JP2016156179A - Control apparatus of mechanical parking system, mechanical parking system, control method, and control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control apparatus of a mechanical parking system, which can shorten a user's waiting time, the mechanical parking system, a control method, and a control program.SOLUTION: A vacant pallet 16P is arranged in a storage and retrieval part 14 during a period when the storage and retrieval of a vehicle 12 are not performed. When the vehicle 12 is put into storage, a storage object vehicle 12R is loaded on the vacant pallet 16P serving as the storage and retrieval part. Subsequently, a storage pallet 16R is conveyed to a storage floor, corresponding to the type of the storage object vehicle 12R, of a plurality of storage floors 20a, 20b and 20c.SELECTED DRAWING: Figure 1

Description

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

  Various mechanical parking devices are known in which a pallet on which a vehicle is placed is moved between a loading / unloading unit and a hangar to enter and leave the vehicle (see, for example, Patent Document 1).

  In such a mechanical parking device, the vehicle is stored when a predetermined storage operation is performed by the user. When warehousing is performed, the mechanical parking device conveys an empty pallet on which a vehicle is not placed to the warehousing and unloading unit. When a vehicle is placed on the empty pallet after the empty pallet is arranged, the mechanical parking device moves the pallet on which the vehicle is placed vertically to the hangar by an elevating device (lift). Thereafter, the vehicle is stored in the storage shelf by moving the pallet in the horizontal direction in the hangar.

  In recent years, the types of automobiles have diversified. For example, high cars such as high-roof cars, medium-high cars such as middle roof cars such as minivans, low-height cars such as sedan-type ordinary passenger cars, Several types of vehicles with different vehicle heights are used. Based on this background, for example, mechanical parking is divided into high storage vehicles, medium-high vehicles, low-high vehicles for each storage floor, and stored in different storage floors depending on the type of vehicle to be stored. A device has been proposed.

  As an example of such a mechanical parking device, a so-called puzzle-type mechanical parking device is known. In the puzzle-type mechanical parking apparatus, each storage floor of the hangar is provided with a plurality of storage shelves arranged in a grid of N rows × M columns along a horizontal plane. The plurality of storage shelves include storage shelves in which pallets are arranged and storage shelves that have no pallets and are free areas. In this configuration, the pallet is moved within the storage floor by sending the pallet in the horizontal direction from the storage shelf where the pallet is arranged to the storage shelf in the empty area. By repeatedly moving this pallet, the target pallet moves to the storage shelf at the designated position.

Japanese Patent No. 5476140

  In the puzzle-type mechanical parking apparatus as described above, an opening portion may be formed on the floor surface, such as a concave portion for placing a pallet, a pit portion of a lift, and a lift portion in a storage / exit portion. . In order to prevent a vehicle or the like from falling into such an opening, for example, an empty pallet in the storage is arranged in the loading / unloading unit, and the opening is controlled to be in a closed state.

  In the puzzle-type mechanical parking apparatus, when the number of empty areas on each storage floor is less than a specified number, a pallet that is difficult to transport to a lift is generated. For this reason, control is performed so that the number of free areas does not fall below a prescribed number for each storage floor. On the other hand, if the number of free areas is increased, it will be difficult to secure the number of parking spaces. Therefore, in order to facilitate the transport of pallets and to secure the number of parked vehicles, the number of vacant areas for each storage floor is controlled so as not to vary as much as possible, that is, the prescribed number.

  In the puzzle type mechanical parking apparatus, the time for transporting the pallet to the lift is almost determined by the number of empty areas. For this reason, when the number of empty areas differs for each storage floor, the pallet transport time varies for each storage floor. Therefore, control is performed so that the number of empty areas does not fluctuate in order to prevent the transfer time from varying for each storage floor.

  As described above, conventionally, in each storage floor, the number of empty areas is controlled so as not to vary as much as possible. Therefore, a pallet to be used for each storage floor is determined in advance, and control is performed so that the movement of the pallet between different storage floors is not performed as much as possible.

  For this reason, for example, when a warehousing instruction is given by a user of a high vehicle, if the empty pallet prepared in the storage unit is for the storage floor for a low vehicle, first the storage Return the empty pallet to be prepared to the storage floor for low and high vehicles. Then, an empty pallet is conveyed from the storage floor for high vehicles to high vehicles. And the process of opening the door of a warehouse part after completion of arrangement | positioning of an empty pallet is performed. For this reason, the waiting time for warehousing becomes long.

  The present invention has been made in view of the above, and an object of the present invention is to provide a control device for a mechanical parking device, a mechanical parking device, a control method, and a control program capable of reducing the waiting time of a user. And

  The control device of the mechanical parking apparatus according to the present invention is not provided with a storage section in which a pallet for placing and transporting a vehicle is placed, and a pallet for placing and transporting the vehicle, and the pallet are not placed. A hangar having a plurality of storage floors in which one or more storage shelves serving as vacant areas are arranged in a grid, and a lifting device that moves up and down between the warehousing unit and the hangars of a plurality of floors to convey the pallet; The pallet moves between the storage shelves in the horizontal and vertical directions in the horizontal direction, thereby controlling the mechanical parking device that transports the vehicle in the storage, During the period when no warehousing is performed, an empty pallet on which the vehicle is not placed is placed in the loading / unloading portion of the pallet, and when the vehicle is loaded, the empty pallet placed in the loading / unloading portion Goods receipt After both have been placed, the warehousing pallet the goods receipt target vehicle is placed, is conveyed to the first storage floor which corresponds to the type of the receipts target vehicle among the plurality of storage floor.

  According to the present invention, the pallet to be used is not determined for each storage floor, but the pallet can be transported on any storage floor according to the type of the warehousing target vehicle. Therefore, it is not necessary to replace empty pallets in the loading / unloading unit. Thereby, the waiting time at the time of a user's warehousing can be shortened.

  The control device for the mechanical parking device moves the empty pallet on the first storage floor to the storage / exit section after transporting the storage pallet to the first storage floor.

  According to the present invention, at the time of warehousing, the total number of pallets can be kept constant in the first storage floor where the warehousing target vehicle is stored, so the number of storage shelves that become free areas is constant for each storage floor. Can be maintained. Thereby, the fluctuation | variation of conveyance time can be suppressed for every storage floor.

  The control device for the mechanical parking device moves the empty pallet of the storage / removal unit to the storage floor where the vehicle to be shipped is stored, and then the vehicle to be delivered is placed. The outgoing pallet to be moved is moved to the incoming / outgoing part.

  According to the present invention, since the total number of pallets can be kept constant at the storage floor where the vehicle to be shipped is stored, the number of storage shelves that become free areas is kept constant for each storage floor. can do. Thereby, the fluctuation | variation of conveyance time can be suppressed for every storage floor.

  In the control device of the mechanical parking device, the lifting device is disposed adjacent to at least one of the storage shelves, and after the empty pallet is disposed in the first storage shelf adjacent to the lifting device, The warehousing pallet is transported to the first storage floor.

  According to the present invention, when an empty pallet is transported to the lifting device on the first storage floor, the transporting time can be shortened because the empty pallet on the first storage shelf adjacent to the lifting device is moved.

  In the control device of the mechanical parking device, the lifting device is disposed adjacent to the plurality of storage shelves, and is the storage shelf adjacent to the lifting devices, which is different from the first storage shelf. After making the two storage shelves into the vacant area, the storage pallet is transported to the second storage shelves.

  According to the present invention, since the warehousing of the warehousing target vehicle is completed by moving the warehousing pallet from the lifting device to the adjacent second storage shelf, the warehousing can be performed in a short time.

  In the control device for the mechanical parking device, the first storage shelf, the second storage shelf, and the lifting device are arranged side by side in a linear direction.

  According to the present invention, the first storage shelf and the second storage shelf are arranged side by side so as to sandwich the lifting device in the linear direction. In this arrangement, the incoming pallet arranged in the lifting device on the first storage floor and the empty pallet on the first storage shelf are moved one by one in the same direction. In this case, since the movement direction and the movement distance are the same between the empty pallet and the incoming pallet, both can be moved in one operation. Therefore, it is not necessary to wait for the empty pallet until the movement of the incoming pallet is completed. For this reason, efficient movement is possible in a short time.

  In the control device for the mechanical parking device, the lifting device is disposed adjacent to the storage shelf only in the first direction, and the plurality of storage shelves are adjacent to the lifting device in the first direction. A third storage shelf, a fourth storage shelf adjacent to one of the second directions perpendicular to the first direction with respect to the third storage shelf, and a fifth storage shelf adjacent to the other of the second direction. And having the third storage shelf and one of the fourth storage shelf and the fifth storage shelf as the empty area, and arranging the empty pallet on the other of the fourth storage shelf and the fifth storage shelf Then, the storage pallet is transported to the third storage shelf.

  According to the present invention, the storage pallet arranged in the lifting device on the first storage floor and the empty pallet on the fourth storage shelf or the fifth storage shelf are moved to the next in the same direction. In this case, since the movement direction and the movement distance are the same between the empty pallet and the incoming pallet, both can be moved in one operation. Therefore, it is not necessary to wait for the empty pallet until the movement of the incoming pallet is completed. For this reason, even when the lifting device is arranged so as to be adjacent to the storage shelf only in the first direction, efficient movement is possible in a short time.

  The control device for the mechanical parking device causes the empty pallet different from the pallets arranged on the plurality of storage floors to be arranged in the loading / unloading unit when the mechanical parking device is activated.

  According to the present invention, since empty pallets different from pallets arranged on a plurality of storage floors are arranged in the storage / exit section, it is possible to report the same number of pallets as the total number of pallets on the storage floor.

  The control device for the mechanical parking device takes out the empty pallet placed on the storage floor and places it in the loading / unloading unit when the mechanical parking device is activated.

  According to the present invention, since the empty area of the storage floor from which the empty pallet is taken out increases, the pallet moves smoothly on the storage floor.

  The control device of the mechanical parking device selects the storage floor from which the empty pallet is taken out according to the pallet transport time assumed for each storage floor.

  According to the present invention, the storage floor from which an empty pallet is taken out is selected according to the pallet transportation time assumed for each storage floor. The movement can be performed smoothly.

  The control device for the mechanical parking device selects the storage floor from which the empty pallet is taken out in order of the storage floor among the plurality of storage floors.

  On the storage floor close to the storage / exit section, the time required for the lifting device to reach the storage floor from the storage / exit section is short. Therefore, depending on the arrangement of the pallet on the storage floor, the lifting device waits until the pallet is conveyed. According to the present invention, since the pallet moves smoothly on the storage floor close to the loading / unloading unit, the standby time of the lifting device can be shortened.

  The control device of the mechanical parking device described above is a case where the empty pallet is not arranged on the first storage floor after the storage pallet is transported to the first storage floor, which is different from the first storage garage. When the empty pallet is arranged on the second storage floor, the empty pallet on the second storage floor is taken out and moved to the warehouse.

  According to the present invention, even when an empty pallet is not arranged on the first storage floor, an empty pallet can be supplied to the storage / exit section. Thereby, the state which closed the opening part of the storage / exiting part can be maintained.

  When the empty pallet is no longer arranged on the storage floor where the storage target vehicle can be stored, the control device for the mechanical parking device may store the storage in the output unit capable of outputting information to the user. Outputs information indicating that the floor is full.

  According to the present invention, when the storage floor that can store the vehicle to be stored becomes full, information indicating that the storage is full is transmitted to the user via the output unit. Can be improved.

  The mechanical parking apparatus which concerns on this invention is provided with the control apparatus of said mechanical parking apparatus.

  According to the present invention, since it is possible to shorten the waiting time when the user enters the warehouse, a mechanical parking device that is highly convenient for the user can be obtained.

  In the control method of the mechanical parking apparatus according to the present invention, a storage / removal unit that stores and unloads a vehicle, a plurality of storage shelves on which a pallet for placing and transporting the vehicle is disposed, and the pallet is not disposed. A hangar having a plurality of storage floors in which one or more storage shelves serving as vacant areas are arranged in a grid, and a lifting device that moves up and down between the warehousing unit and the hangars of a plurality of floors to convey the pallet; A control method of a mechanical parking device that transports a vehicle in the hangar by moving the pallet between the storage shelves in a horizontal direction in a horizontal plane, and receiving the vehicle and A step of placing an empty pallet on which the vehicle is not placed among the pallets in the loading / unloading unit during a period when the vehicle is not loaded, and the empty space disposed in the loading / unloading unit when the vehicle is loaded Pallet After the warehousing vehicle is placed on the yard, the pallet on which the warehousing vehicle is placed is transported to the first storage floor corresponding to the type of the warehousing vehicle among the plurality of storage floors. Including.

  According to the present invention, since it is possible to shorten the waiting time when the user enters the warehouse, a mechanical parking device that is highly convenient for the user can be obtained.

  The control program for the mechanical parking apparatus according to the present invention is not provided with a storage section in which a pallet for placing and transporting a vehicle is disposed, and a pallet for placing and transporting the vehicle, and the pallet are not disposed. A hangar having a plurality of storage floors in which one or more storage shelves serving as vacant areas are arranged in a grid, and a lifting device that moves up and down between the warehousing unit and the hangars of a plurality of floors to convey the pallet; A control program for a mechanical parking device that transports a vehicle in the hangar by moving the pallet between the storage shelves in a vertical direction and a horizontal direction in a horizontal plane. The process of arranging an empty pallet on which the vehicle is not placed in the pallet in the warehousing part during the period when the warehousing is not performed, and the empty space arranged in the warehousing part when warehousing the vehicle A process of transporting the storage pallet on which the storage target vehicle is mounted to a first storage floor corresponding to the type of the storage target vehicle among the plurality of storage floors after the storage target vehicle is mounted on the pallet; Is executed on the computer.

  According to the present invention, since it is possible to shorten the waiting time when the user enters the warehouse, a mechanical parking device that is highly convenient for the user can be obtained.

  According to the control device of the mechanical parking device, the mechanical parking device, the control method, and the control program according to the present invention, it is possible to shorten the waiting time when the user enters the warehouse.

FIG. 1 is a schematic configuration diagram illustrating an example of a mechanical parking apparatus according to the present embodiment. FIG. 2 is a diagram schematically illustrating an example of a mechanical parking apparatus. FIG. 3 is a diagram schematically illustrating the storage / exit section, the hangar, and the lifting device. FIG. 4 is a block diagram illustrating a configuration of the control device. FIG. 5 is a flowchart showing a procedure for controlling the movement of the pallet. FIG. 6 is a diagram schematically illustrating the process of moving the pallet. FIG. 7 is a diagram schematically illustrating the process of moving the pallet. FIG. 8 is a diagram schematically illustrating the process of moving the pallet. FIG. 9 is a diagram schematically illustrating the process of moving the pallet. FIG. 10 is a diagram schematically illustrating the process of moving the pallet. FIG. 11 is a diagram schematically showing the process of moving the pallet. FIG. 12 is a diagram schematically illustrating the process of moving the pallet. FIG. 13 is a diagram schematically illustrating an example of an operation when the vehicle is full. FIG. 14 is a diagram schematically illustrating another example of the operation when the vehicle is full. FIG. 15 is a diagram schematically illustrating another example of the operation when the vehicle is full. FIG. 16 is a diagram schematically illustrating another example of the operation when the vehicle is full. FIG. 17 is a diagram schematically illustrating the process of moving the pallet. FIG. 18 is a diagram schematically showing the process of moving the pallet. FIG. 19 is a diagram schematically illustrating the process of moving the pallet. FIG. 20 is a diagram schematically illustrating a process in which the pallet moves. FIG. 21 is a diagram schematically illustrating the process of moving the pallet. FIG. 22 is a diagram schematically illustrating another example of the mechanical parking apparatus. FIG. 23 is a diagram schematically illustrating another example of the mechanical parking apparatus. FIG. 24 is a diagram schematically illustrating another example of the mechanical parking apparatus. FIG. 25 is a diagram schematically illustrating another example of the mechanical parking apparatus. FIG. 26 is a diagram schematically illustrating another example of the mechanical parking apparatus.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments of a control device for a mechanical parking device and a mechanical parking device according to the present invention will be described with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily replaced by those skilled in the art or those that are substantially the same. In this embodiment, a puzzle-type mechanical parking device that horizontally circulates a pallet on which a vehicle is placed will be described as an example.

  FIG. 1 is a schematic configuration diagram of a mechanical parking apparatus 10 according to the present embodiment. The mechanical parking apparatus 10 includes a loading / unloading unit 14 for loading / unloading the vehicle 12, a storage 20 for storing the vehicle 12, and a lift (lifting / lowering) that moves up and down between the loading / unloading unit 14 and the storage 20. Device) 22. The mechanical parking device 10 includes a control device 24 that comprehensively controls the operations of the loading / unloading unit 14, the storage 20, and the lift 22.

  The loading / unloading unit 14 includes a door 26 and an operation panel 28. The door 26 is opened when the vehicle 12 enters or leaves the entry / exit section 14. The operation panel 28 is for the user of the mechanical parking apparatus 10 to perform various operations such as entering and leaving. The operation panel 28 is disposed outside the loading / unloading unit 14.

  The operation panel 28 has input devices such as a switch, a touch panel, an IC card, and a remote control device, for example. The input device of the operation panel 28 accepts various operations such as a warehousing operation and a warehousing operation by a user of the mechanical parking device 10.

  The operation panel 28 also has an output unit 28a that outputs information such as characters, images, and sounds. Examples of the output unit 28a include a liquid crystal display device, a display device such as a display lamp, and an audio output device such as a speaker. A speech synthesizer may be provided as the output unit 28a. The operation panel 28 provides various information to the user via the output unit 28a.

  Further, the entrance / exit unit 14 is provided with a vehicle height detection unit 25. The vehicle height detection unit 25 can detect the vehicle height of the vehicle 12 placed on the pallet 16. The vehicle height detection unit 25 can transmit the detection result to the control device 24. As the vehicle height detection unit 25, for example, a non-contact sensor such as an optical sensor or an ultrasonic sensor can be used.

  FIG. 2 is a diagram schematically illustrating an example of a hierarchical structure of the mechanical parking apparatus 10. As shown in FIG. 2 and the like, the hangar 20 has a plurality of storage floors stacked in the vertical direction. In this embodiment, the case where three storage floors (20a, 20b, 20c) are provided will be described as an example. However, the present invention is not limited to this, and two or less storage floors or four or more storage floors are provided. May be. The three storage floors 20a, 20b, and 20c of the present embodiment have different vertical distances (heights) depending on the type of the vehicle 12 to be stored.

  The storage floor 20a is provided on a floor (for example, the first basement floor) one level below the loading / unloading floor where the loading / unloading section 14 is provided. The storage floor 20a is formed to a height that can store a high vehicle height vehicle 12a such as a high roof vehicle. The storage floor 20a is configured to store a high vehicle 12a, a medium high vehicle 12b such as a middle roof vehicle, and a low vehicle 12c such as a sedan.

  The storage floor 20b is provided on a floor (for example, the second basement floor) immediately below the storage floor 20a. The storage floor 20b is formed at a height that can store the medium-high vehicle 12b. The storage floor 20b can store the medium and high vehicles 12b and the low vehicle 12c.

  The storage floor 20c is provided on a floor (for example, the third basement floor) one level below the storage floor 20b. The storage floor 20c is formed to a height that can store the low vehicle 12c. Only the low vehicle 12c can be stored in the storage floor 20b.

  FIG. 3 is a diagram schematically showing the loading / unloading unit 14, the storage 20 and the lift 22. In FIG. 3, the vehicle 12 is shown as a black square. As shown in FIG. 3, each of the storage floors 20a, 20b, 20c has a plurality of storage shelves 18 arranged in a grid pattern (for example, 4 rows × 4 columns) on a horizontal plane. The plurality of storage shelves 18 include a storage shelf 18 in which the pallet 16 is arranged, and a storage shelf 18E (hereinafter simply referred to as “empty area”) that becomes an empty area without the pallet 16 being arranged. One or more vacant areas 18E are provided in each storage floor 20a, 20b, 20c. In this embodiment, on each of the storage floors 20a, 20b, and 20c, 13 storage shelves 18 on which the pallets 16 are arranged are provided at 13 locations, and two empty areas 18E are provided. The numbers of storage shelves 18 and empty areas 18E on which the pallets 16 are arranged are not limited to the above numbers, and can be set as appropriate. For example, the number may differ for each storage floor 20a, 20b, 20c.

  The storage shelf 18 is formed to have a size that can accommodate one vehicle 12, for example. In FIG. 3, the layouts of the storage floors 20a, 20b, and 20c (the number of storage shelves and the aspect ratio, the arrangement shape (rectangular, L-shaped, square-shaped, etc.), the number of pallets 16 and the position, etc.) are the same. Although a certain case is shown, it is not limited to this and may be different from each other. In the present embodiment, a configuration in which the hangar 20 is arranged on the lower floor of the entry / exit section 14 will be described as an example. However, the present invention is not limited thereto, and the hangar 20 is arranged on the upper floor of the entry / exit section 14. A structure may be sufficient and the storage 20 may be arrange | positioned in both the upper floor and lower floor of the loading / unloading part 14. FIG.

  The pallet 16 is formed in a plate shape, and the vehicle 12 is placed thereon. The pallet 16 is formed to have a size on which one vehicle 12 can be placed and fits in one storage shelf 18. The pallet 16 moves between the plurality of storage shelves 18 in the row direction and the column direction. On each of the storage floors 20a, 20b, and 20c, an empty pallet 16P in which the vehicle 12 is not placed and an on-vehicle pallet 16Q on which the vehicle 12 is placed are arranged. These pallets 16 move in the horizontal direction within the storage floors 20a, 20b, and 20c, so that the vehicle 12 is transported. Each pallet 16 is previously assigned a different identification number. The identification number of the pallet 16 can be identified by the control device 24.

  In addition, the pallet 16 is arranged in the loading / unloading unit 14 when the vehicle 12 is loaded and unloaded. For example, as shown in FIG. 2, a pallet 16 arranged in the storage / exit section 14 has a vehicle 12R (hereinafter referred to as “entry target vehicle”) 12R and a vehicle (hereinafter referred to as “exclusion target vehicle”). 12S) is placed. In the following description, the on-board pallet 16Q on which the warehousing target vehicle 12R is placed is referred to as a warehousing pallet 16R, and the on-board pallet 16Q on which the shed target vehicle 12S is placed is referred to as a leaving pallet 16S.

  As shown in FIG. 3, the lift (elevating device) 22 conveys the pallet 16 in the vertical direction between the loading / unloading unit 14 and the storage floors 20 a, 20 b, 20 c of the storage 20. On each storage floor 20a, 20b, 20c, a lift 22 is arranged in a space corresponding to one storage shelf 18. For example, one lift 22 is provided, but a plurality of lifts 22 may be provided. In each storage floor 20 a, 20 b, 20 c, the lift 22 is adjacent to the plurality of storage shelves 18. In the example shown in FIG. 3, in each storage floor 20 a, 20 b, 20 c, the lift 22 includes a storage shelf 18 </ b> L (the rear side in the drawing with respect to the lift 22), and a storage shelf 18 </ b> M (the front side in the drawing with respect to the lift 22). And the three storage shelves 18 of the storage shelf 18N (the right side in the drawing with respect to the lift 22). Note that the positional relationship between the lift 22 and the storage rack 18 is not limited to this, and a configuration adjacent to two or four storage racks 18 may be used.

  FIG. 4 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) 44 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) 45 and HDD (Hard Disk Drive) 46 as storage means for storing various programs and various information.

  The CPU includes a conveyance control unit 44, a vehicle type determination unit 45, and an output control unit 46. The conveyance control unit 44 controls the conveyance of the pallet 16 at the time of loading / unloading. Moreover, the conveyance control part 44 selects the conveyance destination of the receipt pallet 16R in which the warehousing object vehicle 12R is mounted in the storage floor 20a, 20b, 20c according to the classification of the warehousing object vehicle 12R at the time of warehousing. The vehicle type determination unit 45 determines the vehicle type of the vehicle 12 that has entered the entry / exit unit 14. The determination by the vehicle type determination unit 45 is performed based on the detection result of the vehicle height detection unit 25, information stored in the vehicle type information storage unit 47 described later, and the like. The output control unit 46 controls the output operation by the output unit 28a.

  The HDD 43 includes a vehicle type information storage unit 47 and a control program storage unit 48. The vehicle type information storage unit 47 stores vehicle type information. The vehicle type information is information related to the vehicle type of the warehousing vehicle 12R in the mechanical parking device 10. The vehicle type information includes, for example, information about which type of vehicle 12R is a high vehicle, a medium vehicle, or a low vehicle. If the user is a contract user of the mechanical parking device 10, the vehicle type information storage unit 47 may store the vehicle type information in association with the user and the vehicle.

  The control program storage unit 48 stores a control program for controlling the movement of the pallet 16. This control program includes a process for placing the empty pallet 16P in the loading / unloading unit 14 during a period in which the vehicle 12 is not loaded and unloaded, and an empty pallet 16P disposed in the loading / unloading unit 14 when the vehicle 12 is loaded. After the storage target vehicle 12R is placed on the storage pallet, the storage pallet 16R on which the storage target vehicle 12R is placed is transported to the storage floor corresponding to the type of the storage target vehicle 12R among the plurality of storage floors 20a, 20b, 20c. Causes the computer to execute the processing to be performed.

  Further, the control device 24 includes a motor control unit 51 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 an operation state of the pallet 16 and the lift 22 and the like. The sensor signal receiving part 52 which receives this signal is provided.

  The CPU 40, ROM 41, RAM 42, HDD 43, motor controller 51, sensor signal receiver 52, and operation panel 28 are electrically connected to each other via a system bus 53. Therefore, the CPU 40 accesses the ROM 41, RAM 42, and HDD 43, grasps the operation state of the operation panel 28 and displays an image, drives the motor via the motor control unit 51, and the pallet 16 via the sensor signal reception unit 52. And the operation state of the lift 22 and the like can be grasped.

  Instead of the HDD 43, 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.

  Then, operation | movement of the mechanical parking apparatus 10 comprised as mentioned above is demonstrated. FIG. 5 is a flowchart showing a procedure for controlling the movement of the pallet 16. 6 to 12 are diagrams schematically illustrating a process of controlling the movement of the pallet 16. Hereinafter, the operation of the mechanical parking apparatus 10 will be described with reference to FIGS.

  When the mechanical parking apparatus 10 is activated, the conveyance control unit 44 places the empty pallet 16P in the storage / exiting unit 14 (step S11). In the loading / unloading unit 14, an opening portion is formed with respect to the floor surface, such as a space for placing the pallet 16 and a lifting / lowering portion of the lift 22. In order to prevent the vehicle 12 from falling into such an opening, the transport control unit 44 places the empty pallet 16P in the storage 20 in the loading / unloading unit 14 so that the opening is closed. In the present embodiment, an empty pallet 16P different from the pallets 16 arranged on the storage floors 20a, 20b, and 20c is arranged in the loading / unloading unit 14. In this case, 13 pallets 16 are arranged in each storage floor 20a, 20b, 20c, and one empty pallet is arranged in the loading / unloading unit 14. Thereby, the expected number of accommodation can be ensured.

  Next, the conveyance control unit 44 sets the arrangement of the empty pallet 16P and the empty area 18E in each storage floor 20a, 20b, 20c (step S12). In step S <b> 12, the conveyance control unit 44 sets so that the empty pallet 16 </ b> P is arranged in one of the three storage shelves 18 adjacent to the lift 22 and the empty area 18 </ b> E is arranged in the other. Further, the transport control unit 44 arbitrarily sets the remaining one storage shelf 18.

  For example, the conveyance control unit 44 can arrange the storage floors 20a, 20b, and 20c as shown in FIG. In this case, as shown in FIG. 3, with respect to the storage floor 20 a, the transport control unit 44 places the empty pallet 16 </ b> P on the storage shelf 18 </ b> L on the back side in the drawing with respect to the lift 22. Further, the transport control unit 44 sets the storage shelf 18M on the near side in the drawing with respect to the lift 22 as an empty area 18E. In addition, although the conveyance control part 44 has arrange | positioned the empty pallet 16P in the storage shelf 18N of the right side in the figure with respect to the lift 22, it is not limited to this.

  As shown in FIG. 3, for the storage floor 20 b, the conveyance control unit 44 places an empty pallet 16 </ b> P on the storage shelf 18 on the back side in the drawing with respect to the lift 22. Further, the conveyance control unit 44 sets the storage shelf 18 on the right side in the drawing with respect to the lift 22 as an empty area 18E. In addition, although the conveyance control part 44 has arrange | positioned the in-vehicle pallet 16Q in the storage shelf 18 in the figure near side with respect to a lift, it is not limited to this.

  As shown in FIG. 3, for the storage floor 20 c, the conveyance control unit 44 sets the storage shelf 18 on the back side in the drawing with respect to the lift 22 as an empty area 18 E. Moreover, the conveyance control part 44 arrange | positions the empty pallet 16P to the storage shelf 18 on the right side in the figure with respect to the lift 22. In addition, although the conveyance control part 44 has arrange | positioned the in-vehicle pallet 16Q in the storage shelf 18 in the figure near side with respect to a lift, it is not limited to this.

  The storage floors 20a, 20b, and 20c are set so that the arrangement of the storage shelves 18 and the empty areas 18E on which the empty pallets 16P are arranged is different, but the present invention is not limited to this. For example, for two or more storage floors 20a, 20b, and 20c, the storage shelves 18 on which the empty pallets 16P are arranged and the empty areas 18E may be arranged in the same manner.

  Thereafter, the control device 24 stands by until there is an entry instruction. When a user inputs an entry instruction to the operation panel 28, the entry instruction is transmitted from the operation panel 28 to the control device 24. Control device 24 makes door 26 an open state, when the received warehousing instruction is detected (YES of Step S13). Then, the output control unit 46 instructs the user to place the vehicle 12 on the empty pallet 16P of the loading / unloading unit 14 via the output unit 28a of the operation panel 28. This empty pallet 16P can be transported to any of the storage floors 20a, 20b, and 20c. Thereafter, as shown in FIG. 6, after the warehousing target vehicle 12 </ b> R is placed on the pallet 16 (the pallet pallet 16 </ b> R) and the user goes out of the warehousing / removal unit 14, the control device 24 closes the door 26. And

  After the warehousing target vehicle 12R is placed on the pallet 16 (the warehousing pallet 16R), the vehicle type determination unit 45 determines the type of the warehousing target vehicle 12R (step S14). In step S14, the vehicle type determination unit 45 determines whether the warehousing target vehicle 12R corresponds to a high vehicle height vehicle, a medium vehicle high vehicle, or a low vehicle height vehicle. At this time, the vehicle type determination unit 45 may determine using the detection result by the vehicle height detection unit 25 or may use the vehicle type information stored in the vehicle type information storage unit 47. For example, the vehicle type determination unit 45 may determine the vehicle type by comparing the value of the vehicle height detected by the vehicle height detection unit 25 with a preset threshold value or the like.

  Next, the conveyance control unit 44 selects the storage floor of the warehousing destination according to the determined type of the warehousing target vehicle 12R (step S15). When the type of the warehousing target vehicle 12R is a high vehicle, the control device 24 sets the warehousing destination in the storage floor 20a. When the type of the warehousing target vehicle 12R is a medium-high vehicle, the control device 24 sets the warehousing destination in the storage floor 20b. When the type of the warehousing target vehicle 12R is a low vehicle height, the control device 24 sets the warehousing destination in the storage floor 20c. Hereinafter, the case where the warehousing target vehicle 12R is the high vehicle high vehicle 12a will be described as an example. In this case, the conveyance control unit 44 sets the pallet 16R to be conveyed to the storage floor (first storage floor) 20a.

  Next, the conveyance control unit 44 conveys the warehousing pallet 16R to the selected storage floor 20a (step S16). In step S16, the conveyance control unit 44 first lowers the storage pallet 16R to the storage floor 20a by the lift 22, as shown in FIG. Accordingly, the storage pallet 16R is adjacent to the three storage shelves 18 on the storage floor 20a, that is, the storage shelf 18L on the back side in the drawing, the storage shelf 18M on the near side in the drawing, and the storage shelf 18N on the right side in the drawing. It is arranged at a matching position.

  Thereafter, the conveyance control unit 44 moves the pallet 16R to the storage shelf 18M that is an empty area, and stores the warehousing target vehicle 12R in the storage shelf 18M. As the warehousing pallet 16R is transported, the total number of pallets 16 on the storage floor 20a is one more than before warehousing. Therefore, the conveyance control unit 44 returns one empty pallet 16P arranged on the storage floor 20a to the loading / unloading unit 14. At this time, the conveyance control unit 44 moves the empty pallet 16P arranged on the storage shelf 18L to the lift 22.

  Here, as shown in FIG. 7, in the storage floor 20a, the storage shelf 18L, the lift 22, and the storage shelf 18M are arranged side by side in a straight line direction. Specifically, the storage shelf 18L and the storage shelf 18M are arranged side by side so as to sandwich the lift 22 in the linear direction. In this arrangement, the incoming pallet 16R and the empty pallet 16P of the storage shelf 18L are moved next to each other in the same direction. In this case, the moving pallet 16P and the receiving pallet 16R have the same moving direction and moving distance. Therefore, the transport control unit 44 can move both at the same timing as shown in FIG. In this case, it is not necessary to wait for the empty pallet 16P of the storage shelf 18L until the movement of the storage pallet 16R is completed. For this reason, efficient movement is possible in a short time. The transport control unit 44 may move the empty pallet 16P of the storage shelf 18N to the lift 22 instead of the empty pallet 16P of the storage shelf 18L. In this case, after moving the receiving pallet 16R of the lift 22 to the storage shelf 18M, the empty pallet 16P of the storage shelf 18N is moved to the lift 22.

  Next, the conveyance control unit 44 conveys the empty pallet 16P moved to the lift 22 to the loading / unloading unit 14 (step S17). The conveyance control unit 44 raises the lift 22 and places the empty pallet 16P at a predetermined position of the loading / unloading unit 14. As a result, as shown in FIG. 9, the total number of pallets 16 in the storage floor 20a is equal to that before the warehousing target vehicle 12R is received.

  Thereafter, the conveyance control unit 44 sets the arrangement of the empty pallet 16P and the empty area 18E on the storage floor 20a (step S18). In step S18, as in step S12, the transport control unit 44 arranges the empty pallet 16P in one of the three storage shelves 18L, 18M, and 18N adjacent to the lift 22 and the empty area 18E in the other. Set to be placed. Further, the transport control unit 44 arbitrarily sets the remaining one storage shelf 18. In the state shown in FIG. 9, the storage shelf 18L is an empty area, and the empty pallet 16P is arranged on the storage shelf 18N. Therefore, the conveyance control unit 44 does not change the arrangement shown in FIG. In addition, the conveyance control unit 44 arranges the storage floor 20a so that the empty pallet 16P is arranged on the storage shelf 18L (or the storage shelf 18M) as described above and the storage shelf 18M (or the storage shelf 18L) becomes an empty area. The pallet 16 may be moved. Further, the conveyance control unit 44 may set the two storage shelves 18 adjacent to the lift 22 (the storage shelf 18 in which the empty pallet 16P is disposed and the empty area 18E) to be fixed positions. As described above, the warehousing process for the warehousing target vehicle 12R is completed. Thereafter, when detecting a new warehousing instruction (YES in Step S19), the control device 24 causes the operation after Step S14 to be performed again.

  Further, when the user inputs an exit instruction to the operation panel 28 after that, the exit instruction is transmitted from the operation panel 28 to the control device 24. When detecting the transmitted exit instruction (NO in step S19, YES in step S20), the control device 24 performs the exit process of the exit target vehicle 12S. Hereinafter, a case where the warehousing target vehicle 12R that has been placed in the storage floor 20a by the above-described process is delivered from the state illustrated in FIG. 9 will be described as an example. The same description applies even when another vehicle 12 is stored on the storage floor 20a, or when the medium or high vehicle 12b or low vehicle 12c stored on the other storage floors 20b and 20c is output. Is possible.

  In the delivery process, the transport control unit 44 first transports the empty pallet 16P to the storage floor 20a in which the delivery target vehicle 12S is stored (step S21). In step S21, the conveyance control unit 44 lowers the empty pallet 16P of the loading / unloading unit 14 to the storage floor 20a by the lift 22. Then, the transport control unit 44 horizontally moves the empty pallet 16P to the storage shelf 18L adjacent to the lift 22, as shown in FIG. As a result, the total number of pallets 16 in the storage floor 20a increases by one.

  Next, the conveyance control unit 44 causes the loading / unloading unit 14 to transfer the unloading pallet 16S on which the unloading target vehicle 12S is placed (step S22). In step S <b> 22, the conveyance control unit 44 first horizontally moves the unloading pallet 16 </ b> S disposed on the storage shelf 18 </ b> M adjacent to the lift 22 to the lift 22 as illustrated in FIG. 11. Then, the transport control unit 44 raises the delivery pallet 16 </ b> S by the lift 22 and arranges the delivery pallet 16 </ b> S in the entry / exit unit 14.

  After the delivery pallet 16S is arranged in the entry / exit section 14, the control device 24 opens the door 26. Then, the output control unit 46 instructs the user to take the evacuation target vehicle 12S out of the loading / unloading unit 14 via the output unit 28a of the operation panel 28.

  After the unloading target vehicle 12S is taken out from the loading / unloading unit 14, the pallet of the loading / unloading unit 14 becomes an empty pallet 16P as shown in FIG. The control device 24 closes the door 26 in this state. Thereby, the delivery process is completed. The conveyance control unit 44 keeps the empty pallet 16P in the loading / unloading unit 14. Further, the conveyance control unit 44 sets so that the empty pallet 16P is arranged in one of the three storage shelves 18L, 18M, and 18N adjacent to the lift 22, and the empty area 18E is arranged in the other. .

  Thereafter, the control device 24 determines whether or not to end the process (step S23). When the process is continued (NO in step S23), the control device 24 returns to step S19 to perform the process. In other cases, the control apparatus 24 ends the process (YES in step S23).

  In the puzzle-type mechanical parking apparatus 10 as described above, when the number of empty areas 18E of the storage floors 20a, 20b, and 20c is less than the specified number, the pallet 16 that is difficult to be transported to the lift 22 is generated. For this reason, control is performed so that the number of empty areas 18E does not fall below a prescribed number for each storage floor. On the other hand, if the number of empty areas 18E is increased, it will be difficult to secure the number of parking spaces. Therefore, in order to facilitate the transportation of the pallet 16 and to secure the number of parked vehicles, the number of empty areas 18E is controlled to be as small as possible, that is, as the prescribed number as possible, for each storage floor.

  In the puzzle-type mechanical parking apparatus 10, the time for transporting the pallet 16 to the lift 22 is substantially determined by the number of empty areas 18E. For this reason, when the number of empty areas 18E differs for each storage floor, the conveyance time of the pallet 16 varies for each storage floor. Therefore, the number of empty areas 18E is controlled so as not to fluctuate in order to prevent the transfer time from varying for each storage floor.

  As described above, conventionally, in each of the storage floors 20a, 20b, and 20c, the number of empty areas 18E is controlled so as not to vary as much as possible. Therefore, the pallet 16 used for each storage floor is determined in advance, and when the pallet 16 is moved, the pallet 16 is controlled so as not to move between different storage floors as much as possible. For this reason, for example, when the warehousing instruction is performed by the user of the high vehicle 12a, when the empty pallet 16P prepared in the storage / exit section 14 is on the storage floor 20c for the low vehicle First, the empty pallet 16P prepared in the loading / unloading unit 14 is returned to the storage floor 20c for low and high vehicles. Thereafter, the empty pallet 16P is transported to the loading / unloading unit 14 from the storage floor 20a for high and high vehicles. And the process of opening the door of the loading / unloading part 14 after arrangement | positioning of the empty pallet 16P was completed. For this reason, the waiting time for warehousing has become longer.

  On the other hand, according to the present embodiment, the empty pallet 16P is arranged in the loading / unloading unit 14 during the period when the vehicle 12 is not loaded and unloaded, and when the vehicle 12 is loaded, the empty space used as the loading / unloading unit. After the storage target vehicle 12R is placed on the pallet 16P, the storage pallet 16R is transported to the storage floor corresponding to the type of the storage target vehicle 12R among the storage floors 20a, 20b, and 20c. Therefore, the pallet 16 used for each storage floor is not determined, and the pallet 16R can be transported on any storage floor according to the type of the warehousing target vehicle 12R. Therefore, it is not necessary to replace the empty pallet 16P in the loading / unloading unit 14. Thereby, the waiting time at the time of a user's warehousing can be shortened.

  Moreover, according to this embodiment, the total number of pallets 16 can be kept constant in the storage floor in which the warehousing target vehicle 12R is stored at the time of warehousing. Furthermore, also when leaving, the total number of pallets 16 can be kept constant on the storage floor where the delivery target vehicle 12S is stored. Therefore, the number of empty areas 18E can be kept constant at each storage floor 20a, 20b, 20c. Thereby, the fluctuation | variation of conveyance time can be suppressed for every storage floor.

  The technical scope of the present invention is not limited to the above-described embodiment, and appropriate modifications can be made without departing from the spirit of the present invention. For example, when the processing of the above embodiment is performed, all the pallets 16 on one storage floor may become the on-board pallet 16Q. In such a case, the empty pallet 16P is not arranged on the storage floor.

  FIG. 13 is a diagram schematically illustrating an example of a control process when the vehicle is full. For example, as shown in FIG. 13, when the empty pallet 16P is no longer arranged on the storage floor 20a, the high vehicle 12a cannot be stored. Therefore, the output control unit 46 outputs information indicating that the storage floor 20a is full via the output unit 28a of the operation panel 28. In the example shown in FIG. 13, empty pallets 16P are arranged on the storage floor 20b and the storage floor 20c. For this reason, the output control unit 46 outputs information indicating that the storage floor 20b and the storage floor 20c are empty via the output unit 28a.

  FIG. 14 is a diagram schematically showing another example of the control process when the vehicle is full. As shown in FIG. 14, when the empty pallet 16P is no longer arranged on all the storage floors 20a, 20b, and 20c, the output control unit 46 is full of the storage floors 20a, 20b, and 20c with respect to the output unit 28a. Outputs information indicating that there is. In this case, although the empty pallet 16P is arranged in the loading / unloading unit 14, the empty pallet 16P is used to close the opening portion of the loading / unloading unit 14. Therefore, the output control unit 46 may cause the output unit 28a to output information instructing the user not to place the vehicle 12 on the empty pallet 16P.

  In the example shown in FIG. 15, the empty pallet 16P is not arranged on the storage floor 20c, but the empty pallet 16P is arranged on the storage floors 20a and 20b. In this case, the low vehicle 12c cannot be stored in the storage floor 20c, but the low vehicle 12c can be stored in the storage floors 20a and 20b. Therefore, the output control unit 46 causes the output unit 28a to output information indicating that the storage floor 20c is full. Moreover, the output control part 46 outputs the information which shows that the low vehicle height vehicle 12c can be stored. This improves the convenience for the user.

  In the example shown in FIG. 16, the empty pallets 16P are not arranged on the storage floors 20b and 20c, but the empty pallet 16P is arranged on the storage floor 20a. In this case, the medium-high vehicle 12b cannot be stored in the storage floor 20b. Moreover, the low vehicle height vehicle 12c cannot be stored in the storage floor 20c. On the other hand, the medium and high vehicles 12b and the low vehicle 12c can be stored in the storage floor 20a. Accordingly, the output control unit 46 outputs information indicating that the storage floors 20b and 20c are full via the output unit 28a. Moreover, the output control part 46 outputs the information which shows that the middle vehicle high vehicle 12b and the low vehicle height vehicle 12c can enter. This improves the convenience for the user. In addition, although the medium and high cars 12b and the low car 12c can be stored in the storage floor 20a, it may be assumed that the high car 12a is given priority in the storage floor 20a. In such a case, for example, as shown in FIG. 16, the output control unit 46 may output information indicating that there are few vacant spaces in the medium and high vehicles 12b and 12c. Further, the output control unit 46 may cause the user to output information for guiding the user to refrain from entering the medium and high vehicles 12b and 12c. Moreover, the output control part 46 may regulate the receipt of at least one of the medium and high vehicles 12b and the low and high vehicles 12c.

  Moreover, in the said embodiment, the case where the empty pallet 16P different from the pallet 16 arrange | positioned on the storage floors 20a, 20b, 20c is arrange | positioned at the loading / unloading part 14 at the time of starting of the mechanical parking apparatus 10 is mentioned as an example. However, the present invention is not limited to this. For example, when the mechanical parking apparatus 10 is activated, an empty pallet 16P disposed on at least one of the storage floors 20a, 20b, and 20c may be taken out and placed in the loading / unloading unit 14. In this case, the conveyance control unit 44 selects the storage floor from among the storage floors 20a, 20b, and 20c from which the empty pallet 16P is to be taken out.

  For example, the conveyance control unit 44 may select the storage floor from which the empty pallet 16P is taken out in the order of the storage floors 20a, 20b, and 20c that are closest to the loading / unloading unit 14. FIG. 17 is a diagram schematically illustrating a process in which the pallet 16 moves. As shown in FIG. 17, the conveyance control unit 44 takes out the empty pallet 16P from the storage floor 20a closest to the loading / unloading unit 14 and moves it to the loading / unloading unit 14. In addition, when the empty pallet 16P is not arranged on the storage floor 20a (when the vehicle is full), the transfer control unit 44 takes out the empty pallet 16P from the storage floor 20b next to the storage / removal unit 14 and moves to the storage / removal unit 14 Let For example, when a plurality of storage / removal units 14 are provided, the empty pallets 16P to be arranged in all the storage / removal units 14 may be taken out from the storage floor 20a, or one by one or a plurality in order from the storage / removal unit 14 You may take it out.

  In the storage floors 20a and 20b close to the loading / unloading unit 14, the time for the lift 22 to reach the storage floors 20a and 20b from the loading / unloading unit 14 is short. Therefore, depending on the arrangement of the pallets 16 on the storage floors 20a and 20b, the lift 22 waits until the pallets 16 are conveyed. According to the said structure, since the movement of the pallet 16 becomes smooth about the storage floors 20a and 20b near the loading / unloading part 14, the waiting time of the lift 22 can be shortened.

  For example, the conveyance control unit 44 may select the storage floor from which the empty pallet 16P is taken out according to the pallet 16 conveyance time assumed for each of the storage floors 20a, 20b, and 20c. When the empty pallet 16P is taken out from the storage floor and placed in the loading / unloading unit 14, the empty area 18E on the storage floor increases. For this reason, although the number of accommodations decreases, the smoothness of movement of the pallet 16 becomes high, and the conveyance time of the pallet 16 is shortened. Therefore, the conveyance control unit 44 takes out the empty pallet 16P from the storage floor where the conveyance time of the pallet 16 is desired to be shortened. FIG. 18 is a diagram schematically illustrating a process in which the pallet 16 moves. In the example shown in FIG. 18, the conveyance control unit 44 takes out the empty pallet 16P from the storage floor 20c for low and high vehicles and moves it to the loading / unloading unit 14. In the mechanical parking device 10 provided in a condominium or the like, it may be assumed that there are many vehicle types used as private vehicles, for example, a low vehicle height vehicle 12c such as a sedan type, a compact type, or a light vehicle. In such a case, the transport control unit 44 takes out the empty pallet 16P of the storage floor 20c and places it in the loading / unloading unit 14, so that the empty area 18E increases on the storage floor 20c and the pallet 16 moves more smoothly. Is called. For this reason, the conveyance time in the storage floor 20c becomes short.

  FIG. 19 shows a case where an empty pallet 16P is taken out from the storage floor 20a. When the empty pallets 16P arranged on at least one of the storage floors 20a, 20b, and 20c are taken out and placed in the loading / unloading unit 14, the total number of pallets 16 is smaller than the predetermined number on the taken-out storage floor. For this reason, for example, in the example shown in FIG. 19, all the pallets 16 are on-vehicle pallets 16Q on the storage floor 20a from which one pallet 16 is taken out. In this case, there is a storage shelf 18M (empty area 18E) that can accommodate the incoming pallet 16R of the incoming / outgoing part 14. Therefore, the output control unit 46 causes the output unit 28a to output information indicating that the storage floor 20a is an empty vehicle.

  From the state shown in FIG. 19, for example, the high vehicle 12a enters the entry / exit section 14 as the entry target vehicle 12R, and the entry operation is performed. FIG. 20 is a diagram for explaining the operation when a warehousing operation is performed. As illustrated in FIG. 20, when the warehousing operation is performed, the transport control unit 44 transports the warehousing pallet 16 </ b> R to the storage shelf 18 </ b> M that was an empty area. In this case, the total number of pallets 16 on the storage floor 20a is a predetermined number. Further, all the pallets 16 on the storage floor 20a become the on-vehicle pallet 16Q. Therefore, the output control unit 46 causes the output unit 28a to output information indicating that the storage floor 20a is full.

  When the incoming pallet 16R is transported to the storage floor 20a, the empty pallet 16P is not placed on the storage floor 20a. For this reason, the conveyance control unit 44 detects whether or not the empty pallet 16P is arranged on a storage floor different from the storage floor 20a. When it is detected that the empty pallet 16P is arranged, the transport control unit 44 takes out the empty pallet 16P on the storage floor and moves it to the loading / unloading unit 14. Thereby, the state which block | closed the opening part of the storage / exiting part 14 is maintainable.

  When it is detected that empty pallets 16P are arranged on a plurality of storage floors, the transfer control unit 44 selects a storage floor from which the empty pallets 16P are to be taken out. In this case, the conveyance control unit 44 may select in the order closer to the loading / unloading unit 14, or may select according to the conveyance time of the pallet 16 assumed for each of the storage floors 20a, 20b, and 20c. After selecting the storage floor from which the empty pallet 16P is taken out, the transport control unit 44 moves the lift 22 to the storage floor. Here, a case where the storage floor 20c is selected will be described as an example. In this case, the lift 22 moves down to the storage floor 20c as it is after dropping the storage pallet 16R on the storage floor 20a.

  FIG. 21 is a diagram illustrating a case where the empty pallet 16P arranged on the storage floor 20c has moved. As illustrated in FIG. 21, the conveyance control unit 44 holds the empty pallet 16 </ b> P on the storage floor 20 c and then raises the lift 22 to the loading / unloading unit 14. On the storage floor 20c, the number of empty areas 18E increases as the empty pallet 16P is extracted. When the transport control unit 44 takes out the empty pallet 16P, one of the three storage shelves 18L, 18M, and 18N adjacent to the lift 22 is arranged with the empty pallet 16P, and the other has the empty area 18E. The pallet 16 may be moved so as to be arranged.

  Moreover, in the said embodiment, although the case where one entering / exiting part 14 was provided was mentioned as an example and demonstrated, it is not limited to this, The some entering / exiting part 14 may be provided. FIG. 22 is a diagram schematically illustrating another example of the mechanical parking apparatus. As shown in FIG. 22, the mechanical parking device 10 </ b> A has warehouses 14 </ b> A and 14 </ b> B. In addition, about another structure, it is the same as the mechanical parking apparatus 10 as described in the said embodiment. In addition, in FIG. 22, although the structure provided with two entering / exiting parts is mentioned as an example, it is not limited to this, Three or more entering / exiting parts may be provided.

  One of the entry / exit sections 14A and 14B is used exclusively for entry, and the other is used exclusively for exit. In addition, at least one of the loading / unloading units 14A and 14B may be used for loading / unloading. Here, the case where the loading / unloading unit 14A is dedicated to loading and the loading / unloading unit 14B is dedicated to loading will be described as an example.

  As shown in FIG. 22, lifts 22 </ b> A and 22 </ b> B are provided in the loading / unloading units 14 </ b> A and 14 </ b> B, respectively. The lifts 22A and 22B connect the loading / unloading units 14A and 14B and the storage floors 20a, 20b, and 20c.

  At the time of warehousing, the conveyance control unit 44 arranges empty pallets 16P in the warehousing and unloading unit 14A and the warehousing and unloading unit 14B. As a result, the opening portions of the loading / unloading portions 14A and 14B are closed. In addition, in each of the storage floors 20a, 20b, and 20c, the transport control unit 44 has an empty pallet 16P arranged in one of the three storage shelves 18L, 18M, and 18N adjacent to the lift 22A, and the other is empty. It sets so that the area | region 18E may be arrange | positioned.

  The warehousing target vehicle is received from the loading / unloading unit 14A. In a state where the entry target vehicle is placed on the empty pallet 16P of the entry / exit section 14A, the entry pallet is moved to each storage floor 20a, 20b, 20c according to the type of the vehicle. After the warehousing pallet has moved, the transfer control unit 44 moves the empty pallet 16P from the storage floor of the movement destination to the warehousing and unloading unit 14A. Thereby, the warehousing operation is completed.

  When vehicles stored in the storage floors 20a, 20b, and 20c are delivered, the transport control unit 44 first transports the empty pallet 16P from the storage / departure unit 14B to the storage floor where the delivery target vehicle is stored. Thereafter, the transport control unit 44 causes the loading / unloading unit 14B to transport the shipping pallet on which the shipping target vehicle is placed. Thereafter, the control device 24 opens the door 26. And the output control part 46 instruct | indicates a user to take out a leaving object vehicle from the entering / exiting part 14B via the output part 28a. Thereby, the leaving operation is completed. The conveyance control unit 44 sets so that the empty pallet 16P is arranged in one of the three storage shelves 18 adjacent to the lift 22B, and the empty area 18E is arranged in the other. Thereby, the movement of the pallet 16 at the time of delivery can be performed smoothly.

  Thus, even if it is the structure provided with two or more warehouse parts, the total number of the pallets 16 can be maintained constant in the storage floor in which the warehousing object vehicle is stored in the case of warehousing. Furthermore, also when leaving, the total number of pallets 16 can be kept constant on the storage floor where the delivery target vehicle is stored. Therefore, the number of empty areas 18E can be kept constant at each storage floor 20a, 20b, 20c. Thereby, the fluctuation | variation of conveyance time can be suppressed for every storage floor.

  In the above-described embodiment, the storage shelves (storage shelves 18L, 18M, and 18N) are adjacent to the lift 22 in two directions, the depth direction and the left-right direction in the drawing, in each storage floor 20a, 20b, and 20c. However, the present invention is not limited to this. FIG. 23 to FIG. 26 are diagrams schematically showing another example of the mechanical parking apparatus. In the mechanical parking device 10B shown in FIGS. 23 to 26, in the mechanical parking device 10B, the storage shelf 18F is adjacent to the lift 22 on the right side in the horizontal direction in the figure (hereinafter referred to as the first direction D1). It has a configuration. Further, in the mechanical parking device 10B, pillars 19 are formed in the space adjacent to the depth side of the lift 22 in the drawing (hereinafter referred to as the second direction D2) and the space adjacent to the front side, respectively. Has been. A storage shelf is not arranged in the space where the pillar 19 is provided, and the pallet 16 cannot be moved. The mechanical parking device 10B may be on the ground without providing a column at the position where the column 19 is provided.

  An operation when the vehicle is stored in the mechanical parking apparatus 10B having such a configuration will be described. Hereinafter, a case where the vehicle is stored in the storage floor 20a will be described as an example, but the same description can be made when the vehicle is stored in the storage floors 20b and 20c. First, as shown in FIG. 23, the conveyance control unit 44 sets the storage shelf 18F adjacent to the lift 22 as an empty area. In addition, the conveyance control unit 44 sets the storage shelf 18G adjacent to the storage shelf 18F on the far side in the second direction D2 as a free area 18E. Furthermore, the conveyance control unit 44 arranges the empty pallet 16P on the storage shelf 18H adjacent to the storage shelf 18F on the near side in the second direction D2. The empty pallet 16P may be arranged on the storage shelf 18G, and the storage shelf 18H may be used as an empty area. In this state, the conveyance control unit 44 lowers the storage pallet 16R on which the storage target vehicle 12R is placed to the storage floor 20a by the lift 22. Thus, the warehousing pallet 16R is arranged adjacent to the storage shelf 18F, which is an empty area (18E) on the right side in the drawing, on the storage floor 20a.

  Next, as shown in FIG. 24, the conveyance control unit 44 moves the storage pallet 16R to the storage shelf 18F. As a result, the total number of pallets 16 on the storage floor 20a is increased by one compared to before the warehouse. Therefore, the conveyance control unit 44 returns, for example, the empty pallet 16P arranged on the storage shelf 18H among the empty pallets 16P arranged on the storage floor 20a to the loading / unloading unit 14.

  Here, as shown in FIG. 24, in the storage floor 20a, the storage shelves 18F, the storage shelves 18G, and the storage shelves 18H are arranged in a straight line in the second direction D2. In this arrangement, the incoming pallet 16R arranged on the storage shelf 18F and the empty pallet 16P arranged on the storage shelf 18H are moved next to each other in the same direction (the back side in the second direction D2). . In this case, the moving pallet 16P and the receiving pallet 16R have the same moving direction and moving distance. Therefore, the conveyance control unit 44 can move both at the same timing as shown in FIG.

  Thereafter, the conveyance control unit 44 moves the empty pallet 16P arranged on the storage shelf 18F to the lift 22, as shown in FIG. And the conveyance control part 44 raises the lift 22, and arrange | positions the empty pallet 16P in the predetermined position of the loading / unloading part 14. FIG. As a result, the total number of pallets 16 on the storage floor 20a is equal to that before the storage target vehicle 12R is stored. Thereafter, the transport control unit 44 moves the empty pallet 16P disposed on the storage shelf 18 on the right side in the second direction D2 of the storage shelf 18H to the storage shelf 18H in preparation for the next warehousing. And the conveyance control part 44 moves to the near side of the 1st direction D1 in order so that the vehicle pallet 16Q may be packed in the storage shelf 18 used as an empty area. Thereby, the right side of the storage shelf 18G in the second direction D2 becomes an empty area. Therefore, the conveyance control unit 44 moves the on-vehicle pallet 16Q of the storage shelf 18G to the right side in the second direction D2. As a result, the storage shelf 18G becomes an empty area 18E, and the next storage pallet can be received.

  As described above, according to the configuration shown in FIGS. 23 to 26, the empty pallet 16P and the incoming pallet 16R can be moved at the same timing. Therefore, the empty pallet 16P is made to wait until the movement of the incoming pallet 16R is completed. There is no need to keep it. For this reason, even when the lift 22 is arranged so as to be adjacent to the storage shelf only in the first direction D1, efficient movement is possible in a short time. In the above description, the configuration in which the storage shelf 18F is adjacent to the lift 22 on the right side in the first direction D1 is described as an example. However, the present invention is not limited to this. For example, the same description applies to a structure in which storage shelves are adjacent to the left side of the first direction D1 with respect to the lift 22 and a structure in which storage shelves are adjacent to both sides of the lift 22 in the first direction D1. Is possible.

  In addition, you may apply in the mechanical parking apparatus 10 and 10A described in the said embodiment or modification about the conveyance operation of the warehouse pallet 16R and the empty pallet 16P demonstrated in this mechanical parking apparatus 10B.

DESCRIPTION OF SYMBOLS 10, 10A, 10B ... Mechanical parking apparatus 12 ... Vehicle 12R ... Vehicle subject to entry 12S ... Vehicle subject to exit 12a ... High vehicle high vehicle 12b ... Medium vehicle high vehicle 12c ... Low vehicle high vehicle 14, 14A, 14B ... Entry / exit part 16 ... Pallet 16P ... Empty pallet 16Q ... Car pallet 16R ... Incoming pallet 16S ... Out pallet 18, 18F, 18G, 18H, 18L, 18M, 18N ... Storage shelf 18E ... Empty space 20 ... Storage 20a, 20b, 20c ... Storage Floor 22, 22A, 22B ... lift 24 ... control device 25 ... vehicle height detection unit 28a ... output unit 28a ... voice output unit 44 ... conveyance control unit 45 ... vehicle type determination unit 46 ... output control unit 47 ... vehicle type information storage unit 48 ... Control program storage

Claims (16)

A storage section for storing 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 in which the pallets are not disposed are in a lattice pattern A hangar having a plurality of storage floors arranged on the floor, and a lifting device for moving the pallet by moving up and down between the storage unit and the hangars of a plurality of floors, the pallet in a horizontal plane between the storage shelves In the control device of the mechanical parking device that moves the vehicle in the hangar by moving in the vertical and horizontal directions,
During the period in which the vehicle is not in and out, the empty pallet in which the vehicle is not placed among the pallets is arranged in the in-and-out part,
When warehousing the vehicle, after the warehousing target vehicle is placed on the empty pallet arranged in the warehousing and unloading unit, the pallet placing the warehousing target vehicle is placed among the plurality of storage floors. A control device for a mechanical parking device to be transported to the first storage floor corresponding to the type of vehicle to be admitted. The control device for a mechanical parking device according to claim 1, wherein after the warehouse pallet is transported to the first storage floor, an empty pallet on the first storage floor is moved to the storage / exit section. When unloading the vehicle, after moving the empty pallet of the loading / unloading unit to the storage floor where the unloading target vehicle is stored, move the unloading pallet on which the unloading target vehicle is placed to the loading / unloading unit The control device for the mechanical parking device according to claim 1 or 2. The lifting device is disposed adjacent to at least one of the storage shelves,
The mechanical type according to any one of claims 1 to 3, wherein the empty pallet is arranged on a first storage shelf adjacent to the lifting device, and then the storage pallet is transported to the first storage floor. Control device for parking equipment. The lifting device is disposed adjacent to the plurality of storage shelves,
The said storage shelf adjacent to the said raising / lowering apparatus, and after making the 2nd storage shelf different from the said 1st storage shelf into the said empty area, the said storage pallet is conveyed to the said 2nd storage shelf. Control device for mechanical parking equipment. The control device for a mechanical parking device according to claim 5, wherein the first storage shelf, the second storage shelf, and the lifting device are arranged side by side in a linear direction. The lifting device is disposed adjacent to the storage shelf only in the first direction,
The plurality of storage shelves include a third storage shelf adjacent to the lifting device in the first direction and a fourth storage adjacent to one of the second directions orthogonal to the first direction with respect to the third storage shelf. A shelf and a fifth storage shelf adjacent to the other in the second direction,
After the third storage shelf and one of the fourth storage shelf and the fifth storage shelf are used as the empty area, and the empty pallet is arranged on the other of the fourth storage shelf and the fifth storage shelf The control device for the mechanical parking device according to claim 4, wherein the pallet is conveyed to the third storage shelf. The said empty pallet different from the said pallet arrange | positioned at the said some storage floor is arrange | positioned in the said storage / exit part at the time of starting of the said mechanical parking apparatus. Control device for mechanical parking equipment. The mechanical parking device according to any one of claims 1 to 8, wherein when the mechanical parking device is activated, the empty pallet placed on the storage floor is taken out and placed in the loading / unloading unit. Control device. The control device for a mechanical parking apparatus according to claim 9, wherein the storage floor from which the empty pallet is taken out is selected according to a pallet transport time assumed for each storage floor. The control device for a mechanical parking device according to claim 9, wherein the storage floor from which the empty pallet is taken out is selected in order of the storage floor among the plurality of storage floors. After the storage pallet is transported to the first storage floor, the empty pallet is not disposed on the first storage floor, and the empty pallet is disposed on a second storage floor different from the first storage floor. The control device for the mechanical parking device according to any one of claims 1 to 11, wherein the empty pallet on the second storage floor is taken out and moved to the loading / unloading unit. When the empty pallet is no longer placed on the storage floor where the storage target vehicle can be stored, information indicating that the storage floor is full is output to an output unit capable of outputting information to the user. The control device for a mechanical parking device according to any one of claims 1 to 12.   The mechanical parking apparatus provided with the control apparatus of the mechanical parking apparatus as described in any one of Claims 1-13. A storage section for storing 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 in which the pallets are not disposed are in a lattice pattern A hangar having a plurality of storage floors arranged on the floor, and a lifting device for moving the pallet by moving up and down between the storage unit and the hangars of a plurality of floors, the pallet in a horizontal plane between the storage shelves In the control method of the mechanical parking device for transporting the vehicle in the hangar by moving in the vertical and horizontal directions,
Placing the empty pallet on which the vehicle is not placed among the pallets in the loading / unloading unit during a period in which the vehicle is not loaded and unloaded,
When warehousing the vehicle, after the warehousing target vehicle is placed on the empty pallet arranged in the warehousing and unloading unit, the pallet placing the warehousing target vehicle is placed among the plurality of storage floors. A method of controlling the mechanical parking device, including the step of transporting the vehicle to the first storage floor corresponding to the type of the warehousing target vehicle. A storage section for storing 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 in which the pallets are not disposed are in a lattice pattern A hangar having a plurality of storage floors arranged on the floor, and a lifting device for moving the pallet by moving up and down between the storage unit and the hangars of a plurality of floors, the pallet in a horizontal plane between the storage shelves In the control program of the mechanical parking device that transports the vehicle in the hangar by moving in the vertical and horizontal directions,
A process of placing an empty pallet on which the vehicle is not placed among the pallets in the loading / unloading unit during a period when the vehicle is not loaded and unloaded,
When warehousing the vehicle, after the warehousing target vehicle is placed on the empty pallet arranged in the warehousing and unloading unit, the pallet placing the warehousing target vehicle is placed among the plurality of storage floors. The control program of the mechanical parking apparatus which makes a computer perform the process made to convey to the 1st storage floor corresponding to the classification of the warehousing object vehicle.

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