric power supplied via the charging cable.

Different numbers are added to the pallets 16 in advance, and the mechanical parking apparatus 10 identifies each of the plurality of pallets 16 based on the added numbers. The pallet 16 includes a charging pallet 31 having a charging mechanism, and each pallet 16 is associated with power supply information indicating whether or not the charging mechanism is provided.
The charging pallet 31 includes a charging outlet (connector), and the charging outlet and the electric vehicle can be connected via a charging cable. Even when the electric vehicle 12 ′ is placed on the charging pallet 31, it is not necessary to connect the electric vehicle 12 ′ and the charging outlet unless it is necessary to charge the electric vehicle 12 ′.

The mechanical parking device 10 of the present embodiment includes at least one charging pallet in the same stage as the charging shelf 30 having power supply facilities, and the number of charging pallets is not particularly limited, but is equal to or more than the number of charging shelves 30. It is preferable to do.
Further, when a vehicle 12 other than the electric vehicle 12 ′ is stored, the general pallet 16 is preferentially used. If there is no empty pallet 16 ′ and there are a plurality of charging pallets 31, the empty charging pallet 31 is within the predetermined number of charging pallets 31 other than the electric vehicle 12 ′. A vehicle 12 other than the electric vehicle 12 ′ may be placed on the vehicle. Thus, handling the charging pallet 31 in the same manner as the general pallet 16 eliminates unnecessary processing, improves the efficiency of the entire control system by shortening the processing time, and improves convenience. Furthermore, power savings can be achieved by reducing wasteful processing operations, leading to reductions in operating costs and carbon dioxide.

The mechanical parking device 10 includes one or more charging shelves 30 that are disposed on the storage shelf 18 and have power supply facilities for charging the electric vehicle 12 ′. One or more of the charging shelves 30 are not adjacent to the lift 22. When the charging pallet 31 on which the electric vehicle 12 ′ connected to the charging outlet via the charging cable is placed is placed on the charging shelf 30, the electric vehicle on the charging pallet 31 is connected to the charging shelf 30 through the power supply facility. Is supplied with power.
In the present embodiment, as shown in FIG. 1, one charging shelf 30 is provided in the uppermost right rear of the hangar 20 located at the diagonal of the lift 22, but the position and number of the charging shelves 30 are as follows. It is not limited to this, and how many may be provided at any position.
During charging of the electric vehicle 12 ′ with the charging shelf 30, charging is interrupted when the charging pallet 31 is moved. Therefore, the charging pallet is fixed during charging. Therefore, if the storage shelf 18 adjacent to the lift 22 is a charging shelf 30, the pallet 16 is unloaded from the lift 22 to the hangar 20, so that the road is blocked. It is desirable to provide it at a position that is not adjacent. However, when the lift 22 and the storage shelf 18 are in contact with each other in a plurality of directions, the charging shelf 30 may be disposed at a position adjacent to the lift 22. The present invention is directed to the charging shelf 30 that is not adjacent to the lift 22, and the presence or absence of the charging shelf 30 adjacent to the lift 22 is not relevant.

  In this embodiment, unless otherwise specified, the pallet is described as a pallet 16, but when indicating a pallet on which the vehicle 12 is not placed, it is described as an empty pallet 16 ′.

In the mechanical parking apparatus 10 shown in FIG. 1, the storage shelf 18 of the hangar 20 is shown as three stages (floors), but this is an example, and the number of stages is not particularly limited. It may be a stage or four or more stages. A one-plane hangar constituted by one or more storage shelves 18 is called a storage stage (floor). Moreover, although the storage 20 is arrange | positioned in the lower stage rather than the entering / exiting part 14, it is not restricted to this, The storage 20 may be arrange | positioned in the upper stage rather than the entering / exiting part 14, and from the entering / exiting part 14 May be arranged in both the upper and lower stages. Furthermore, the storage shelves 18 of each stage are connected by a lift 22, and the layout of each stage (the number and aspect ratio of the storage shelves, the arrangement shape (square, L-shaped, square-shaped, etc.), and the pallet 16 The number of sheets and the set number and position of the charging shelf 30 may be the same or different. That is, the charging shelf 30 should just be provided in at least any one stage with respect to the mechanical parking apparatus 10, for example, may be provided in each stage of the mechanical parking apparatus 10, respectively.
Although FIG. 1 shows that one lift (lifting device) 22 is provided, a plurality of lifts (lifting devices) 22 may be provided. Further, although one entry / exit unit 14 connected to the lift 22 is shown, a type connected to the left and right of the lift on the entry / exit floor, a type having a plurality of entry / exit floors, and the like may be used.

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, a RAM (Random Access) used as a work area when the CPU 40 executes various programs, and the like. (Memory) 44 and HDD (Hard Disk Drive) 46 as a storage means for storing various programs and various information.

  Note that the HDD 46 stores attribute information of the vehicle 12 of the user of the mechanical parking device 10 and a personal identification number in association with each other. The attribute information is, for example, information on whether or not the vehicle is an electric vehicle (EV vehicle) 12 ′. When the user's password is input when the vehicle 12 is stored, the attribute information of the vehicle 12 associated with the input password is read.

Instead of the HDD 46, an SSD (Solid State Drive), an EEPROM (Electrically Erasable Programmable Read-Only Memory), a flash memory, an SRAM (Static Random Access Memory) with a battery backup, or the like may be used. Depending on the type of data such as user information and setting values, storage elements may be used separately.
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.

  Based on the request for storing and charging the electric vehicle 12 ′ in the storage shelf 18, the control device 24 causes the lift 22 to transport the charging pallet 31 on which the electric vehicle 12 ′ is placed to the storage stage having the charging shelf 30. After that, when the next warehousing reservation or evacuation reservation for the storage stage to which the charging pallet 31 is transported is detected, the warehousing process or the warehousing that is reserved next than the transporting process that transports the charging pallet 31 to the charging shelf 30 is performed. Prioritize processing. Further, the control device 24 uses the lift 22 to move the charging pallet 31 on which the electric vehicle 12 ′ is placed to the storage stage having the charging shelf 30 based on a request to store and charge the electric vehicle 12 ′ in the storage shelf 18. After carrying, if there is no next warehousing reservation or leaving reservation for the storage stage where the charging pallet 31 is conveyed, the conveying pallet 31 carrying the electric vehicle 12 ′ is conveyed to the charging shelf 30. Process.

Specifically, when there is a request to store and charge the electric vehicle 12 ′ in the storage shelf 18, the control device 24 stores the charging pallet 31 on which the electric vehicle 12 ′ is placed from the loading / unloading unit 14 by the lift 22. 1st conveyance process which moves the charging pallet 31 which carried to the stage and mounted electric vehicle 12 'from the lift 22 to the storage shelf near the lift of the said stage, and charged the charging pallet 31 which mounted electric vehicle 12' This is divided into a plurality of transport processes including a second transport process for transporting to the shelf 30.
The controller 24 reserves a transfer process for transferring the charging pallet 31 on which the electric vehicle 12 ′ is placed to the charging shelf 30 after the receiving process or the outgoing process being executed. When a processing request is detected, a first control function for reserving another reserved warehousing process or unloading process after the conveying process for conveying the charging pallet 31 to the charging shelf 30 is provided.

  More specifically, the control device 24 is provided with a processing order management table for managing the transport order of the pallets 16, and sequentially executes transport processing from the processing order of the processing order management table that is higher (first). To do. FIG. 3 shows an example of the processing order management table. FIG. 3 shows only the processing order management table for the corresponding stage, but a management table for each storage stage and the entire equipment is provided.

In addition, the control device 24 does not necessarily need to be stored in the charging shelf 30 when there is no request from the user to charge the electric vehicle 12 ′ placed on the charging pallet 31 in the loading / unloading unit 14. When the first conveyance process is completed, the conveyance of the charging pallet 31 is completed.
The control device 24 does not specify the storage position of an empty charging pallet on which the vehicle is not placed, and treats it as the same as a general pallet 16 other than the charging pallet, and causes a puzzle operation in the hangar 20 to be performed. Also good.
In addition, since the pallet control is performed for each stage according to the present invention, for example, when the next process enters the same stage as the storage stage of the electric vehicle 12 ′ to be charged, an interrupt process is executed as a subject of the present invention. At the same time, the pallet 16 can be moved (including the execution of the processing according to the present invention in the other stage) in another stage different from the storage stage of the electric vehicle 12 'to be charged.

  In the present embodiment, a method of creating a memory table (processing order management table) is shown as an example of a method in which the control device 24 manages the transport order of the pallets 16, but the present invention is not limited to this. For example, other configurations such as a FIFO (First In, First Out) buffer or a ring buffer may be used. In this embodiment, the processing order management table indicates the entire method for managing the processing order. And

Below, the effect | action of the mechanical parking apparatus 10 which concerns on this embodiment is demonstrated.
When the vehicle 12 other than the electric vehicle 12 ′ is stored, the mechanical parking device 10 takes out the empty pallet 16 ′ on which the vehicle 12 is not placed from the storage shelf 18, and uses the extracted empty pallet 16 ′ as the storage / exit unit 14. To move. Then, the vehicle 12 is placed on the empty pallet 16 ′ in the loading / unloading unit 14, and the mechanical parking apparatus 10 completes 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 device 10 takes out the pallet 16 on which the vehicle 12 to be unloaded is loaded from the storage shelf 18, and moves the removed pallet 16 to the loading / unloading unit 14. Then, the vehicle 12 is unloaded from the pallet 16 by the user in 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. 4 is an operation flow for explaining the operation of the control device 24 of the mechanical parking device 10 according to the present embodiment. Here, the case where the vehicle to be stored first is the electric vehicle 12 'will be described. 4 and 5 are operational flows from the viewpoint of the electric vehicle 12 '.
When a personal identification number is input by the user (driver), attribute information (for example, an EV car) associated with the personal identification number is read, and a pallet (for example, corresponding to the read attribute information) The charging pallet 31) is taken out from the storage 20 and transported to the loading / unloading unit 14. The electric vehicle 12 'is stopped on the charging pallet 31 at the loading / unloading unit 14, the user (driver) gets off, and the charging outlet of the charging pallet 31 and the electric vehicle 12' are connected by a charging cable (see FIG. Step 4 SA1).

  When the user determines whether or not the electric vehicle 12 ′ needs to be charged and inputs a first conveyance processing request as a storage instruction along with information on whether or not charging is required via the operation panel 28, information on whether or not charging is necessary is sent to the control device 24. And a storage instruction (first transfer processing request) are input. Based on the acquired information, the necessity of charging is determined (step SA2 in FIG. 4). If charging is unnecessary, the process proceeds to step SA4 in FIG. 4. If charging is necessary, the charge flag is set (ON state) (step SA3 in FIG. 4), and the process proceeds to step SA4 in FIG. . Since the control device 24 performs processing after the user inputs a storage instruction to the operation panel 28, the user can leave the operation panel 28.

  Based on the first transfer processing request, the information on the first transfer processing is registered in the processing order management table as shown in FIG. 3B for the charging pallet 31 on which the electric vehicle 12 ′ is mounted (FIG. 4). Step SA4). The processing order management table is referred to, and it is determined whether the storage order of the electric vehicle 12 ′ is “1” in the processing order in the processing order management table (step SA5 in FIG. 4). If the processing order is not “1”, other processing with the processing order “1” is performed (step SA6 in FIG. 4), and step SA5 is repeated until the other processing (other preceding processing) is completed. When the processing order is “1”, the first transfer process is executed, the charging pallet 31 is transferred to the storage floor where the charging shelf 30 is located by the lift 22, and the charging pallet 31 is moved from the lift 22 to the adjacent storage shelf. 18 (step SA7 in FIG. 4).

  In addition, when “next request (1)”, which is another warehousing reservation or outgoing reservation, is generated while the charging pallet 31 is being transported to the storage floor where the charging shelf 30 is located, the “next request (1)” is issued. It is registered in the processing order management table (see FIG. 3C).

After the execution of the first transport process (step SA7 in FIG. 4), the first transport process ends, and the “first transport process request” is deleted from the processing content of FIG. Next, it is determined whether or not the charging flag is set (step SA8 in FIG. 4). If the charging flag is not set, the storage is not limited to the charging shelf 30 and stored in any storage shelf 18. Therefore, this conveyance process is terminated. When the charge flag is set, as shown in FIG. 3D, the second transfer processing request for storing the charging pallet 31 in the charging shelf 30 is registered in the processing order management table (step of FIG. 4). SA9).
The processing order management table is referred to, and it is determined whether or not the second transport processing request for the charging pallet 31 is “1” (step SA10 in FIG. 5), and the processing order is not “1”. Performs other processing (for example, “next request (1)”) (step SA11 in FIG. 5).

During the execution of other processing (for example, “next request (1)”), it is determined whether or not a new processing has been detected (step SA12 in FIG. 5), which is a newly reserved warehousing process or evacuation process. If no new process has been detected, the process returns to step SA10 in FIG.
When a new process (for example, “next request (2)”) is detected, “next request (2)” is added after the second transport process request in the process order management table, and “next request ( 2) "is reserved (step SA13 in FIG. 5) (see FIG. 3E).

  If the processing order is “1”, the second transfer process is executed, and transfer of the charging pallet 31 to the charging shelf 30 is started (step SA14 in FIG. 5). When the charging pallet 31 is stored in the charging shelf 30, the conveyance of the charging pallet 31 is completed (step SA15 in FIG. 5), and this process is terminated. When the charging pallet 31 is stored in the charging shelf 30, charging of the electric vehicle 12 ′ placed on the charging pallet 31 is started.

  As described above, in the control device 24 of the mechanical parking device 10 according to the present embodiment, the control method thereof, the control program thereof, and the mechanical parking device 10 including the same, the pallet 16 has conventionally been provided with the loading / unloading unit 14. From the lift 22 to the hangar 20 and when it arrives at the hangar 20, it is unloaded from the lift 22 and transferred to the desired storage shelf 18 to store the vehicle 12. In the present invention, the charging with the electric vehicle 12 ′ is placed. After the pallet 31 is transported to the hangar 20 having the charging shelf 30, if there is an warehousing process or a warehousing process for the hangar 20, the next warehousing process or warehousing is performed rather than the transportation process for transporting the charging pallet 31 to the charging shelf 30. Prioritize processing and process first.

In the present invention, it seems that “other processing is interrupted” on the user side, but in the processing of the control device 24, conventionally, “transfer to the storage floor, lower to the storage shelf from the lift, and transfer to the charging shelf” Is treated as a series of processes, based on the transport characteristics of the mechanical parking device, is divided into a plurality of processes of the first transport process and the second transport process (points that are less affected by interruption) This is different from interrupting the other process in the middle of a series of processes in that the second transport process and the other process detected in the middle are controlled to be processed with a predetermined priority. .
In this way, since the entry process or the exit process is interrupted in the middle of the transportation process of the electric vehicle 12 ′, the user of the vehicle 12 waiting for the entry process or the exit process after the entry of the electric vehicle 12 ′ is received. The waiting time can be shortened compared to the case where the warehousing process or the warehousing process is not interrupted, leading to an improvement in convenience for the user.

  There is concern that the time from when the electric vehicle 12 ′ arrives at the storage 20 until it is transported to the charging shelf 30 may be increased by interrupting another warehousing process or leaving process. Since the user is released when the storage instruction is input, the length of time required for the charging pallet 31 to be transported to the charging shelf 30 does not directly affect the user (the user of the electric vehicle). The charging start is delayed and the charging time is shortened by interrupting and giving priority to the warehousing process or the warehousing process of the other vehicle 12 rather than the charging pallet 31 being stored in the charging shelf 30, so the amount of charge can be reduced accordingly. Although it is estimated, the delay in the start of charging due to the delay in the transport order is about several minutes. Considering that it takes several hours (for example, 8 hours) to fully charge the electric vehicle 12 ', it can be said that the influence of the decrease in the amount of charge due to the conveyance delay is slight.

  On the other hand, whether or not there is a transportation time from when the charging pallet 31 arrives at the hangar 20 until it is transported to the charging shelf 30 is related to the waiting time of the user of the vehicle 12 next to the electric vehicle 12 ′ during the transportation process. That is, the influence (ratio) on the waiting time (for example, about several minutes) of the next user is large. For this reason, the waiting time reduction according to the present invention has a great effect.

  In addition, even if another process newly occurs during the execution of the preceding process, a new other process is added after the second transport process for storing the charging pallet 31 in the charging shelf 30. It is possible to prevent the charging pallet 31 from being delayed since the carrying process of the charging pallet 31 is delayed. This is suitable for applications such as commercial facilities that require continuous and continuous demands.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIG. 1, FIG. 4, FIG. 6, and FIG.
In the control device according to the present embodiment, a transfer process for transporting the charging pallet on which the electric vehicle is placed to the charging shelf is reserved next to the in-going process or the outgoing process being executed, and the other incoming or outgoing processes are reserved. It differs from the first embodiment in that priority is given to other processing when a processing request is detected. Hereinafter, the control device of the present embodiment will not be described with respect to the points common to the first embodiment, and different points will be mainly described.

  The control device 24 reserves a transport process (first transport process) for transporting the charging pallet 31 on which the electric vehicle 12 ′ is placed to the charging shelf 30 after the warehousing process or the unloading process being performed. When a request for another warehousing process or a warehousing process is detected, the other warehousing process or the warehousing process is interrupted and reserved before the conveying process (second conveying process) for conveying the charging pallet 31 to the charging shelf 30. The second control function prioritizes other warehousing processes or warehousing processes.

Hereinafter, the operation of the mechanical parking device 10 according to the present embodiment will be described with reference to FIGS. 4, 6, and 7. The description of the parts common to the operations described in the first embodiment will be omitted, and differences from the first embodiment will be mainly described.
When the charge flag is set, as shown in FIG. 7D, the second transfer processing request for storing the charging pallet 31 in the charging shelf 30 is registered in the processing order management table (step of FIG. 4). SA9). The processing order management table is referred to, and the second transport processing request for the charging pallet 31 is determined whether or not the processing order is “1” (step SB1 in FIG. 6), and the processing order is not “1”. Performs other processing whose processing order is “1” (step SB2 in FIG. 6).

  During the execution of another process (for example, “next request (1)”), it is determined whether or not a new process has been detected (step SB3 in FIG. 6), which is a newly reserved entry process or exit process. If no new process has been detected, the process returns to step SB1 in FIG. When a newly reserved warehousing process or evacuation process (for example, “next request (2)”) is detected, “next request (2)” is added before the second transport process request in the processing order management table. 6 is added (step SB4 in FIG. 6), and the second transport process is decremented by one in the order indicating the process order in the process order management table (step SB5 in FIG. 6) (see FIG. 7E), and step SB1 in FIG. Return to. For example, when the processing order of the second transport processing request is “2”, the “second transport processing request” is moved to the processing order “3” and is lowered, and the newly reserved other processing is transferred to the second transport. Insert before processing request. Other processing is performed in advance, and the second conveyance processing is executed after the other processing is completed.

  When the processing order is “1” and the second transport process is executed, transport of the charging pallet 31 to the charging shelf 30 is started (step SB6 in FIG. 6). When the charging pallet 31 is stored in the charging shelf 30, the conveyance of the charging pallet 31 is completed (step SB7 in FIG. 6), and this process is terminated. When the charging pallet 31 is stored in the charging shelf 30, charging of the electric vehicle 12 ′ placed on the charging pallet 31 is started.

  As described above, in the mechanical parking device 10 according to this embodiment, the control device 24, the control method, the control program, and the mechanical parking device 10 including the same, the warehousing process or the warehousing process executed in advance. Since the other warehousing process or evacuation process occurring during the period is prioritized over the charging pallet 31 being transported to the charging shelf 30 (second control function), the user waiting for the newly generated warehousing process is waited for. Time can be reduced. This is suitable for a case where the time for which the request for entering / exiting is limited, such as a condominium or an office building, and the stoppage time for entering the storage shelf 18 is long.

[Third Embodiment]
Next, a third embodiment of the present invention will be described with reference to FIG. 1, FIG. 4, FIG. 8, and FIG.
The control device according to the present embodiment performs another warehousing process or warehousing process in a period from the start of the conveyance process for conveying the charging pallet on which the electric vehicle is placed to the charging shelf until it is stored in the charging shelf. When this request is detected, it differs from the first embodiment and the second embodiment in that the transfer process of the charging pallet is postponed. Hereinafter, the control device of the present embodiment will not be described with respect to the points common to the first embodiment, and different points will be mainly described.

  The control device 24 performs another warehousing process or unloading during a period from the start of the conveyance process for conveying the charging pallet 31 on which the electric vehicle 12 ′ is placed to the charging shelf 30 to before the charging pallet 30 is stored. When a process request is detected, the third control function has a third control function for postponing the transport process for transporting the charging pallet 31 to the charge shelf 30 and interrupting and executing another warehousing process or a warehousing process.

  Hereinafter, the operation of the mechanical parking device 10 according to the present embodiment will be described with reference to FIGS. 4, 8, and 9. The description of the parts common to the operations described in the first embodiment and the second embodiment is omitted, and different points will be mainly described.

When the charge flag is set in the first transfer request, as shown in FIG. 9D, the second transfer processing request for storing the charging pallet 31 in the charging shelf 30 is registered in the processing order management table. (Step SA9 in FIG. 4). The processing order management table is referred to, and it is determined whether the processing order is “1” in the second transport processing request for the charging pallet 31 (step SC1 in FIG. 8), and the processing order is not “1”. Performs other processing whose processing order is “1” (step SC2 in FIG. 8).
During execution of another process (for example, “next request (1)”), it is determined whether or not a new process has been detected (step SC3 in FIG. 8), which is a newly reserved entry process or exit process. If no new process is detected, the process returns to step SC1 in FIG.

When a newly reserved warehousing process or a leaving process (for example, “next request (2)”) is detected, the newly reserved other process (“next request (2)”) is processed. Is inserted before the second transport processing request (step SC4 in FIG. 8), and the order indicating the processing order of the second transport processing request in the processing order management table is lowered by one (step SC5 in FIG. 8) (FIG. 7 ( e)), the process returns to step SC1 in FIG.
When the processing order is “1”, the second transfer process is executed, and transfer of the charging pallet 31 to the charging shelf 30 is started (step SC6 in FIG. 8). It is determined whether or not a new other process has been detected during the period from the start of the second transport process to the time when the charging pallet 31 is stored in the charging shelf 30 (step SC7 in FIG. 8). If there is a process, the second transport process is interrupted (step SC8 in FIG. 8), and the process returns to step SC4 in FIG. If there is no new process, the process is stored in the charging shelf 30 of the charging pallet 31 (step SC9 in FIG. 8), and this process ends. When the charging pallet 31 is stored in the charging shelf 30, charging of the electric vehicle 12 ′ placed on the charging pallet 31 is started.

Thereby, even if the process in which the charging pallet 31 on which the electric vehicle 12 ′ is placed is stored in the charging shelf 30 is started, priority is given to another warehousing process or warehousing process (having a third control function). The waiting time of the user waiting for other warehousing process or warehousing process can be reliably reduced. This is suitable for a case where the time for which the request for entering / exiting is limited, such as a condominium or an office building, and the stoppage time for entering the storage shelf 18 is long.
The control device 24 according to the present invention includes the first control function (or first control program) described in the first embodiment and the second control function (or first control function) described in the second embodiment. 2 control program) and the third control function (or the third control program) described in the third embodiment have at least one control function. In this case, it is preferable to include a selection unit (selection means) for selecting a control function based on a selection command input in accordance with the operation status of the mechanical parking apparatus.

For example, a plurality of control functions may be incorporated in the control device 24. When a plurality of control functions are incorporated, a person having authority such as a parking lot manager or a maintenance staff When the selection command for selecting the control function is input by operating the operation panel 28 according to the operation status (for example, time zone, day of week, type of event at the event hall, etc.), the control function is selected by the selection unit. Thereby, a mechanical parking apparatus can be optimally operated according to an operation condition. Moreover, the selection command input is not limited to manual operation. For example, the selection command may be automatically input according to a time zone or a day of the week from a program such as a schedule function.
In the case of a control device having a plurality of control functions, selection by the selection unit includes disabling any control function and switching and selecting one control function. Further, in the case of a control device having only one control function, the selection unit includes selecting whether or not to enable the control function.

DESCRIPTION OF SYMBOLS 10 Mechanical parking apparatus 12 Vehicle 12 'Electric vehicle 14 Entry / exit part 16 Pallet 16' Empty pallet 18 Storage shelf 20 Storage 22 Lift (elevating device)
24 Control device 28 Operation panel 30 Charging shelf 31 Charging pallet

Claims (10)

A loading / unloading unit for loading and unloading vehicles, a plurality of storage shelves on which pallets for placing and transporting vehicles are arranged, and one or more storage shelves that are empty areas where the pallets are not arranged are arranged in a grid pattern And a lifting device that lifts and lowers between the loading / unloading unit and the storage and transports the pallet, and the storage shelf includes one or more power supply facilities for charging the electric vehicle. A charging pallet including a charging pallet having a charging mechanism in at least one of the pallets, wherein the pallet moves between the storage shelves in a vertical direction and a horizontal direction in a horizontal plane, The control device is applied to a mechanical parking device that conveys the vehicle at
Based on a request to store and charge the electric vehicle in the storage shelf, the charging pallet on which the electric vehicle is mounted is transported by the lifting device to the storage stage having the charging shelf, and then charged. When the next warehousing reservation or evacuation reservation for the storage stage to which the pallet has been transported is detected, priority is given to the next reserved warehousing process or unloading process over the transporting process of transporting the charging pallet to the charging shelf. Control device.   When there is a request to store and charge the electric vehicle in the charging shelf, the charging pallet on which the electric vehicle is mounted is transported from the loading / unloading unit to the storage stage by the lifting device, and the electric vehicle is mounted. A plurality of first transfer processing for moving the placed charging pallet from the lifting device to the storage shelf in the empty area, and second transfer processing for transferring the charging pallet on which the electric vehicle is placed to the charging shelf. The control device according to claim 1, wherein the control device is divided into a transfer process.   Based on a request to store and charge the electric vehicle in the charging shelf, the charging pallet on which the electric vehicle is placed is transported by the lifting device to the storage stage having the charging shelf, and then the charging is performed. The transfer processing for transferring the charging pallet on which the electric vehicle is placed to the charging shelf when there is no next warehousing reservation or leaving reservation for the storage stage to which the pallet has been transferred. The control device according to claim 2.   A transfer process for transferring the charging pallet on which the electric vehicle is placed to the charging shelf is reserved next to the incoming warehousing process or the outgoing process, and a request for another warehousing process or evacuation process is detected. In a case where the charging pallet is transported to the charging shelf, the first control function of reserving another reserved warehousing process or unloading process is provided. The control device described.   A transfer process for transferring the charging pallet on which the electric vehicle is placed to the charging shelf is reserved next to the incoming warehousing process or the outgoing process, and a request for another warehousing process or evacuation process is detected. In such a case, prior to the transfer process for transferring the charging pallet to the charging shelf, another warehousing process or warehousing process is reserved for interruption, and there is a second control function that prioritizes the other warehousing process or warehousing process. The control device according to any one of claims 1 to 3.   In the period from the start of the transfer process for transferring the charging pallet on which the electric vehicle is placed to the charging shelf until the charging pallet is stored in the charging shelf, a request for another warehousing process or a leaving process is detected. 6. The third control function according to claim 1, further comprising: a third control function for delaying a transfer process for transferring the charging pallet to the charging shelf and interrupting and executing another warehousing process or a warehousing process. The control device described in 1. A transfer process for transferring the charging pallet on which the electric vehicle is placed to the charging shelf is reserved next to the incoming warehousing process or the outgoing process, and a request for another warehousing process or evacuation process is detected. In this case, after the transport process for transporting the charging pallet to the charging shelf, the first control function for reserving another reserved warehousing process or unloading process; When a transfer process for transferring the charging pallet on which the electric vehicle is mounted to the charging shelf is reserved, and when a request for another warehousing process or a leaving process is detected, the charging pallet is charged with the charging pallet. Prior to the transfer process to be transferred to the shelf, the second control function for making an interrupt reservation for the other warehousing process or the warehousing process and prioritizing the other warehousing process or the warehousing process, and the electric vehicle are placed If a request for another warehousing process or evacuation process is detected during a period from the start of the conveying process for conveying the charging pallet to the charging shelf until it is stored in the charging shelf, the charging is performed. A control device having at least one control function among a third control function for postponing a transfer process for transferring a pallet to the charging shelf, interrupting and executing another warehousing process or a warehousing process,
The control device according to any one of claims 1 to 3, further comprising selection means for selecting the control function based on a selection command input in accordance with an operation status of the mechanical parking device.   The mechanical parking apparatus which comprises the control apparatus in any one of Claims 1-7. A loading / unloading unit for loading and unloading vehicles, a plurality of storage shelves on which pallets for placing and transporting vehicles are arranged, and one or more storage shelves that are empty areas where the pallets are not arranged are arranged in a grid pattern And a lifting device that lifts and lowers between the loading / unloading unit and the storage and transports the pallet, and the storage shelf includes one or more power supply facilities for charging the electric vehicle. A charging pallet including a charging pallet having a charging mechanism in at least one of the pallets, wherein the pallet moves between the storage shelves in a vertical direction and a horizontal direction in a horizontal plane, A control method applied to a mechanical parking device that transports a vehicle at
Based on a request to store and charge the electric vehicle in the storage shelf, the charging pallet on which the electric vehicle is mounted is transported by the lifting device to the storage stage having the charging shelf, and then charged. When the next warehousing reservation or evacuation reservation for the storage stage to which the pallet has been transported is detected, priority is given to the next reserved warehousing process or unloading process over the transporting process of transporting the charging pallet to the charging shelf. Control method. A loading / unloading unit for loading and unloading vehicles, a plurality of storage shelves on which pallets for placing and transporting vehicles are arranged, and one or more storage shelves that are empty areas where the pallets are not arranged are arranged in a grid pattern And a lifting device that lifts and lowers between the loading / unloading unit and the storage and transports the pallet, and the storage shelf includes one or more power supply facilities for charging the electric vehicle. A charging pallet including a charging pallet having a charging mechanism in at least one of the pallets, wherein the pallet moves between the storage shelves in a vertical direction and a horizontal direction in a horizontal plane, A control program applied to a mechanical parking device that transports a vehicle at
Based on a request to store and charge the electric vehicle in the storage shelf, the charging pallet on which the electric vehicle is mounted is transported by the lifting device to the storage stage having the charging shelf, and then charged. When the next warehousing reservation or evacuation reservation for the storage stage to which the pallet has been transported is detected, priority is given to the next reserved warehousing process or unloading process over the transporting process of transporting the charging pallet to the charging shelf. A control program that causes a computer to execute this.

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