JP2017190639A - Safety confirmation method and control method for parking device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a safety confirmation method and a control method for a parking device that further ensures safety in an entry/exit space at a time of entry/exit.SOLUTION: The following steps are performed in place of a conventional safety confirmation method for a parking device: an operator is authenticated on the basis of a first authentication operation; a transfer sequence is interrupted for a prescribed vehicle; then, a first entry/exit space image and a second entry/exit space image are compared by using a specific algorithm when a driver performs a specific operation on an operation panel, and whether to continue the transfer sequence is determined according to a result of comparison; and the interrupted transfer sequence is continued when it was decided to continue the transfer sequence. The entry/exit space image is an image of the entry/exit space obtained by photographing the entry/exit space by using photographing equipment, and the time when the second entry/exit space image was obtained is after the driver performs the specific operation and also after the time when the first entry/exit space image was obtained.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a safety confirmation method and a control method for a parking apparatus that parks a plurality of vehicles.

When operating the parking device, the operator confirms safety and operates the parking device.
The operator may be a vehicle driver.
For example, when a vehicle is put into a parking device, a driver who puts the vehicle into a storage space of the parking device operates the operation panel.
For example, when the vehicle is taken out from the parking device, a driver who takes out the vehicle from the entry / exit space of the parking device operates the operation panel.

An entry / exit door is provided in the entry / exit space.
Except when entering / exiting, the entrance / exit door is closed and people cannot enter the entrance / exit space easily.
The parking device operates according to the transfer sequence to transfer the vehicle.
For example, when the vehicle is parked in the parking device, the parking device receives the vehicle in the entry / exit space according to the transfer sequence, and parks the vehicle in the parking space.
For example, when leaving the vehicle from the parking device, the parking device moves the vehicle from the parking space to the entry / exit space according to the transfer sequence, and delivers the vehicle to the driver in the entry / exit space.

For example, when entering the vehicle into the parking device, the entry / exit door is opened, then the driver enters the vehicle into the entry / exit space, and the driver closes the entry / exit door after retreating from the entry / exit space.
For example, when taking a vehicle out of the parking device, the door is opened, the driver enters the entry / exit space, and after the other driver leaves the entry / exit space, the driver once gets out of the vehicle and enters Close the exit door.

By the way, before closing the entry / exit door, the safety of the entry / exit space is confirmed.
For example, the driver who has left the entry / exit space confirms that there are no people in the entry / exit space, and then closes the entry / exit door.
At present, there is a demand for a means that can further ensure safety in the entry / exit space during entry / exit.

  The present invention has been devised in view of the problems described above, and provides a safety confirmation method for a parking device and a control method for the parking device that can further ensure the safety of the entry / exit space during entry / exit.

  In order to achieve the above object, a parking apparatus is provided that includes a photographing device capable of photographing the inside of the vehicle according to the present invention and moves the vehicle into and out of an entry / exit space provided on the outside, and moves and parks the vehicle according to a predetermined transfer sequence. A safety confirmation method for interrupting a transfer sequence for a predetermined vehicle, and a specific algorithm when a driver performs a specific operation on the operation panel after the interruption step. A decision process for comparing the first entry / exit space image with the second entry / exit space image using a specific algorithm and determining whether or not to continue the transfer sequence according to the comparison result, and the transfer sequence is continued in the decision step. And a continuation step of continuing the interrupted transfer sequence when it is determined, wherein the first entry / exit space image is captured by the photographing device. It is an image of the entry / exit space acquired by shadowing, and the second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device, and the second entry / exit space image is obtained. It is assumed that the time after the driver has performed the specific operation and after the first entry / exit space image is acquired.

According to the configuration of the present invention, the interrupting process interrupts the transfer sequence for a predetermined vehicle. When the determination step is performed after the interruption step, the driver performs a specific operation that is a specific operation on the operation panel, the first entry / exit space image and the second entry / exit space image by a specific algorithm that is a specific algorithm. And determine whether to continue the transfer sequence according to the result obtained by the comparison. When the continuation step decides to continue the transfer sequence in the determination step, the interrupted transfer sequence is continued. The first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device. The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device. The time when the second entry / exit space image is acquired is after the driver performs the specific operation and after the first entry / exit space image is acquired.
As a result, it is possible to confirm the change in the state of the entry / exit space with a video and continue the transfer sequence once interrupted.

  Below, the safety confirmation method of the parking apparatus which concerns on embodiment of this invention is demonstrated. The present invention includes any of the embodiments described below, or a combination of two or more of them.

In the parking apparatus safety confirmation method according to the embodiment of the present invention, the first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device after the driver performs the specific operation. Yes, the second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device when a predetermined number of seconds have elapsed since the acquisition of the first entry / exit space image. When the driver performs the specific operation on the operation panel, the determination step is obtained by taking the difference between the first entry / exit space image and the second entry / exit space image by the identification algorithm and evaluating the difference. When the difference evaluation value which is a value is smaller than a predetermined threshold value, it is determined that the transfer sequence is continued.
According to the configuration of the above embodiment, the first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device after the driver performs the specific operation. The second entry / exit space image is an image of the entry / exit space obtained by photographing the entry / exit space with a photographing device when a predetermined number of seconds have elapsed after obtaining the first entry / exit space image. When the driver performs the specific operation on the operation panel, the determination step is obtained by taking the difference between the first entry / exit space image and the second entry / exit space image by the identification algorithm and evaluating the difference. When the difference evaluation value which is a value is smaller than a predetermined threshold value, it is determined that the transfer sequence is continued.
As a result, the transfer sequence once interrupted can be continued when the change in the state of the entry / exit space confirmed by the video is small.

In the parking device safety confirmation method according to the embodiment of the present invention, the first entry / exit space image is an image of an entry / exit space acquired by photographing an entry / exit space of only a parking device without a vehicle with a photographing device in advance. The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device after the driver performs the specific operation, and the determination step is performed when the driver performs the specific operation. In addition, the difference between the first entry / exit space image and the second entry / exit space image is obtained by the specific algorithm, and the transfer sequence is continued when the difference evaluation value, which is a value obtained by evaluating the difference, is smaller than a predetermined threshold value. , And decide.
According to the configuration of the above-described embodiment, the first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space of only a parking device without a vehicle with a photographing device in advance. The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with the photographing device after the driver performs the specific operation. When the driver performs the specific operation, the determination step takes a difference between the first entry / exit space image and the second entry / exit space image by the identification algorithm, and the difference evaluation is a value obtained by evaluating the difference. It is determined that the transfer sequence is continued when the value is smaller than a predetermined threshold.
As a result, when the change in the state of the entry / exit space and the state of the entry / exit space, which are only in the parking device confirmed by the video, is small, the once-interrupted transfer sequence can be continued.

In the safety confirmation method for a parking device according to the embodiment of the present invention, the entry / exit space is from the area β and the entry / exit space, which is a space surrounded by an envelope surface that encloses the vehicle placed in the entry / exit space. The area α, which is a space excluding the area β, is defined, and the first entry / exit space image is an image of the entry / exit space acquired by photographing in advance the entry / exit space of only the parking device without the vehicle with the imaging device, Two entry / exit space images are images of the entry / exit space acquired by photographing the entry / exit space with a photographing device after the driver has performed the specific operation, and the determination step includes the driver performing the specific operation for entry. When the second entry / exit space image is a portion of the first entry / exit space image and the second entry / exit space image is a portion of the first entry / exit space image. Entry / exit space alpha video It takes the difference, to continue the transfer sequence time difference evaluation value is a value obtained by evaluating the difference is smaller than a predetermined threshold value, and determines.
With the configuration of the above embodiment, the entry / exit space is a space excluding the area β from the entry / exit space, which is an area β surrounded by an enveloping surface that encloses a vehicle placed in the entry / exit space. Area α is defined. The first entry / exit space image is an image of the entry / exit space acquired by photographing in advance the entry / exit space of only the parking device without a vehicle with a photographing device. The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with the photographing device after the driver performs the specific operation. In the determination step, when the driver performs the specific operation for warehousing, the first entry / exit space α image and the second entry / exit are portions of the first entry / exit space image by the identification algorithm. The transfer sequence is continued when the difference evaluation value, which is a value obtained by evaluating the difference by taking a difference from the second entry / exit space α image that is a portion of the exit space image corresponding to the area α, is smaller than a predetermined threshold value. Decide to do.
As a result, when there is little change between the state of the space applied to the area α of the entry / exit space with only the parking device without a vehicle confirmed by the image at the time of entry / exit and the state of the space applied to the area α of the entry / exit space are temporarily interrupted The transfer sequence can be continued.

In the parking apparatus safety confirmation method according to the embodiment of the present invention, when the determination step is performed by the driver when the driver performs the specific operation, the specific algorithm uses the area α in the first storage / exit space image. The difference between the first entry / exit space αβ image that is the part related to area β and the second entry / exit space αβ image that is the part related to area α and area β of the second entry / exit space image is obtained, and the difference It is determined that the transfer sequence is continued when the difference evaluation value, which is a value obtained by evaluating the above, is smaller than a predetermined threshold value.
According to the configuration of the above embodiment, when the driver performs the specific operation for leaving, the determination step is a portion of the first entry / exit space image that covers the area α and the area β by the specifying algorithm. A value obtained by taking the difference between the first entry / exit space αβ image and the second entry / exit space αβ image, which is a part of the second entry / exit space image, and evaluating the difference. When the difference evaluation value is smaller than the predetermined threshold value, it is determined that the transfer sequence is continued.
As a result, the change in the state of the space over the areas α and β of the entry / exit space and the state of the space over the areas α and β of the entry / exit space confirmed by the video at the time of delivery When is small, the interrupted transfer sequence can be continued.

The safety check method for a parking device according to an embodiment of the present invention includes a stereo camera that can detect depth information of each part of an image captured by an imaging device, and the first entry / exit space α image is a first entry / exit space image. From the first entry / exit space image based on the depth information, and the second entry / exit space α image is obtained from the second entry / exit space image from the depth information. This is an image obtained by extracting only the portion related to the area α in the second entry / exit space image.
With the configuration of the above-described embodiment, a stereo camera that can detect the depth information of each part of the video captured by the imaging device is provided. The first entry / exit space α image is an image obtained by extracting only the portion of the first entry / exit space image based on the depth information from the first entry / exit space image. The second entry / exit space α image is an image obtained by extracting only the portion of the second entry / exit space image from the second entry / exit space image based on the depth information.
As a result, the transfer sequence temporarily interrupted when the change between the state of the space applied to the area α of the entry / exit space and the state of the space applied to the area α of the entry / exit space is small, as confirmed by the video. Can continue.

The parking apparatus safety confirmation method according to the embodiment of the present invention includes a stereo camera that can detect depth information of each part of an image captured by an imaging device, and the first entry / exit space αβ image is the first entry / exit space image. From the first entry / exit space image based on the depth information, and the second entry / exit space αβ image is a second entry / exit space image. From the second entry / exit space image based on the depth information, the image obtained by extracting only the portion relating to area α and area β.
With the configuration of the above-described embodiment, a stereo camera that can detect the depth information of each part of the video captured by the imaging device is provided. The first entry / exit space αβ image is an image obtained by extracting only the portion of the first entry / exit space image from the first entry / exit space image based on the depth information. The second entry / exit space αβ image is an image obtained by extracting only a portion of the second entry / exit space image from the second entry / exit space image based on the depth information.
As a result, the change in the state of the space over the area α and the area β of the entry / exit space only for the parking device without the vehicle confirmed by the image and the state of the space over the area α and the area β of the entry / exit space are small. Sometimes the interrupted transfer sequence can be continued.

In the parking apparatus safety confirmation method according to the embodiment of the present invention, the area β is a space surrounded by a hexahedron enveloping surface that encloses a vehicle placed in a loading / unloading space.
According to the configuration of the above-described embodiment, the area β is a space surrounded by an envelope of a hexahedron that wraps a vehicle placed in the entry / exit space for entry / exit.
As a result, the area α is outside the hexahedral envelope that encloses the vehicle placed in the entry / exit space for entry and exit, and the state and entry of the space outside the hexahedral envelope of the entry / exit space confirmed by the image When the change in the state of the space outside the hexahedron envelope of the exit space is small, the transfer sequence once interrupted can be continued.

In the parking apparatus safety check method according to the embodiment of the present invention, the image of the entry / exit space acquired by photographing the entry / exit space with a photographing device is defined as a set of a plurality of pixels, and the determination step is performed by the driver. When a specific operation is performed, a difference between the first entry / exit space image and the second entry / exit space image is obtained by the identification algorithm, and a difference evaluation value obtained by evaluating the difference for each pixel from a plurality of pixels is a predetermined value. A plurality of pixels determined to be larger than the threshold value are selected, and when the size of the area occupied by the selected pixels in the image of the entry / exit space is smaller than a predetermined size, it is determined that the transfer sequence is continued. .
With the configuration of the above-described embodiment, an image of the entry / exit space acquired by photographing the entry / exit space with the imaging device is defined as a set of a plurality of pixels. The determination step takes a difference between the first entry / exit space image and the second entry / exit space image by the identification algorithm when the driver performs the specific operation, and evaluates the difference for each pixel from a plurality of pixels. When a plurality of pixels determined that the obtained difference evaluation value is larger than a predetermined threshold value are selected, and the size of the area occupied by the selected plurality of pixels in the image of the entry / exit space is smaller than the predetermined size, transfer Decide to continue the sequence.
As a result, the transfer sequence once interrupted can be continued when the change in the state of the entry / exit space confirmed by the video is small.

The parking apparatus safety confirmation method according to an embodiment of the present invention includes a reporting process of reporting to a central management center that centrally manages the parking apparatus when the determination process does not determine to continue the transfer sequence.
According to the configuration of the above embodiment, when the determination process does not decide to continue the transfer sequence, the central control center that centrally manages the parking apparatus is notified, and as a result, the parking apparatus that cannot continue the interrupted entry / exit sequence is concentrated. Can manage.

  In order to achieve the above object, the vehicle according to the present invention is provided with a photographing device capable of photographing the inside and a loading / unloading door capable of partitioning the inside and the outside, and the operation panel is moved into and out of a loading / unloading space provided on the outside. A parking device control method for transporting and parking a vehicle in accordance with a predetermined transfer sequence, and executing a loading / unloading door opening process for opening a loading / unloading door in response to a driver's loading / unloading request, and the loading / unloading door opening process An interruption process for interrupting the transfer sequence when performing a specific operation waiting process for waiting for a driver to perform a specific operation that is a specific operation on the operation panel after confirming the safety of the storage space after the interruption process; After the interruption step, a decision step for confirming safety of the loading / unloading space and determining whether or not to continue the transfer sequence, a decision to continue the transfer sequence in the decision step, and waiting for the specific operation A determination step comprising: a continuation step of continuing the interrupted transfer sequence when the driver performs the specific operation in a step; and a warehousing door closing step of closing the warehousing door when executing the continuation step. Comparing the first entry / exit space image with the second entry / exit space image according to a specific algorithm that is a specific algorithm, and determining whether to continue the transfer sequence according to the result obtained by the comparison. The exit / entry space image is an image of the entry / exit space obtained by photographing the entry / exit space with the photographing device, and the second entry / exit space image is the image of the entry / exit space obtained by photographing the entry / exit space with the photographing device. Yes, the time when the second entry / exit space image is acquired is later than the time when the first entry / exit space image is acquired.

With the configuration of the present invention, the entry / exit door opening step opens the entry / exit door in response to a driver's entry / exit request. The interruption process interrupts the transfer sequence when the entry / exit door opening process is executed. The specific operation waiting process waits for the driver to perform a specific operation as a specific operation on the operation panel after confirming the safety of the entry / exit space after the interruption process. The determination step confirms whether the entry / exit space is safe after the interruption step and determines whether to continue the transfer sequence. When the continuation step determines that the transfer sequence is continued in the determination step, and the driver performs the specific operation in the specific operation waiting step, the transfer sequence that has been interrupted is continued. The loading / unloading door closing process closes the loading / unloading door when the continuation process is executed. The determination step compares the first entry / exit space image with the second entry / exit space image using a specific algorithm, which is a specific algorithm, and determines whether to continue the transfer sequence according to the result obtained by the comparison. The first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device. The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device. The time when the second entry / exit space image is acquired is after the time when the first entry / exit space image is acquired.
As a result, when the driver enters and exits the vehicle, the safety confirmation of the entry / exit space by the driver and the safety confirmation based on the entry / exit space image are performed between the time when the entry / exit door is closed and the door is closed. The transfer sequence can then continue.

  In order to achieve the above object, the vehicle according to the present invention is provided with a photographing device capable of photographing the inside and a loading / unloading door capable of partitioning the inside and the outside, and the operation panel is moved into and out of a loading / unloading space provided on the outside. A parking device control method for transferring and parking a vehicle in accordance with a predetermined transfer sequence, and executing a loading / unloading door opening process for opening a loading / unloading door in response to a driver's loading request, and the loading / unloading door opening process An interruption process that interrupts the transfer sequence sometimes, a specific operation waiting process that waits for the driver to perform a specific operation that is a specific operation on the operation panel after confirming the safety of the storage space after the interruption process, After the interruption process, it is decided that the driver will confirm the safety of the entry / exit space and wait for the specific operation, which is a specific operation on the operation panel, to continue the transfer sequence in the determination process. A continuation step for continuing the interrupted transfer sequence, and a warehousing door closing step for closing the warehousing door when executing the continuation step, wherein the determination step is a specific algorithm The algorithm compares the first entry / exit space image with the second entry / exit space image, determines whether to continue the transfer sequence according to the result obtained by the comparison, and the first entry / exit space image is input by the imaging device. It is an image of the entry / exit space acquired by photographing the exit / exit space, and the second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device, and the second entry / exit space It is assumed that the video is acquired after the driver performs the specific operation and after the first entry / exit space video is acquired.

With the configuration of the present invention, the loading / unloading door opening process opens the loading / unloading door in response to the driver's loading request. The interruption process interrupts the transfer sequence when the entry / exit door opening process is executed. The specific operation waiting process waits for the driver to perform a specific operation as a specific operation on the operation panel after confirming the safety of the entry / exit space after the interruption process. The determination step confirms whether the entry / exit space is safe after the specific operation waiting step and determines whether to continue the transfer sequence. When the continuation step decides to continue the transfer sequence in the determination step, the interrupted transfer sequence is continued. The loading / unloading door closing process closes the loading / unloading door when the continuation process is executed. The determination step compares the first entry / exit space image with the second entry / exit space image using a specific algorithm, which is a specific algorithm, and determines whether to continue the transfer sequence according to the result obtained by the comparison. The first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device. The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device. The time when the second entry / exit space image is acquired is after the driver performs the specific operation and after the first entry / exit space image is acquired.
As a result, when the driver enters and exits the vehicle, the safety confirmation of the entry / exit space by the driver and the safety confirmation based on the entry / exit space image are performed between the time when the entry / exit door is closed and the door is closed. The transfer sequence can then continue.

  In order to achieve the above object, the vehicle according to the present invention is provided with a photographing device capable of photographing the inside and a loading / unloading door capable of partitioning the inside and the outside, and the operation panel is moved into and out of a loading / unloading space provided on the outside. A parking device control method for transferring and parking a vehicle in accordance with a predetermined transfer sequence, and executing a loading / unloading door opening process for opening a loading / unloading door in response to a driver's loading request, and the loading / unloading door opening process An interruption process for interrupting the transfer sequence sometimes, a first specific operation waiting process for waiting for the driver to perform a first specific operation which is a first specific operation on the operation panel after the interruption process, After the specific operation waiting process, the driver confirms the safety of the loading / unloading space and decides whether to continue the transfer sequence, and when the decision process decides to continue the transfer sequence, the driver enters A second specific operation waiting step for confirming the safety of the storage space and waiting for the second specific operation, which is the second specific operation on the operation panel, to decide to continue the transfer sequence in the determination step; and When the driver performs the second specific operation in the second specific operation waiting step, a continuation step of continuing the interrupted transfer sequence, and a loading / unloading door closing step of closing the warehousing door when executing the continuation step, Whether or not to continue the transfer sequence according to the result obtained by comparing the first entry / exit space image with the second entry / exit space image using a specific algorithm which is a specific algorithm. The first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with the photographing device, and the second entry / exit space image is obtained by photographing the entry / exit space with the photographing device. Entered A video cabinet space, is later than when when obtaining the second entry and leaving space images driver obtains the first entry and leaving space image a after that the second specific operation.

With the configuration of the present invention, the loading / unloading door opening process opens the loading / unloading door in response to the driver's loading request. The interruption process interrupts the transfer sequence when the entry / exit door opening process is executed. The first specific operation waiting step waits for the driver to perform the first specific operation which is the first specific operation on the operation panel after the interruption step. The determination step confirms whether the entry / exit space is safe after the first specific operation waiting step and determines whether to continue the transfer sequence. When the second specific operation waiting step decides to continue the transfer sequence in the determination step, the driver confirms the safety of the entry / exit space and performs the second specific operation which is the second specific operation on the operation panel. Wait for. When the continuation step determines that the transfer sequence is continued in the determination step and the driver performs the second specific operation in the second specific operation waiting step, the transfer sequence that has been interrupted is continued. The loading / unloading door closing process closes the loading / unloading door when the continuation process is executed. The determination step compares the first entry / exit space image with the second entry / exit space image using a specific algorithm, which is a specific algorithm, and determines whether to continue the transfer sequence according to the result obtained by the comparison. The first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device. The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device. The time when the second entry / exit space image is acquired is after the driver performs the second specific operation and after the first entry / exit space image is acquired.
As a result, when the driver enters and exits the vehicle, the safety confirmation of the entry / exit space by the driver and the safety confirmation based on the entry / exit space image are performed between the time when the entry / exit door is closed and the door is closed. The transfer sequence can then continue.

  In order to achieve the above object, the vehicle according to the present invention is provided with a photographing device capable of photographing the inside and a loading / unloading door capable of partitioning the inside and the outside, and the operation panel is moved into and out of a loading / unloading space provided on the outside. A parking device control method for transferring and parking a vehicle in accordance with a predetermined transfer sequence, and executing a loading / unloading door opening process for opening a loading / unloading door in response to a driver's loading request, and the loading / unloading door opening process An interruption process that interrupts the transfer sequence from time to time, a specific operation waiting process that waits for the driver to perform a specific operation that is a specific operation on the operation panel after the interruption process, and an entry / exit after the specific operation waiting process Judgment process for confirming safety of the space and deciding whether to continue the transfer sequence, and when the decision process decides to continue the transfer sequence, continue the interrupted transfer sequence And a warehousing door closing step for closing the warehousing door when executing the continuation step, and the determination step is performed by the first algorithm using a specific algorithm that is a specific algorithm. The second entry / exit space image is compared, and it is determined whether or not to continue the transfer sequence according to the result obtained by the comparison, and the first entry / exit space image is obtained by photographing the entry / exit space with a photographing device. It is an image of the space, and the second entry / exit space image is an image of the entry / exit space obtained by photographing the entry / exit space with a photographing device, and the driver identifies the time when the second entry / exit space image is obtained. After the operation and after the first entry / exit space image is acquired,

With the configuration of the present invention, the loading / unloading door opening process opens the loading / unloading door in response to the driver's loading request. The interruption process interrupts the transfer sequence when the entry / exit door opening process is executed. The specific operation waiting process waits for the driver to perform a specific operation that is a specific operation on the operation panel after the interruption process. The determination step confirms whether the entry / exit space is safe after the specific operation waiting step and determines whether to continue the transfer sequence. When the continuation step decides to continue the transfer sequence in the determination step, the interrupted transfer sequence is continued. The loading / unloading door closing process closes the loading / unloading door when the continuation process is executed. The determination step compares the first entry / exit space image with the second entry / exit space image using a specific algorithm, which is a specific algorithm, and determines whether to continue the transfer sequence according to the result obtained by the comparison. The first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device. The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device. The time when the second entry / exit space image is acquired is after the driver performs the specific operation and after the first entry / exit space image is acquired.
As a result, when the driver enters / exits the vehicle, the safety sequence based on the entry / exit space image can be confirmed while the entry / exit door is closed after the entry / exit door is opened, and the transfer sequence can be continued.

  Below, the control method of the parking device concerning the embodiment of the present invention is explained. The present invention includes any of the embodiments described below, or a combination of two or more of them.

The control method of the parking device according to the embodiment of the present invention is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device after the first entry / exit space image is performed by the driver. The second entry / exit space image is an image of the entry / exit space obtained by photographing the entry / exit space with a photographing device when a predetermined number of seconds have elapsed after obtaining the first entry / exit space image, and the determining step Taking the difference between the first entry / exit space image and the second entry / exit space image by the specific algorithm, and continuing the transfer sequence when the difference evaluation value, which is a value obtained by evaluating the difference, is smaller than a predetermined threshold, decide.
With the configuration of the above-described embodiment, the first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with the photographing device after the driver performs the specific operation. The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device when a predetermined number of seconds have elapsed since the first entry / exit space image was acquired. The determination step takes a difference between the first entry / exit space image and the second entry / exit space image by the specific algorithm, and when the difference evaluation value, which is a value obtained by evaluating the difference, is smaller than a predetermined threshold, Decide to continue.
As a result, the transfer sequence once interrupted can be continued when the change in the state of the entry / exit space confirmed by the video is small.

The control method of the parking device according to the embodiment of the present invention is an image of the entry / exit space obtained by photographing the entry / exit space of the parking device without the vehicle with the photographing device in advance. Two entry / exit space images are images of the entry / exit space acquired by photographing the entry / exit space with a photographing device after the driver performs the specific operation, and the determination step includes the first entry / exit space image by the specific algorithm. When the difference evaluation value, which is a value obtained by evaluating the difference, is smaller than a predetermined threshold, the transfer sequence is determined to be continued.
With the configuration of the above-described embodiment, the first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space of only a parking device without a vehicle with a photographing device in advance. The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with the photographing device after the driver performs the specific operation. When the determination step takes a difference between the first entry / exit space image and the second entry / exit space image by the specific algorithm, and the difference evaluation value, which is a value obtained by evaluating the difference, is smaller than a predetermined threshold value, the transfer sequence To continue.
As a result, the transfer sequence once interrupted can be continued when the change in the state of the entry / exit space and the state of the entry / exit space, which are only confirmed by the video, is small.

In the control method of the parking apparatus according to the embodiment of the present invention, the entry / exit space is an area from the entry / exit space that is an area β surrounded by an enveloping surface that wraps a vehicle placed in the entry / exit space for entry / exit. An area α, which is a space excluding β, is defined, and the first entry / exit space image is an image of the entry / exit space obtained by photographing the entry / exit space of only a parking device without a vehicle with a photographing device in advance. The entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device after the driver performs the specific operation, and the determination step includes the vehicle entering / exiting the vehicle for entry / exit. Of the first entry / exit space α image and the second entry / exit space image, which is a portion of the first entry / exit space image according to the area α when the specific operation is performed. In the area α Taking the difference between the second entry and leaving space α video that, to continue the transfer sequence time difference evaluation value is then obtained by evaluating the difference is smaller than a predetermined threshold value, and determines.
With the configuration of the above embodiment, the entry / exit space is a space excluding the area β from the entry / exit space, which is an area β surrounded by an enveloping surface that encloses a vehicle placed in the entry / exit space. Area α is defined. The first entry / exit space image is an image of the entry / exit space acquired by photographing in advance the entry / exit space of only the parking device without a vehicle with a photographing device. The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with the photographing device after the driver performs the specific operation. The determination step is a portion of the first entry / exit space image that is applied to the area α when the specific operation is performed after the driver places the vehicle in the entry / exit space for entry. The difference evaluation value after obtaining the difference between the first entry / exit space α image and the second entry / exit space α image, which is the portion of the second entry / exit space image, which is applied to the area α, is obtained by evaluating the difference. It is determined that the transfer sequence is continued when it is smaller than the predetermined threshold.
As a result, when there is little change between the state of the space applied to the area α of the entry / exit space with only the parking device without a vehicle confirmed by the image at the time of entry / exit and the state of the space applied to the area α of the entry / exit space are temporarily interrupted The transfer sequence can be continued.

In the parking apparatus control method according to the embodiment of the present invention, when the determination step performs the specific operation after the driver has taken the vehicle out of the loading / unloading space for unloading, the first input is performed by the specific algorithm. The second entry / exit space that is the part of the first entry / exit space αβ image and the second entry / exit space image that is the part of area α and area β in the exit space image. It is determined that the transfer sequence is continued when the difference evaluation value obtained after taking the difference from the αβ video and evaluating the difference is smaller than a predetermined threshold.
According to the configuration of the above embodiment, when the determination process is performed after the driver performs the specific operation after taking the vehicle out of the entry / exit space for exiting, the specific algorithm includes the first entry / exit space image. The difference between the first entry / exit space αβ image that is a portion related to area α and area β and the second entry / exit space αβ image that is a portion related to area α and area β of the second entry / exit space image. If the difference evaluation value obtained after evaluating the difference is smaller than a predetermined threshold, it is determined that the transfer sequence is continued.
As a result, the change in the state of the space over the areas α and β of the entry / exit space and the state of the space over the areas α and β of the entry / exit space confirmed by the video at the time of delivery When is small, the interrupted transfer sequence can be continued.

The control method of the parking apparatus according to the embodiment of the present invention includes a stereo camera that can detect depth information of each part of the image captured by the imaging device, and the first entry / exit space α image is derived from the first entry / exit space image. It is an image obtained by extracting a portion of the first entry / exit space image from the first entry / exit space image based on the depth information, and the second entry / exit space α image is based on the depth information from the second entry / exit space image. 2 is an image obtained by extracting a portion related to the area α in the second entry / exit space image.
With the configuration of the above-described embodiment, a stereo camera that can detect the depth information of each part of the video captured by the imaging device is provided. The first entry / exit space α image is an image obtained by extracting a portion of the first entry / exit space image from the first entry / exit space image based on the depth information. The second entry / exit space α image is an image obtained by extracting a part of the second entry / exit space image from the second entry / exit space image based on the depth information.
As a result, the transfer sequence temporarily interrupted when the change between the state of the space applied to the area α of the entry / exit space and the state of the space applied to the area α of the entry / exit space is small, as confirmed by the video. Can continue.

The control method of the parking device according to the embodiment of the present invention includes a stereo camera that can detect depth information of each part of an image captured by the imaging device, and the first entry / exit space αβ image is derived from the first entry / exit space image. It is an image obtained by extracting a portion related to area α and area β in the first entry / exit space image based on the depth information, and the second entry / exit space αβ image is derived from the second entry / exit space image. This is an image obtained by extracting a portion related to area α and area β in the second entry / exit space image based on the depth information.
With the configuration of the above-described embodiment, a stereo camera that can detect the depth information of each part of the video captured by the imaging device is provided. The first entry / exit space αβ image is an image obtained by extracting a portion of the first entry / exit space image from the first entry / exit space image based on the depth information. The second entry / exit space αβ image is an image obtained by extracting a portion of the second entry / exit space image from the second entry / exit space image based on the depth information.
As a result, the change in the state of the space over the area α and the area β of the entry / exit space only for the parking device without the vehicle confirmed by the image and the state of the space over the area α and the area β of the entry / exit space are small. Sometimes the interrupted transfer sequence can be continued.

In the control method of the parking device according to the embodiment of the present invention, the area β is a space surrounded by an envelope surface of a hexahedron that encloses a vehicle placed for entry / exit in the entry / exit space.
With the configuration of the above embodiment, the area β is a space surrounded by the hexahedron enveloping surface that encloses the vehicle placed in the entry / exit space for entry / exit.
As a result, the area α is outside the hexahedral envelope that encloses the vehicle placed in the entry / exit space for entry and exit, and the state and entry of the space outside the hexahedral envelope of the entry / exit space confirmed by the image When the change in the state of the space outside the hexahedron envelope of the exit space is small, the transfer sequence once interrupted can be continued.

In the parking device control method according to the embodiment of the present invention, the image of the entry / exit space obtained by photographing the entry / exit space with a photographing device is defined as a set of a plurality of pixels, and the determination step is performed by the driver. When the operation is performed, a difference between the first entry / exit space image and the second entry / exit space image is obtained by the specific algorithm, and a difference evaluation value obtained by evaluating the difference for each pixel from a plurality of pixels is a predetermined threshold value. A plurality of pixels determined to be larger are selected, and when the size of the area occupied by the selected plurality of pixels in the image of the entry / exit space is smaller than a predetermined size, it is determined to continue the transfer sequence.
With the configuration of the above-described embodiment, an image of the entry / exit space acquired by photographing the entry / exit space with the imaging device is defined as a set of a plurality of pixels. The determination step takes a difference between the first entry / exit space image and the second entry / exit space image by the identification algorithm when the driver performs the specific operation, and evaluates the difference for each pixel from a plurality of pixels. When a plurality of pixels determined that the obtained difference evaluation value is larger than a predetermined threshold value are selected, and the size of the area occupied by the selected plurality of pixels in the image of the entry / exit space is smaller than the predetermined size, transfer Decide to continue the sequence.
As a result, the transfer sequence once interrupted can be continued when the change in the state of the entry / exit space confirmed by the video is small.

The control method of the parking device according to the embodiment of the present invention includes a reporting step of notifying the central management center that centrally manages the parking device when the determination step does not determine to continue the transfer sequence.
According to the configuration of the above embodiment, when the determination process does not decide to continue the transfer sequence, the central control center that centrally manages the parking apparatus is notified, and as a result, the parking apparatus that cannot continue the interrupted entry / exit sequence is concentrated. Can manage.

As described above, the safety confirmation method for a parking device and the control method for a parking device according to the present invention have the following effects due to their configurations.
After the transfer sequence is interrupted, the first entry / exit space image and the second entry / exit space image obtained after the driver performs the specific operation after obtaining the first entry / exit space image are compared by a specific algorithm. Then, it is decided whether to continue the transfer sequence according to the comparison result, and if it decides whether to continue the transfer sequence, the suspended transfer sequence is continued. The transfer sequence once interrupted can be continued by checking with the video.
In addition, the transfer sequence is interrupted, and the first entry / exit space image obtained after the driver performs the specific operation and the second entry / exit space image obtained a few seconds after obtaining the first entry / exit space image. Is taken by a specific algorithm, and when the evaluation value of the difference is smaller than a predetermined threshold, it is decided to continue the transfer sequence, and when it is decided to continue the transfer sequence, the suspended transfer sequence is continued. When the change in the state of the entry / exit space confirmed by the video is small, the once interrupted transfer sequence can be continued.
In addition, the difference between the first entry / exit space image acquired by photographing the entry / exit space of only the parking device without a vehicle in advance and the second entry / exit space image acquired after the driver performs the specific operation by a specific algorithm However, when the evaluation value of the difference is smaller than the predetermined threshold value, it is decided to continue the transfer sequence, and if it is decided to continue the transfer sequence, the suspended transfer sequence is continued. When the change in the state of the entry / exit space and the state of the entry / exit space is small, the transfer sequence once interrupted can be continued.
In addition, after the driver has performed the specific operation, the first entry / exit space α image, which is a portion related to the area α of the first entry / exit space image obtained by photographing the entry / exit space of only a parking device without a vehicle in advance. The difference between the acquired second entry / exit space image and the second entry / exit space α image, which is a part of the area α, is determined by a specific algorithm, and the transfer sequence is determined to be continued when the difference evaluation value is smaller than a predetermined threshold value. When the transfer sequence is decided to continue, the interrupted transfer sequence is continued. When the change with the state of the space applied to the area α of the exit space is small, the once interrupted transfer sequence can be continued.
In addition, the first entry / exit space αβ image that is a part of the first entry / exit space image obtained by photographing the entry / exit space of the parking device without a vehicle in advance and the specific operation is performed by the driver. The difference between the second entry / exit space αβ image, which is a portion of the second entry / exit space image acquired after the process is performed, is determined by a specific algorithm, and the evaluation value of the difference is smaller than a predetermined threshold value When it was decided to continue the transfer sequence, and when it was decided to continue the transfer sequence, the interrupted transfer sequence was continued. When the change in the state of the space over the area β and the state of the space over the area α and the area β of the entry / exit space is small, the suspended transfer sequence is continued. Door can be.
In addition, the first entry / exit space α image obtained by extracting only the portion related to the area α based on the depth information from the first entry / exit space image obtained by photographing the entry / exit space of only the parking device without a vehicle in advance. The difference between the second entry / exit space α image obtained by extracting only the portion related to the area α based on the depth information from the second entry / exit space image acquired after the driver performs the specific operation by a specific algorithm However, when the evaluation value of the difference is smaller than the predetermined threshold, it is decided to continue the transfer sequence, and if it is decided to continue the transfer sequence, the suspended transfer sequence is continued, so there is no vehicle confirmed in the image. When the change in the space condition for the area α of the entry / exit space with only the parking device and the space condition for the area α of the entry / exit space is small, the transfer sequence that was once suspended is continued. Rukoto can.
In addition, the first entry obtained by extracting only the portion relating to the area α and the area β based on the depth information from the first entry / exit space image obtained by photographing the entry / exit space of only the parking device without a vehicle in advance. The second entry / exit space αβ obtained by extracting only the portion related to the areas α and β based on the depth information from the exit space αβ image and the second entry / exit space image obtained after the driver performs the specific operation. Since the difference from the video is taken by a specific algorithm, it is decided to continue the transfer sequence when the evaluation value of the difference is smaller than the predetermined threshold, and if it is decided to continue the transfer sequence, the interrupted transfer sequence is continued. The change in the state of the space over the areas α and β of the entry / exit space and the state of the space over the areas α and β of the entry / exit space confirmed by the video When a small, once it is possible to continue the interrupted transfer sequence.
In addition, since the area β is a space surrounded by an envelope of a hexahedron that encloses a vehicle placed for entry / exit in the entry / exit space, the area α is placed in the entry / exit space for entry / exit. Between the hexahedron envelope outside the hexahedron envelope enveloping the vehicle and the outer space outside the hexahedron envelope confirmed in the image and the outer space outside the hexahedron envelope When is small, the interrupted transfer sequence can be continued.
Further, the transfer sequence is interrupted, and after obtaining the first entry / exit space image, a difference from the second entry / exit space image acquired after the driver performs the specifying operation is determined by a specific algorithm, and a plurality of pixels The difference evaluation value obtained by evaluating the difference for each pixel is selected from a plurality of pixels determined to be larger than a predetermined threshold, and the size of the area occupied by the selected plurality of pixels in the image of the entry / exit space Since the transfer sequence is determined to be continued when is smaller than the predetermined size, when the change in the state of the entry / exit space confirmed by the video is small, the transfer sequence once interrupted can be continued.
In addition, since the central control center that centrally manages the parking apparatus is notified when it is not determined to continue the transfer sequence, it is possible to centrally manage the parking apparatus that cannot continue the interrupted entry / exit sequence.

In response to the driver's entry / exit request, the transfer sequence is interrupted after opening the entry / exit door, the driver confirms the safety of the entry / exit space, waits for the specific operation, and the first entry / exit space image and After acquiring the first entry / exit space image, the driver compares the second entry / exit space image acquired after performing the specific operation with a specific algorithm, and determines whether to continue the transfer sequence according to the comparison result. When the decision is made and whether or not to continue the transfer sequence, the interrupted transfer sequence is continued and the entry / exit door is closed, so the driver opened the entry / exit door when the vehicle was entered / exited. While closing the entry / exit door from time to time, the transfer sequence can be continued with the safety confirmation of the entry / exit space by the driver and the safety confirmation based on the entry / exit space image.
In response to the driver's entry / exit request, the transfer sequence is interrupted after opening the entry / exit door, the driver confirms the safety of the entry / exit space, waits for the specific operation, and after performing the specific operation, The first entry / exit space image and the second entry / exit space image acquired after acquiring the first entry / exit space image are compared by a specific algorithm, and it is determined whether to continue the transfer sequence according to the comparison result. When deciding whether or not to continue the transfer sequence, the suspended transfer sequence is continued and the entry / exit door is closed, so when the driver enters and exits the vehicle, the door is opened. While closing the entry / exit door, the transfer sequence can be continued by confirming the safety of the entry / exit space by the driver and the safety confirmation based on the entry / exit space image.
In response to the driver's entry / exit request, the transfer sequence is interrupted after opening the entry / exit door, waiting for the driver to perform the specific operation, and after performing the specific operation, the first entry / exit space image and the first After acquiring one entry / exit space image, compare with the second entry / exit space image acquired by a specific algorithm, decide whether to continue the transfer sequence according to the comparison result, and let the driver confirm the safety and start Waiting for the button to be pressed, pressing the start button, and deciding whether or not to continue the transfer sequence, continued the interrupted transfer sequence and closed the entry / exit door, so the driver When entering / exiting, the safety confirmation of the entry / exit space by the driver and the safety confirmation based on the entry / exit space image are performed between the time the door is opened and the door is closed. Te, you can continue the transfer sequence.
In response to the driver's entry / exit request, the transfer sequence is interrupted after opening the entry / exit door, waiting for the driver to perform the specific operation, and after performing the specific operation, the first entry / exit space image and the first Compare the second entry / exit space image acquired after acquiring one entry / exit space image with a specific algorithm, decide whether to continue the transfer sequence according to the comparison result, and decide whether to continue the transfer sequence When the decision was made, the interrupted transfer sequence was continued and the entry / exit door was closed, so when the driver entered / exited the vehicle, the entry / exit door was opened and the entry / exit door was closed. The transfer sequence can be continued with a safety check based on the exit space image.
In addition, the transfer sequence is interrupted, and the difference between the first entry / exit space image and the second entry / exit space image obtained a few seconds after obtaining the first entry / exit space image is obtained by a specific algorithm, When the evaluation value is smaller than the predetermined threshold, it was decided to continue the transfer sequence, and if the transfer sequence was decided to be continued, the suspended transfer sequence was continued. When is small, the interrupted transfer sequence can be continued.
In addition, the difference between the first entry / exit space image acquired by photographing the entry / exit space of only the parking device without a vehicle in advance and the second entry / exit space image acquired after the driver performs the specific operation by a specific algorithm However, when the evaluation value of the difference is smaller than the predetermined threshold value, it is decided to continue the transfer sequence, and if it is decided to continue the transfer sequence, the suspended transfer sequence is continued. When the change in the state of the entry / exit space and the state of the entry / exit space is small, the transfer sequence once interrupted can be continued.
In addition, after the driver has performed the specific operation, the first entry / exit space α image, which is a portion related to the area α of the first entry / exit space image obtained by photographing the entry / exit space of only a parking device without a vehicle in advance. The difference between the acquired second entry / exit space image and the second entry / exit space α image, which is a part of the area α, is determined by a specific algorithm, and the transfer sequence is determined to be continued when the difference evaluation value is smaller than a predetermined threshold value. When the transfer sequence is decided to continue, the interrupted transfer sequence is continued. When the change with the state of the space applied to the area α of the exit space is small, the once interrupted transfer sequence can be continued.
In addition, the first entry / exit space αβ image that is a part of the first entry / exit space image obtained by photographing the entry / exit space of the parking device without a vehicle in advance and the specific operation is performed by the driver. The difference between the second entry / exit space αβ image, which is a portion of the second entry / exit space image acquired after the process is performed, is determined by a specific algorithm, and the evaluation value of the difference is smaller than a predetermined threshold value When it was decided to continue the transfer sequence, and when it was decided to continue the transfer sequence, the interrupted transfer sequence was continued. When the change in the state of the space over the area β and the state of the space over the area α and the area β of the entry / exit space is small, the suspended transfer sequence is continued. Door can be.
In addition, the first entry / exit space α image obtained by extracting only the portion related to the area α based on the depth information from the first entry / exit space image obtained by photographing the entry / exit space of only the parking device without a vehicle in advance. The difference between the second entry / exit space α image obtained by extracting only the portion related to the area α based on the depth information from the second entry / exit space image acquired after the driver performs the specific operation by a specific algorithm However, when the evaluation value of the difference is smaller than the predetermined threshold, it is decided to continue the transfer sequence, and if it is decided to continue the transfer sequence, the suspended transfer sequence is continued, so there is no vehicle confirmed in the image. When the change in the space condition for the area α of the entry / exit space with only the parking device and the space condition for the area α of the entry / exit space is small, the transfer sequence that was once suspended is continued. Rukoto can.
In addition, the first entry obtained by extracting only the portion relating to the area α and the area β based on the depth information from the first entry / exit space image obtained by photographing the entry / exit space of only the parking device without a vehicle in advance. The second entry / exit space αβ obtained by extracting only the portion related to the areas α and β based on the depth information from the exit space αβ image and the second entry / exit space image obtained after the driver performs the specific operation. Since the difference from the video is taken by a specific algorithm, it is decided to continue the transfer sequence when the evaluation value of the difference is smaller than the predetermined threshold, and if it is decided to continue the transfer sequence, the interrupted transfer sequence is continued. The change in the state of the space over the areas α and β of the entry / exit space and the state of the space over the areas α and β of the entry / exit space confirmed by the video When a small, once it is possible to continue the interrupted transfer sequence.
In addition, since the area β is a space surrounded by an envelope of a hexahedron that encloses a vehicle placed for entry / exit in the entry / exit space, the area α is placed in the entry / exit space for entry / exit. Between the hexahedron envelope outside the hexahedron envelope enveloping the vehicle and the outer space outside the hexahedron envelope confirmed in the image and the outer space outside the hexahedron envelope When is small, the interrupted transfer sequence can be continued.
In addition, the transfer sequence is interrupted, and after obtaining the first entry / exit space image, the difference from the second entry / exit space image acquired after the driver performs the specific operation is determined by a specific algorithm, and a plurality of pixels are obtained. Select a plurality of pixels for which the difference evaluation value obtained by evaluating the difference for each pixel is larger than a predetermined threshold, and the size of the area occupied by the selected plurality of pixels in the image of the entry / exit space is Since the transfer sequence is determined to be continued when the size is smaller than the predetermined size, the transfer sequence once interrupted can be continued when the change in the state of the entry / exit space confirmed by the video is small.
In addition, since the central control center that centrally manages the parking apparatus is notified when it is not determined to continue the transfer sequence, it is possible to centrally manage the parking apparatus that cannot continue the interrupted entry / exit sequence.
Therefore, it is possible to provide a parking device safety confirmation method and a parking device control method that can further ensure the safety of the loading / unloading space during loading / unloading.

It is a processing flow figure of the safety check method of the parking device concerning the embodiment of the present invention. It is a key map of photography equipment 1 of a parking device concerning an embodiment of the present invention. It is a conceptual diagram of the imaging device 2 of the parking apparatus which concerns on embodiment of this invention. It is a conceptual diagram of the imaging | photography apparatus 3 of the parking apparatus which concerns on embodiment of this invention. It is explanatory drawing of the video processing method of the parking apparatus which concerns on embodiment of this invention. It is a processing flow figure of the parking apparatus concerning a first embodiment of the present invention. It is a processing flowchart of the parking apparatus which concerns on 2nd embodiment of this invention. It is a processing flow figure of the parking apparatus concerning a third embodiment of the present invention. It is an example of the parking apparatus which concerns on embodiment of this invention. It is a conceptual diagram of various types of parking mechanisms.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

A parking apparatus safety confirmation method according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a process flow diagram of a safety confirmation method for a parking device according to an embodiment of the present invention. FIG. 2 is a conceptual diagram of the imaging device 1 of the parking apparatus according to the embodiment of the present invention. FIG. 3 is a conceptual diagram of the imaging device 2 of the parking apparatus according to the embodiment of the present invention. FIG. 4 is a conceptual diagram of the imaging device 3 of the parking device according to the embodiment of the present invention. FIG. 5 is an explanatory diagram of a video processing method of the parking device according to the embodiment of the present invention.

The parking apparatus safety confirmation method according to the embodiment of the present invention is a parking apparatus safety confirmation method in which a vehicle is moved into and out of the loading / unloading space 120 and the vehicle is transferred and parked according to a predetermined transfer sequence.
The entry / exit space 120 is provided with a photographing device capable of photographing the inside and an entry / exit door 130 capable of partitioning the inside and the outside, and an operation panel is provided on the outside.

The control method of the parking apparatus according to the embodiment of the present invention includes an authentication step S10, a calling step S20, a vehicle transfer step S30, a safety confirmation step S50, and a vehicle transfer step S70.
The authentication step S10 is a step of authenticating the driver.
The calling step S20 is a step of inputting a vehicle to be received or a vehicle to be discharged.
The vehicle transfer step S30 is a pre-step for transferring the vehicle in response to a warehousing request or a warehousing request.
The vehicle transfer step S30 may be a pre-step for transferring the vehicle between the entry / exit space and the parking space in response to an entry request or an exit request.
For example, the vehicle transfer process is a pre-process for transferring a pallet on which a vehicle is placed between an entry / exit space and a parking space in response to an entry request or an exit request.
The safety confirmation step S50 is a step of confirming the safety of the parking device that causes the vehicle to enter / exit the entry / exit space 120 and to transport and park the vehicle according to a predetermined transfer sequence.
The vehicle transfer step S70 is a post-process for transferring the vehicle in response to an entry request or an exit request.

The parking apparatus safety confirmation method according to the embodiment of the present invention includes an interruption step S51, a determination step S53, and a continuation step S55.
The parking apparatus safety confirmation method according to the embodiment of the present invention may include an interruption step S51, a determination step S53, a continuation step S55, and a notification step S56.

The interruption step S51 is a step of interrupting the transfer sequence for a predetermined vehicle.
The interruption step S51 may be a step of interrupting the transfer sequence for a predetermined vehicle when the entry / exit door 130 is opened for entry / exit.
When the transfer sequence is interrupted, the execution of the vehicle transfer process is stopped halfway.
After the interruption step S51, a determination step S53 is performed.

The determination step S53 compares and compares the first entry / exit space image and the second entry / exit space image by a specific algorithm that is a specific algorithm when the driver performs a specific operation that is a specific operation on the operation panel. And determining whether to continue the transfer sequence according to the result obtained.
For example, the determination step S53 compares the first entry / exit space image and the second entry / exit space image using a specific algorithm that is a specific algorithm when the driver performs a specific operation that is a specific operation on the operation panel, It is determined whether to continue the transfer sequence or to continue the transfer sequence according to the result obtained by the comparison.
The determination step S53 is performed by a specific algorithm, which is a specific algorithm, after the driver places the vehicle in the entry / exit space 120 for entry or after the driver leaves the entry / exit space 120 for exit. It may be a step of comparing the one entry / exit space image and the second entry / exit space image and determining whether to continue the transfer sequence according to the result obtained by the comparison.
In the determination step S53, after the driver places the vehicle in the entry / exit space 120 for entry or after the driver leaves the entry / exit space 120 for entry, the driver performs a specific operation on the operation panel. When a specific operation is performed, the first entry / exit space image is compared with the second entry / exit space image using a specific algorithm, which is a specific algorithm, and it is determined whether or not to continue the transfer sequence according to the comparison result. It may be a process.
For example, the specific operation is an operation performed on the operation panel after the driver places the vehicle in the loading / unloading space 120 for loading or after the driver leaves the loading / unloading space 120 for loading.

The first entry / exit space image is an image of the entry / exit space 120 acquired by photographing the entry / exit space 120 with the photographing device 160.
The second entry / exit space image is an image of the entry / exit space 120 acquired by photographing the entry / exit space 120 with the photographing device 160.
The time when the second entry / exit space image is acquired is after the driver performs a specific operation and after the first entry / exit space image is acquired.

The first entry / exit space image may be an image obtained by photographing the entry / exit space 120 with a photographing device after the driver performs a specific operation.
The second entry / exit space image may be an image of the entry / exit space 120 obtained by photographing the entry / exit space 120 with a photographing device when a predetermined number of seconds have elapsed after obtaining the first entry / exit space image. .
In the determination step S53, when the driver performs a specific operation on the operation panel 200, the first entry / exit space image and the second entry / exit space image are compared by a specific algorithm, and the first entry / exit space image and the second entry / exit space are compared. It may be determined to continue the transfer sequence when the video substantially matches.
When the driver performs a specific operation on the operation panel 200, the determination step S53 takes a difference between the first entry / exit space image and the second entry / exit space image by a specific algorithm, and is a value obtained by evaluating the difference. It may be determined that the transfer sequence is continued when the evaluation value is smaller than a predetermined threshold.
The first entry / exit space image is an image of the entry / exit space 120 obtained by photographing the entry / exit space 120 with a photographing device when the driver performs a specific operation.
The second entry / exit space image is an image of the entry / exit space 120 obtained by photographing the entry / exit space 120 with a photographing device when a predetermined number of seconds have elapsed after obtaining the first entry / exit space image.
When the driver performs a specific operation on the operation panel 200, the determination step S53 takes a difference between the first entry / exit space image and the second entry / exit space image by a specific algorithm, and is a value obtained by evaluating the difference. It may be determined that the transfer sequence is continued when the evaluation value is smaller than a predetermined threshold.
For example, in the determination step S53, when the driver performs a specific operation on the operation panel 200, the difference between the first entry / exit space image and the second entry / exit space image is obtained by a specific algorithm, and the value obtained by evaluating the difference is used. It is determined that the transfer sequence is continued when a certain difference evaluation value is smaller than a predetermined threshold value, or the transfer sequence is continued when the difference evaluation value is larger than a predetermined threshold value.
Here, the “predetermined threshold value” means that the first entry / exit space image substantially matches the second entry / exit space image, and the first entry / exit space image substantially matches the second entry / exit space image. It is a value that is sufficient to determine whether or not.

The first entry / exit space image may be an image of the entry / exit space acquired by photographing the entry / exit space 120 of only a parking device without a vehicle with a photographing device in advance.
The second entry / exit space image may be an image of the entry / exit space 120 acquired by photographing the entry / exit space 120 with a photographing device after the driver performs a specific operation.
When the determination step S53 performs a specific operation that is a specific operation on the operation panel 200, the first entry / exit space image is compared with the first entry / exit space image by a specific algorithm to determine the first entry / exit space image. It may be determined that the transfer sequence is continued when the second entry / exit space image substantially matches.
When the determination process S53 performs a specific operation, which is a specific operation on the operation panel 200, the difference between the first entry / exit space image and the second entry / exit space image is determined by a specific algorithm, and the difference is evaluated. It may be determined that the transfer sequence is continued when the obtained difference evaluation value is smaller than a predetermined threshold value.
For example, in the determination step S53, when the driver performs a specific operation that is a specific operation on the operation panel, the difference between the first entry / exit space image and the second entry / exit space image is obtained by a specific algorithm, and the difference is evaluated. It is determined that the transfer sequence is continued when the difference evaluation value, which is the value obtained in this way, is smaller than a predetermined threshold value, or the transfer sequence is continued when the difference evaluation value is larger than the predetermined threshold value.
Here, the “predetermined threshold value” means that the first entry / exit space image substantially matches the second entry / exit space image, and the first entry / exit space image substantially matches the second entry / exit space image. It is a value that is sufficient to determine whether or not.

The entry / exit space 120 defines an area β, which is a space surrounded by an envelope surface K that encloses vehicles placed in the entry / exit space 120, and an area α, which is a space excluding the area β from the entry / exit space. May be.
The entry / exit space 120 is an area excluding the area β from the area forming the entry / exit space and the area β surrounded by the envelope surface K that encloses the vehicle placed in the entry / exit space 120. α may be defined.
Here, the area forming the entry / exit space may be an area space surrounded by the floor, wall, and ceiling of the entry / exit space.
For example, the area forming the entry / exit space is an area space surrounded by a virtual surface that is a surface that follows the floor surface of the input / output space, a virtual surface that is a surface that follows the wall, and a virtual surface that is a surface that follows the ceiling It may be.
For example, the area forming the entry / exit space is a hexahedron surrounded by a virtual plane that is a plane that follows the floor of the entry / exit space, a virtual plane that is a plane that follows the wall, and a virtual plane that is the plane that follows the ceiling. It may be an area space.
3 and 4, an area β that is a space surrounded by an envelope surface K that encloses a vehicle placed for loading / unloading in the loading / unloading space 120 and an area that excludes the area β from the loading / unloading space 120. α is indicated.
The area surrounded by the envelope surface W in FIGS. 3 and 4 is an area that forms an entry / exit space.

An image that is a part of the entry / exit space image corresponding to the area α is referred to as an entry / exit space α image.
For example, the entry / exit space α image is a portion of the entry / exit space image that covers only the area α. For example, the entry / exit space α image excludes the portion of the entry / exit space image that covers the area β. It is a picture.
For example, the entry / exit space α image is an image obtained by removing the image outside the entry / exit space from the entry / exit space image.
For example, the entry / exit space α image is an image obtained by removing the image that is a part of the area β and the image outside the entry / exit space from the entry / exit space image.
An image that is a part of the entry / exit space image in the area β is referred to as an entry / exit space β image.
For example, the loading / unloading space β video is a video that is a part of only the area β in the loading / unloading space video.
For example, the entry / exit space β video is an image obtained by excluding the video that is a part of the area α from the entry / exit space video.
For example, the entry / exit space β image is an image obtained by removing the image outside the entry / exit space from the entry / exit space image.
For example, the entry / exit space β image is an image obtained by removing an image that is a part of the area α from the entry / exit space image and an image outside the entry / exit space.
Of the entry / exit space image, an image corresponding to the area α and the area β is referred to as an entry / exit space αβ image.
For example, the entry / exit space αβ image is an image obtained by removing the image outside the entry / exit space from the entry / exit space image.
For example, the entry / exit space image may include an image outside the entry / exit space seen from the gap between the entry / exit doors 130.
When entering / exiting, the safety of the entry / exit space may be confirmed using any of the entry / exit space α image, the entry / exit space β image, and the entry / exit space αβ image.
For example, the safety of the loading / unloading space is confirmed using the loading / unloading space α image when entering, and the safety of the loading / unloading space is confirmed using the loading / unloading space αβ image when unloading.

  Below, the first entry / exit space image is an image of the entry / exit space 120 obtained by photographing the entry / exit space 120 of only the parking device without a vehicle with a photographing device in advance, and the second entry / exit space image is displayed by the driver. Judgment process of processing the video of the storage / departure space 120 into areas α and β in the case of the video of the storage / departure space 120 acquired by photographing the storage / departure space 120 with a photographing device after performing a specific operation. S53 will be described in detail separately for the case of entering and the case of leaving.

First, the determination step S53 in the case of warehousing will be described.
When the driver performs a specific operation as a specific operation on the operation panel after placing the vehicle in the storage / departure space 120 for warehousing after the interruption step S51, the determination step S53 is first performed by a specific algorithm. Compare the first entry / exit space α image, which is a portion of the entry / exit space image, with respect to the area α, and the second entry / exit space α image, which is a portion of the second entry / exit space image, with respect to the area α, It may be determined that the transfer sequence is continued when the first entry / exit space α image and the second entry / exit space α image substantially match.
When the driver performs a specific operation as a specific operation on the operation panel after placing the vehicle in the storage / departure space 120 for warehousing after the interruption step S51, the determination step S53 is first performed by a specific algorithm. The difference between the first entry / exit space α image that is a part of the entry / exit space image in the area α and the second entry / exit space α image that is a part of the second entry / exit space image in the area α is calculated. The transfer sequence may be determined to continue when the difference evaluation value, which is a value obtained by evaluating the difference, is smaller than a predetermined threshold. Here, for example, the predetermined threshold is a sum of values set in consideration of variations in sensitivity of the photographing devices and variations in the entry / exit space image due to the intensity of light inserted from the entry / exit door. As a result, when the first entry / exit space α image and the second entry / exit space α image substantially coincide with each other, it is determined that the transfer sequence is continued, and the first entry / exit space α image and the second entry / exit space α image Can be determined not to continue the transfer sequence.
The determination step S53 is performed when the driver performs a specific operation that is a specific operation for warehousing on the operation panel after placing the vehicle in the warehousing / departing space 120 for warehousing after the interruption step S51. A first entry / exit space α image that is a portion of the first entry / exit space image by the algorithm and a second entry / exit space α image that is a portion of the second entry / exit space image by the area α It may be determined that the transfer sequence is continued when the difference evaluation value, which is a value obtained by evaluating the difference, is smaller than a predetermined threshold.
The determination step S53 is performed when the driver performs a specific operation that is a specific operation for warehousing on the operation panel after placing the vehicle in the warehousing / departing space 120 for warehousing after the interruption step S51. This is a portion of the first entry / exit space image and the area β of the first entry / exit space image and the second entry / exit space image of the first entry / exit space image by the algorithm. It may be determined that the transfer sequence is continued when the difference evaluation value, which is a value obtained by taking the difference from the second entry / exit space αβ video and evaluating the difference, is smaller than a predetermined threshold. The predetermined threshold here is the difference between the entry / exit space image when there is no vehicle in the entry / exit space 120 and the entry / exit space image when there is an average vehicle in the entry / exit space 120, and the variation in sensitivity of the photographing equipment. Or a value set in consideration of variations in the entry / exit space image due to the intensity of light inserted from the entry / exit door. As a result, when the first entry / exit space α image and the second entry / exit space α image substantially coincide with each other, it is determined that the transfer sequence is continued, and the first entry / exit space α image and the second entry / exit space α image Can be determined not to continue the transfer sequence.
For example, when the determination process S53 performs a specific operation that is a specific operation for warehousing on the operation panel after placing the vehicle in the warehousing / departing space 120 for warehousing after the interruption process S51. , The first entry / exit space α image that is a portion of the first entry / exit space image by the specific algorithm and the second entry / exit space α that is a portion of the second entry / exit space image by the area α When the difference evaluation value, which is a value obtained by taking the difference from the video and evaluating the difference, is smaller than the predetermined threshold, the transfer sequence is continued, or when the difference evaluation value is larger than the predetermined threshold, the transfer sequence is interrupted. Decide to continue.
Here, the “predetermined threshold value” indicates that the first entry / exit space α image and the second entry / exit space α image substantially match the first entry / exit space α image and the second entry / exit space α image. The value is sufficient to determine that they do not substantially match.

Next, the determination step S53 in the case of leaving the store will be described.
When the driver performs a specific operation, which is a specific operation on the operation panel, after the vehicle is taken out of the loading / unloading space 120 for leaving after the interruption step S51, the determination step S53 is first performed by the specific algorithm. Second entry / exit that is a portion of area α and area β in the first entry / exit space αβ image and second entry / exit space image of the entry / exit space image. The space αβ image may be compared to determine that the transfer sequence is continued when the first entry / exit space αβ image and the second entry / exit space αβ image substantially match.
When the driver performs a specific operation, which is a specific operation on the operation panel, after the vehicle is taken out of the loading / unloading space 120 for leaving after the interruption step S51, the determination step S53 is first performed by the specific algorithm. Second entry / exit that is a portion of area α and area β in the first entry / exit space αβ image and second entry / exit space image of the entry / exit space image. It may be determined that the transfer sequence is continued when the difference evaluation value, which is a value obtained by taking the difference from the space αβ video and evaluating the difference, is smaller than a predetermined threshold.
The determination step S53 is performed when the driver performs a specific operation that is a specific operation for leaving on the operation panel after the vehicle is taken out of the loading / unloading space 120 for leaving after the interruption step S51. This is a portion of the first entry / exit space image and the area β of the first entry / exit space image and the second entry / exit space image of the first entry / exit space image by the algorithm. It may be determined that the transfer sequence is continued when the difference evaluation value, which is a value obtained by taking the difference from the second entry / exit space αβ video and evaluating the difference, is smaller than a predetermined threshold.
For example, when the determination process S53, after the interruption process S51, after the vehicle is taken out from the entry / exit space 120 for delivery, the driver performs a specific operation, which is a specific operation for delivery, on the operation panel. , The portion of the first entry / exit space image and the area β of the first entry / exit space image and the second entry / exit space image of the first entry / exit space image by the specific algorithm The transfer sequence is continued when the difference evaluation value, which is a value obtained by evaluating the difference is smaller than a predetermined threshold, or the difference evaluation value is lower than the predetermined threshold. When it is large, it is determined that the interruption of the transfer sequence is continued.
Here, the “predetermined threshold value” means that the first entry / exit space αβ image and the second entry / exit space αβ image in which the first entry / exit space αβ image and the second entry / exit space αβ image substantially coincide with each other. The value is sufficient to determine that they do not substantially match.

  Below, the method to process the image | video of the entry / exit space using the camera 160 is demonstrated.

You may have the some camera 160 arrange | positioned so that the entrance / exit space 120 which the imaging device image | photographed may be enclosed.
The first entry / exit space α image may be an image obtained by extracting only the portion of the first entry / exit space image from the first entry / exit space image that covers the area α.
The second entry / exit space α image may be an image obtained by extracting only the portion of the second entry / exit space image from the second entry / exit space image that covers the area α.
FIG. 3 shows a state in which a camera 160 that images the entry / exit space 120 from the front of the vehicle and a camera 160 that images the entry / exit space 120 from the rear of the vehicle are shown.

The first entry / exit space αβ image may be an image obtained by extracting only the portion of the first entry / exit space image from the first entry / exit space image that covers the area α and the area β.
The second entry / exit space αβ image may be an image obtained by extracting only a portion of the second entry / exit space image from area α and area β from the second entry / exit space image.

The entry / exit space image is defined as a set of a plurality of pixels. When it is determined that the pixel is included in the area β, the pixel is masked to create the entry / exit space image α.
As a result, the difference between the portion corresponding to the area β of the first entry / exit space image α and the portion corresponding to the area β of the second entry / exit space image α is zero.
A pixel region to be masked may be set for each camera 160 in advance.

You may have the stereo camera 160 which can detect the depth information of each part of the image | video which the imaging | photography apparatus image | photographed.
For example, the photographing device has a stereo camera 160 that is arranged so as to surround the entry / exit space 120 and can detect depth information of each part of the photographed video.
The first entry / exit space α image is an image obtained by extracting only the portion of the first entry / exit space image based on the depth information from the first entry / exit space image.
The second entry / exit space α image may be an image obtained by extracting only a portion of the second entry / exit space image based on the depth information from the second entry / exit space image.

The first entry / exit space αβ image is an image obtained by extracting a portion of the first entry / exit space image from the first entry / exit space image based on the depth information in areas α and β.
The second entry / exit space αβ image may be an image obtained by extracting a portion of the second entry / exit space image from the second entry / exit space image based on the depth information, in areas α and β. .

FIG. 4 shows a state in which the photographing apparatus has a stereo camera 160.
FIG. 5 illustrates a method for obtaining depth information by the stereo camera 160.
B is the distance between the left and right or upper and lower lines of sight of the stereo camera 160.
f is a focal length of the lens system of the stereo camera 160.
Since f: D = Z: B, the depth dimension is obtained by calculating D = Bf / Z.
Since X: Xr = D: f, the position dimension in the direction orthogonal to the depth is obtained by the calculation of X = DXr / f = BXr / Z.
Here, X = Xr + Xl.

The entry / exit space image is defined as a set of a plurality of pixels, and pixel depth information is calculated for each pixel using the above formula.
As a result of the calculation, if it is determined that the pixel of the entry / exit space image is included in the area β, the pixel is masked to create the entry / exit space image α.
As a result, the difference between the portion corresponding to the area β of the first entry / exit space image α and the portion corresponding to the area β of the second entry / exit space image α is zero or a slight value.
Here, the slight value is attributed to variations in sensitivity of the photographing apparatus, variations due to light inserted from the entrance / exit door, and others.

Define entry / exit space video as a set of multiple pixels, define reference depth information for each pixel,
The pixel depth information may be calculated for each pixel using the above formula.
For example, when the pixel depth information is larger than the reference depth information for each pixel, it may be determined that the pixel of the entry / exit space image is included in the area β.
Here, the reference depth information may be depth information at a boundary point between the area β and the area α corresponding to the pixel.

The area β may be a space surrounded by a hexahedron enveloping surface that wraps a vehicle placed in the loading / unloading space 120 for loading / unloading.
3 and 4 show an area β surrounded by a hexahedral envelope surface K. FIG.
FIGS. 3 and 4 show the area of the entry / exit space surrounded by the hexahedron envelope W. FIG.
For example, the lower surface of the hexahedron is a surface having a contour surrounding the outer periphery of the pallet 150. The upper surface of the hexahedron is a surface having a contour that substantially matches the contour of the lower surface that is placed on the roof portion of the vehicle on the pallet 150 with a predetermined gap.

An image of the entry / exit space acquired by photographing the entry / exit space with the imaging device may be defined as a set of a plurality of pixels.
Hereinafter, the determination step S53 in the case where the image of the entry / exit space acquired by photographing the entry / exit space with the imaging device is defined as a set of a plurality of pixels will be described in detail.

In the determination step S53, when the driver performs a specific operation, the first entry / exit space image and the second entry / exit space image are compared by an algorithm, and each pixel is evaluated from a plurality of pixels of each image. A plurality of pixels that are determined not to match the selected area are selected, and when the size of the area occupied by the selected plurality of pixels in the image of the entry / exit space is smaller than a predetermined size, it is determined to continue the transfer sequence. May be.
When the determination step S53 performs a specific operation by the driver, the difference between the first entry / exit space image and the second entry / exit space image is obtained by an algorithm, and the difference obtained by evaluating the difference for each pixel from a plurality of pixels A plurality of pixels whose evaluation values are judged to be larger than a predetermined threshold value are selected, and the transfer sequence is continued when the size of the area occupied by the selected plurality of pixels in the image of the entry / exit space is smaller than the predetermined size. You may decide to do.
When the determination step S53 performs a specific operation by the driver, a difference evaluation value that is a value obtained by calculating a difference between the first entry / exit space image and the second entry / exit space image by a specific algorithm is obtained. When the transfer sequence is determined to be continued when the threshold value is smaller than the predetermined threshold, and the difference evaluation value obtained by evaluating the difference for each pixel from the plurality of pixels is selected as a plurality of pixels determined to be larger than the predetermined threshold Then, when the size of the area occupied by the selected plurality of pixels in the image of the entry / exit space is smaller than a predetermined size, it may be determined to continue the transfer sequence.
Here, the “predetermined threshold value” is a value sufficient to determine whether each pixel substantially matches or each pixel does not substantially match.
The size of the area depends on a predetermined definition.
For example, the size of the region is the area of the region.
For example, the size of the region is the maximum width dimension of the region outline.
For example, the size of the area is the average width dimension of the outline of the area.

The continuation step S55 is a step of continuing the interrupted transfer sequence when it is determined in the determination step S53 that the transfer sequence is continued.
The continuation step S55 may be a step of continuing the interrupted transfer sequence and closing the entry / exit door 130 when it is determined in the determination step S53 that the transfer sequence is continued.
When the interrupted transfer sequence is continued, the vehicle transfer process S70 is performed.
When there is no remaining process in the vehicle transfer process S70, the warehouse process is terminated.

The reporting step S56 is a step of reporting to the central management center that centrally manages the parking device when the determination step S53 does not decide to continue the transfer sequence.
When it is not decided to continue the transfer sequence, a predetermined signal may be communicated to the central management center.
When the determination step S53 determines to continue the transfer sequence, the central management center may be notified.
The central management center is a central center for communicating with and managing a plurality of parking apparatuses.

  Next, the control method of the parking apparatus according to the embodiment of the present invention will be described based on the drawings.

Initially, the control method of the parking apparatus concerning 1st embodiment of this invention is demonstrated.
FIG. 6 is a process flow diagram of the parking device control method according to the first embodiment of the present invention.

The control method of the parking apparatus according to the first embodiment of the present invention is a control method of the parking apparatus that causes the vehicle to enter / exit the entry / exit space 120, and moves and parks the vehicle according to a predetermined transfer sequence.
The entry / exit space 120 is a space in which a photographing device capable of photographing the inside and an entry / exit door 130 capable of partitioning the inside and the outside are provided and the operation panel is provided outside.
The transfer sequence is a sequence for transferring the vehicle between the entry / exit space 120 and the parking space.
In the following, for convenience of explanation, it is assumed that the vehicle is on a pallet and moves.

When there is an entry request, the transfer sequence transfers the empty pallet from the parking space to the entry / exit space 120 and transfers the pallet on which the vehicle is placed from the entry / exit space 120 to the parking space.
When there is an exit request, the transfer sequence transfers the pallet carrying the vehicle requested to exit from the parking space to the entrance / exit space 120.

The control method of the parking device according to the first embodiment of the present invention includes an entry / exit door opening process S40, a safety confirmation process S50, and an entry / exit door closing process S60.
The control method of the parking device according to the first embodiment of the present invention includes an authentication step S10, a calling step S20, a vehicle transfer step S30, an entry / exit door opening step S40, a safety confirmation step S50, an entry / exit door closing step S60, and a vehicle. You may comprise by transfer process S70.
Safety confirmation process S50 is a process of implementing the method demonstrated by the safety confirmation method of the parking apparatus concerning embodiment of this invention.

The authentication step S10 is a step of authenticating the driver.
For example, the driver causes the operation panel 200 to read a card having a PIN code therein.
For example, the driver inputs a PIN code to the operation panel 200 using a keyboard.
When the authentication step S10 authenticates the driver, the calling step S20 is subsequently executed.

In the calling step S20, a vehicle to be stored or a vehicle to be output is input.
When the calling step S20 inputs a vehicle to be stored or a vehicle to be discharged, a vehicle transfer step S30 is subsequently executed.

The vehicle transfer step S30 is a pre-step for transferring the vehicle in response to a warehousing request or a warehousing request.
If it is a warehousing request, vehicle transfer process S30 will transfer an empty pallet to the warehousing space 120. If the empty pallet already exists in the entry / exit space 120, the process ends.
If it is an outgoing request, the vehicle transfer step S30 transfers a pallet on which the outgoing vehicle has been requested to the incoming / outgoing space 120. When the pallet on which the vehicle requested to leave is already in the entry / exit space 120, the process ends.
Subsequently to the vehicle transfer step S30, an entry / exit door opening step S40 is executed.

The entry / exit door opening step S40 is a step of opening the entry / exit door in response to a driver's entry / exit request.
For example, if it is a warehouse request, the warehouse door process S40 opens the warehouse door 130 when an empty pallet is placed in the warehouse space 120 in the vehicle transfer process S30.
When the entry / exit door 130 is opened, the driver can put the vehicle into the entry / exit space 120.
For example, in the case of an exit request, the entrance / exit door process S40 opens the entrance / exit door 130 when a pallet on which the vehicle requested to exit in the vehicle transfer process S30 is placed in the entrance / exit space 120.
When the entry / exit door 130 is opened, the driver can enter the entry / exit space 120, get into the vehicle, and take the vehicle out of the entry / exit space 120.
After performing the entrance / exit door opening process S40, next, safety confirmation process S50 is implemented.

The safety confirmation step S50 is a step of confirming the safety of the parking device that causes the vehicle to enter / exit the entry / exit space 120 and to transport and park the vehicle according to a predetermined transfer sequence.
The safety confirmation step S50 includes an interruption step S51, a specific operation waiting step S52, a determination step S53, and a continuation step S55.
The safety confirmation step S50 may include an interruption step S51, a specific operation waiting step S52, a determination step S53, a continuation step S55, and a notification step S56.

The interruption step S51 is a step of interrupting the transfer sequence.
The interruption process S51 interrupts the transfer sequence when the entry / exit door opening process is executed.
For example, the interruption process S51 interrupts the transfer sequence immediately before the entry / exit door opening process.
For example, in the interruption step S51, the transfer sequence is interrupted simultaneously with the entry / exit door opening step.
For example, the interruption process S51 interrupts the transfer sequence immediately after the entry / exit door opening process.
The parking device does not perform the transfer sequence until it continues.
When the interruption step S51 is executed, a specific operation waiting step S52 is executed.

The specific operation waiting step S52 is a step of waiting for the driver to confirm the safety of the loading / unloading space 120 and perform a specific operation after the interruption step.
For example, the specific operation waiting step S52 is a step in which the driver confirms the safety of the entry / exit space 120 after the interruption step S51 and waits for a specific button that is a specific button to be pressed.
The driver confirms that the entry / exit space 120 is in a safe state and presses a specific button.
The name of the specific button may be a “door closed” button.
The name of the specific button may be a “start” button.

The determination step S53 is a step of determining whether to continue the transfer sequence by confirming the safety of the loading / unloading space 120 after the interruption step.
In the determination step S53, after the driver performs a specific operation in the specific operation waiting step S52, it may be determined whether or not to continue the transfer sequence by confirming the safety of the loading / unloading space 120.
For example, in the determination step S53, after the specific button is pressed in the specific operation waiting step S52, the safety of the entry / exit space 120 is confirmed and it is determined whether or not to continue the transfer sequence.
In the determination step S53, the first entry / exit space image and the second entry / exit space image are compared with a specific algorithm which is a specific algorithm, and it is determined whether or not to continue the transfer sequence according to the result obtained by the comparison.
In the determination step S53, the first entry / exit space image and the second entry / exit space image are compared with a specific algorithm which is a specific algorithm, and the transfer sequence is continued according to the result obtained by the comparison, or the transfer sequence is interrupted. Decide whether to continue.
Since the first entry / exit space image, the second entry / exit space image, and the determination procedure in the determination step S53 are the same as those described in the safety confirmation method for the parking apparatus according to the embodiment of the present invention, the description thereof is omitted.

The continuation step S55 is a step of continuing the interrupted transfer sequence when it is determined in the determination step S53 that the transfer sequence is continued and the driver performs a specific operation in the specific operation waiting step.
For example, the continuation step S55 is a step of continuing the interrupted transfer sequence when it is determined in the determination step S53 that the transfer sequence is continued and the driver presses the specific button in the specific operation waiting step.
When executed after the driver performs a specific operation in the specific operation waiting step S52, the determination step S53 may continue the transfer sequence that was interrupted when it was decided to continue the transfer sequence in the determination step S53. .
For example, when executed after the specific button is pressed in the specific operation waiting step S52, the determination step S53 continues the transfer sequence that was interrupted when it was decided to continue the transfer sequence in the determination step S53.
After performing safety confirmation process S50, entrance / exit door closing process S60 is implemented.

The entry / exit door closing step S60 is a step of closing the entry / exit door 130 when executing the continuation step S55.
For example, the loading / unloading door closing step S60 closes the loading / unloading door 130 immediately before the continuation step S55.
For example, the entry / exit door closing step S60 closes the entry / exit door 130 simultaneously with the continuation step S55.
For example, the entry / exit door closing step S60 closes the entry / exit door 130 immediately after the continuation step S55.
The entry / exit door closing step S60 may execute the authentication step S10 again after the continuation step S55 and close the entry / exit door 130 after it is determined that the authenticated drivers match.
After executing the entry / exit door closing step S60, the vehicle transfer step S70 is executed.

The vehicle transfer step S70 is a step of transferring the vehicle.
If it is a warehousing request | requirement, vehicle transfer process S70 will transfer the pallet carrying a vehicle from the entrance / exit space 120 to a parking space.
If it is an outgoing request, the vehicle transfer step S70 transfers an empty pallet from the incoming / outgoing space 120 to the parking space.
If it is an outgoing request, the vehicle transfer step S70 may leave an empty pallet in the incoming / outgoing space 120.

  By performing the above steps. The operation corresponding to one entry request or one exit request is completed.

Below, an effect | action of the control method of the parking apparatus concerning 1st embodiment of invention is demonstrated.
First, the case where the driver A performs the delivery process will be described as an example.
The driver A moves in front of the entry / exit space 120.
At this time, the state of the entry / exit door 130 is a closed state.
Driver A stands in front of the operation panel.
The operation panel prompts the driver for the card.
Driver A reads his card into the card reader.
The control panel confirms that the driver A is a contractor and prompts the driver A to perform the next operation.
Driver A presses the start button.
When the driver A is waiting, the vehicle on the driver A is moved from the parking space to the entry / exit space 120, and when the vehicle stops in the entry / exit space 120, the entry / exit door 130 opens.
The driver A enters the entry / exit space 120, gets into the vehicle, and removes the vehicle from the entry / exit space 120.
Driver A gets out of the car and goes in front of the control panel.
After confirming the safety of the entry / exit space 120, the driver A pushes the door close button.
For example, the driver A looks at the inside of the loading / unloading space on the monitor and confirms the safety of the loading / unloading space 120, and then presses the door close button.
The control device of the parking device confirms safety based on the entrance / exit space image.
At this time, if a person is in the entry / exit space 120, an abnormal signal is output and the processing stops.
At this time, when the safety of the loading / unloading space 120 is confirmed, the loading / unloading door 130 is closed.
Driver A gets into the vehicle and leaves.

Next, the case where the driver B performs the warehousing process will be described as an example.
The driver B moves in front of the entry / exit space 120.
At this time, the state of the entry / exit door 130 is a closed state.
Driver B stands in front of the operation panel.
The operation panel prompts the driver for the card.
Driver B reads his card into the card reading slot.
The operation panel confirms that the driver B is a contractor and prompts the driver B to perform the next operation.
Driver B presses the start button.
When the driver B is waiting, the entry / exit door 130 opens.
The driver B gets on the vehicle and enters the entry / exit space 120.
Driver B gets out of the car, exits entry / exit space 120, and goes in front of the control panel.
After the driver B confirms the safety of the entry / exit space 120, the driver closes the door close button.
The control device of the parking device confirms safety based on the entrance / exit space image.
At this time, if a person is in the entry / exit space 120, an abnormal signal is output and the processing stops.
At this time, when the safety of the loading / unloading space 120 is confirmed, the loading / unloading door 130 is closed.
Driver B leaves.

Next, a parking apparatus and its control method according to the second embodiment of the present invention will be described with reference to the drawings.
FIG. 7 is a process flow diagram of the parking device control method according to the second embodiment of the present invention.
The safety confirmation method employed in the control method of the parking device according to the second embodiment of the present invention is a type in which safety confirmation is performed by a driver after confirming safety using an entry / exit space image.

The control method of the parking apparatus according to the second embodiment of the present invention is a control method of the parking apparatus that causes the vehicle to enter / exit into the entry / exit space 120 and to move and park the vehicle according to a predetermined transfer sequence.
The entry / exit space 120 is a space in which a photographing device capable of photographing the inside and an entry / exit door 130 capable of partitioning the inside and the outside are provided and the operation panel is provided outside.
The transfer sequence is a sequence for transferring the vehicle between the entry / exit space 120 and the parking space.
In the following, for convenience of explanation, it is assumed that the vehicle is on a pallet and moves.

When there is an entry request, the transfer sequence transfers the empty pallet from the parking space to the entry / exit space 120 and transfers the pallet on which the vehicle is placed from the entry / exit space 120 to the parking space.
When there is an exit request, the transfer sequence transfers the pallet carrying the vehicle requested to exit from the parking space to the entrance / exit space 120.

The control method of the parking device according to the second embodiment of the present invention includes an entry / exit door opening process S40, a safety confirmation process S50, and an entry / exit door closing process S60.
The control method of the parking apparatus according to the second embodiment of the present invention includes an authentication step S10, a calling step S20, a vehicle transfer step S30, an entry / exit door opening step S40, a safety confirmation step S50, an entry / exit door closing step S60, and a vehicle. You may comprise by transfer process S70.
The safety confirmation process S50 includes an interruption process S51, a first specific operation waiting process S52, a determination process S53, a second specific operation waiting process S54, and a continuation process S55.

  The configuration of the authentication step S10, the calling step S20, the vehicle transfer step S30, the entry / exit door opening step S40, the entry / exit door closing step S60, and the vehicle transfer step S70 is related to the control method of the parking apparatus according to the first embodiment. Since there is, description is abbreviate | omitted.

The safety confirmation step S50 is a method of confirming the safety of the parking device that causes the vehicle to enter and exit the entry / exit space 120, and to transport and park the vehicle according to a predetermined transfer sequence.
The safety confirmation process S50 includes an interruption process S51, a first specific operation waiting process S52, a determination process S53, a second specific operation waiting process S54, and a continuation process S55.

The interruption step S51 is a step of interrupting the transfer sequence.
The interruption process S51 interrupts the transfer sequence when the entry / exit door opening process is executed.
For example, the interruption process S51 interrupts the transfer sequence immediately before the entry / exit door opening process.
For example, in the interruption step S51, the transfer sequence is interrupted simultaneously with the entry / exit door opening step.
For example, the interruption process S51 interrupts the transfer sequence immediately after the entry / exit door opening process.
The parking device does not perform the transfer sequence until it continues.
When the interruption step S51 is executed, the first specific operation waiting step S52 is then executed.

The first specific operation waiting step S52 is a step of waiting for the driver to perform a specific operation that is a specific operation after the interruption step.
For example, the first specific operation waiting step S52 waits for the driver to press a specific button that is a specific button after the interruption step.
The driver presses a specific button.
The name of the specific button may be a “door closed” button.
The name of the specific button may be a “start” button.

The determination step S53 is a step of determining whether or not to continue the transfer sequence after confirming the safety of the loading / unloading space 120 after the interruption step S51.
In the determination step S53, after the driver performs a specific operation in the specific operation waiting step S52, it may be determined whether or not to continue the transfer sequence by confirming the safety of the loading / unloading space 120.
For example, in the determination step S53, after the driver presses the specific button in the specific operation waiting step S52, the safety of the entry / exit space 120 is confirmed and it is determined whether or not to continue the transfer sequence.
In the determination step S53, the first entry / exit space image and the second entry / exit space image are compared with a specific algorithm which is a specific algorithm, and it is determined whether or not to continue the transfer sequence according to the result obtained by the comparison.
In the determination step S53, the first entry / exit space image and the second entry / exit space image are compared with a specific algorithm which is a specific algorithm, and the transfer sequence is continued according to the result obtained by the comparison, or the transfer sequence is interrupted. Decide whether to continue.
Since the first entry / exit space image, the second entry / exit space image, and the determination procedure in the determination step S53 are the same as those described in the safety confirmation method for the parking apparatus according to the embodiment of the present invention, the description thereof is omitted.

The second specific operation waiting step S54 is a step of waiting for the driver to perform the second specific operation after confirming the safety of the loading / unloading space 120 when it is determined in the determination step S53 to continue the transfer sequence.
For example, the second specific operation waiting step S54 is a step of waiting for the driver to press the second specific button after confirming the safety of the loading / unloading space 120 when it is determined in the determination step S53 that the transfer sequence is continued.
The name of the second specific button may be a “start” button.

  The continuation step S55 is a step in which the transfer sequence is determined to be continued in the determination step S53, and the interrupted transfer sequence is continued when the driver presses the second specific button.

Next, the operation of the mechanical device control method according to the second embodiment of the present invention will be described.
First, the case where the driver A performs the delivery process will be described as an example.
The driver A moves in front of the entry / exit space 120.
At this time, the state of the entry / exit door 130 is a closed state.
Driver A stands in front of the operation panel.
The operation panel prompts the driver for the card.
Driver A reads his card into the card reader.
The control panel confirms that the driver A is a contractor and prompts the driver A to perform the next operation.
Driver A presses the start button.
When the driver A is waiting, the vehicle on the driver A is moved from the parking space to the entry / exit space 120, and when the vehicle stops in the entry / exit space 120, the entry / exit door 130 opens.
The driver A enters the entry / exit space 120, gets into the vehicle, and removes the vehicle from the entry / exit space 120.
Driver A gets out of the car and goes in front of the control panel.
When the driver A pushes the safety confirmation button, the control device of the parking device prompts the driver A to confirm the safety after confirming the safety using the entry / exit space image. At this time, when a person is in the loading / unloading space 120, an abnormal signal is output and the processing stops.
After confirming the safety of the entry / exit space 120, the driver A pushes the door close button.
The entry / exit door 130 is closed.
Driver A gets into the vehicle and leaves.

Next, the case where the driver B performs the warehousing process will be described as an example.
The driver B moves in front of the entry / exit space 120.
At this time, the state of the entry / exit door 130 is a closed state.
Driver B stands in front of the operation panel.
The operation panel prompts the driver for the card.
Driver B reads his card into the card reading slot.
The operation panel confirms that the driver B is a contractor and prompts the driver B to perform the next operation.
Driver B presses the start button.
When the driver B is waiting, the entry / exit door 130 opens.
The driver B gets on the vehicle and enters the entry / exit space 120.
Driver B gets out of the car, exits entry / exit space 120, and goes in front of the control panel.
When the driver B clicks the safety confirmation button, the parking device control device prompts the driver B to confirm the safety after confirming the safety using the entry / exit space image. At this time, when a person is in the loading / unloading space 120, an abnormal signal is output and the processing stops.
After the driver B confirms the safety of the entry / exit space 120, the driver closes the door close button.
The entry / exit door 130 is closed.
Driver B leaves.

Next, the control method of the parking apparatus concerning 3rd embodiment of this invention is demonstrated based on a figure.
FIG. 8 is a process flow diagram of the parking device control method according to the third embodiment of the present invention.
The parking apparatus control method according to the third embodiment is a type in which safety confirmation by a driver is omitted and safety confirmation is performed using an entry / exit space image.

The control method of the parking device according to the third embodiment of the present invention is a control method of the parking device that causes the vehicle to enter and exit the entry / exit space 120, and that the vehicle is transferred and parked according to a predetermined transfer sequence.
The entry / exit space 120 is a space in which a photographing device capable of photographing the inside and an entry / exit door 130 capable of partitioning the inside and the outside are provided and the operation panel is provided outside.
The transfer sequence is a sequence for transferring the vehicle between the entry / exit space 120 and the parking space.
In the following, for convenience of explanation, it is assumed that the vehicle is on a pallet and moves.

When there is an entry request, the transfer sequence transfers the empty pallet from the parking space to the entry / exit space 120 and transfers the pallet on which the vehicle is placed from the entry / exit space 120 to the parking space.
When there is an exit request, the transfer sequence transfers the pallet carrying the vehicle requested to exit from the parking space to the entrance / exit space 120.

The control method of the parking apparatus according to the third embodiment of the present invention includes an entry / exit door opening process S40, a safety confirmation process S50, and an entry / exit door closing process S60.
The control method of the parking device according to the third embodiment of the present invention includes an authentication step S10, a calling step S20, a vehicle transfer step S30, an entry / exit door opening step S40, a safety confirmation step S50, an entry / exit door closing step S60, and a vehicle. You may comprise by transfer process S70.
The safety confirmation step S50 includes an interruption step S51, a specific operation waiting step S52, a determination step S53, and a continuation step S55.

  The configuration of the authentication step S10, the calling step S20, the vehicle transfer step S30, the entry / exit door opening step S40, the entry / exit door closing step S60, and the vehicle transfer step S70 is related to the control method of the parking apparatus according to the first embodiment. Since there is, description is abbreviate | omitted.

The safety confirmation step S50 is a method of confirming the safety of the parking device that causes the vehicle to enter and exit the entry / exit space 120, and to transport and park the vehicle according to a predetermined transfer sequence.
The safety confirmation step S50 includes an interruption step S51, a specific operation waiting step S52, a determination step S53, and a continuation step S55.

The interruption step S51 is a step of interrupting the transfer sequence.
The interruption process S51 interrupts the transfer sequence when the entry / exit door opening process is executed.
For example, the interruption process S51 interrupts the transfer sequence immediately before the entry / exit door opening process.
For example, in the interruption step S51, the transfer sequence is interrupted simultaneously with the entry / exit door opening step.
For example, the interruption process S51 interrupts the transfer sequence immediately after the entry / exit door opening process.
The parking device does not perform the transfer sequence until it continues.
After executing the interruption step S51, the specific operation waiting step S52 is executed next.

The specific operation waiting step S52 is a step of waiting for the driver to perform a specific operation that is a specific operation after the interruption step.
For example, the specific operation waiting step S52 waits for the driver to press a specific button that is a specific button after the interruption step.
The driver presses a specific button.
The name of the specific button may be a “door closed” button.
The name of the specific button may be a “start” button.

The determination step S53 is a step of determining whether or not to continue the transfer sequence after confirming the safety of the loading / unloading space 120 after the interruption step S51.
In the determination step S53, after the driver performs a specific operation in the specific operation waiting step S52, it may be determined whether or not to continue the transfer sequence by confirming the safety of the loading / unloading space 120.
For example, in the determination step S53, after the driver presses the specific button in the specific operation waiting step S52, the safety of the entry / exit space 120 is confirmed and it is determined whether or not to continue the transfer sequence.
In the determination step S53, the first entry / exit space image and the second entry / exit space image are compared with a specific algorithm which is a specific algorithm, and it is determined whether or not to continue the transfer sequence according to the result obtained by the comparison.
In the determination step S53, the first entry / exit space image and the second entry / exit space image are compared with a specific algorithm which is a specific algorithm, and the transfer sequence is continued according to the result obtained by the comparison, or the transfer sequence is interrupted. Decide whether to continue.
Since the first entry / exit space image, the second entry / exit space image, and the determination procedure in the determination step are the same as those described in the safety confirmation method for the parking apparatus according to the embodiment of the present invention, description thereof is omitted.

  The continuation step S55 is a step of continuing the interrupted transfer sequence when the transfer sequence is continued in the determination step.

Next, the operation of the mechanical device control method according to the third embodiment of the present invention will be described.
First, the case where the driver A performs the delivery process will be described as an example.
The driver A moves in front of the entry / exit space 120.
At this time, the state of the entry / exit door 130 is a closed state.
Driver A stands in front of the operation panel.
The operation panel prompts the driver for the card.
Driver A reads his card into the card reader.
The control panel confirms that the driver A is a contractor and prompts the driver A to perform the next operation.
Driver A presses the start button.
When the driver A is waiting, the vehicle on the driver A is moved from the parking space to the entry / exit space 120, and when the vehicle stops in the entry / exit space 120, the entry / exit door 130 opens.
The driver A enters the entry / exit space 120, gets into the vehicle, and removes the vehicle from the entry / exit space 120.
Driver A gets out of the car and goes in front of the control panel.
When the driver A clicks the safety confirmation button, the control device of the parking device confirms safety using the entry / exit space image. At this time, when a person is in the loading / unloading space 120, an abnormal signal is output and the processing stops.
Driver A pushes the door close button.
The entry / exit door 130 is closed.
Driver A gets into the vehicle and leaves.

Next, the case where the driver B performs the warehousing process will be described as an example.
The driver B moves in front of the entry / exit space 120.
At this time, the state of the entry / exit door 130 is a closed state.
Driver B stands in front of the operation panel.
The operation panel prompts the driver for the card.
Driver B reads his card into the card reading slot.
The operation panel confirms that the driver B is a contractor and prompts the driver B to perform the next operation.
Driver B presses the start button.
When the driver B is waiting, the entry / exit door 130 opens.
The driver B gets on the vehicle and enters the entry / exit space 120.
Driver B gets out of the car, exits entry / exit space 120, and goes in front of the control panel.
When the driver B clicks the safety confirmation button, the control device of the parking device confirms safety using the entry / exit space image. At this time, when a person is in the loading / unloading space 120, an abnormal signal is output and the processing stops.
Driver B presses the door close button.
The entry / exit door 130 is closed.
Driver B leaves.

Moreover, the parking apparatus which concerns on embodiment of this invention has the following effects by the structure.
After the transfer sequence is interrupted and the driver performs a specific operation, the first entry / exit space image and the second entry / exit space image acquired after acquiring the first entry / exit space image are compared by a specific algorithm, It is determined whether or not to continue the transfer sequence according to the comparison result, and if it is determined whether or not to continue the transfer sequence, the suspended transfer sequence is continued. Once confirmed, the interrupted transfer sequence can be continued.
Also, the difference between the first entry / exit space image obtained after the transfer sequence was interrupted and the driver performed a specific operation and the second entry / exit space image obtained a few seconds after obtaining the first entry / exit space image Is taken by a specific algorithm, and when the evaluation value of the difference is smaller than a predetermined threshold, it is decided to continue the transfer sequence, and when it is decided to continue the transfer sequence, the interrupted transfer sequence is continued, so check on the video When the change in the state of the incoming / outgoing space 120 is small, the once interrupted transfer sequence can be continued.
In addition, the difference between the first entry / exit space image obtained by photographing the entry / exit space 120 of only the parking device without a vehicle in advance and the second entry / exit space image obtained after the driver performs a specific operation is determined by a specific algorithm. However, when the evaluation value of the difference is smaller than the predetermined threshold value, it is decided to continue the transfer sequence, and if it is decided to continue the transfer sequence, the suspended transfer sequence is continued. When the change in the state of the entry / exit space 120 and the state of the entry / exit space 120 is small, the transfer sequence once interrupted can be continued.
In addition, after the first entry / exit space α image, which is a portion of the first entry / exit space image acquired by photographing the entry / exit space 120 of only the parking device without a vehicle in advance, and the driver performs a specific operation. The difference between the acquired second entry / exit space image and the second entry / exit space α image, which is a part of the area α, is determined by a specific algorithm, and the transfer sequence is determined to be continued when the difference evaluation value is smaller than a predetermined threshold value. When the transfer sequence is decided to be continued, the interrupted transfer sequence is continued, so that the state of the space and the entry / exit space of the entry / exit space 120 of the entry / exit space 120 of the parking device without a vehicle confirmed by the image is confirmed. When the change from the state of the space over 120 area α is small, the transfer sequence once interrupted can be continued.
In addition, the first entry / exit space αβ image, which is a portion of the first entry / exit space image acquired by photographing the entry / exit space of only the parking device without a vehicle in advance, performs a specific operation. When the difference between the second entry / exit space αβ image, which is the portion of the second entry / exit space image acquired after the acquisition, is determined by a specific algorithm, and the difference evaluation value is smaller than a predetermined threshold When the transfer sequence is decided to continue, if the transfer sequence is decided to be continued, the interrupted transfer sequence is continued. When the change in the state of the space over the area β and the state of the space over the area α and the area β of the entry / exit space 120 is small, It is possible to row.
In addition, the first entry / exit space α image obtained by extracting only the portion related to the area α based on the depth information from the first entry / exit space image obtained by photographing the entry / exit space of only the parking device without a vehicle in advance. The difference between the image and the second entry / exit space α image obtained by extracting only the portion related to the area α based on the depth information from the second entry / exit space image acquired after the driver performs a specific operation is obtained by a specific algorithm. When the evaluation value of the difference is smaller than the predetermined threshold value, it is decided to continue the transfer sequence, and if it is decided to continue the transfer sequence, the suspended transfer sequence is continued. When the change in the state of the space over the area α of the storage / exit space 120 only for the apparatus and the state of the space over the area α of the storage / reception space 120 is small, the transfer sequence that has been temporarily interrupted It is possible to continue.
In addition, the first entry obtained by extracting only the portion relating to the area α and the area β based on the depth information from the first entry / exit space image obtained by photographing the entry / exit space of only the parking device without a vehicle in advance. The second entry / exit space αβ image obtained by extracting only the portion related to the areas α and β based on the depth information from the exit space αβ image and the second entry / exit space image obtained after the driver performs a specific operation. Is taken by a specific algorithm, and when the evaluation value of the difference is smaller than a predetermined threshold, it is decided to continue the transfer sequence, and when it is decided to continue the transfer sequence, the suspended transfer sequence is continued. The state of the space covering the area α and the area β of the entry / exit space 120 and the state of the space for the area α and the area β of the entry / exit space 120 confirmed by the image only for the parking device without a vehicle. When the change is small, once it is possible to continue the interrupted transfer sequence.
In addition, since the area β is a space surrounded by an envelope of a hexahedron that encloses the vehicle placed for entry / exit in the entry / exit space 120, the area α is used for entry / exit in the entry / exit space 120. It is outside the envelope of the hexahedron that envelops the placed vehicle. When the change between the state of the space outside the hexahedral envelope of the entry / exit space 120 confirmed by the image and the state of the space outside the hexahedral envelope of the entry / exit space 120 is small, the suspended transfer sequence is continued. can do.
In addition, the transfer sequence is interrupted, and after obtaining the first entry / exit space image, the difference from the second entry / exit space image acquired after the driver performs a specific operation is determined by a specific algorithm, and a plurality of pixels A plurality of pixels whose difference evaluation value obtained by evaluating the difference is determined to be larger than a predetermined threshold is selected, and the size of the area occupied by the selected pixels in the image of the entry / exit space is predetermined. Since the transfer sequence is determined to be continued when the size is smaller than the size, the transfer sequence once interrupted can be continued when the change in the state of the entry / exit space confirmed by the video is small.
In addition, since the central control center that centrally manages the parking apparatus is notified when it is not determined to continue the transfer sequence, it is possible to centrally manage the parking apparatus that cannot continue the interrupted entry / exit sequence.

In response to the driver's entry / exit request, the transfer sequence is interrupted after opening the entry / exit door 130, waits for the driver to confirm the safety of the entry / exit space 120 and perform a specific operation, the driver performs the specific operation, In addition, the first entry / exit space image and the second entry / exit space image obtained after the first entry / exit space image are acquired are compared by a specific algorithm, and it is determined whether to continue the transfer sequence according to the comparison result. When the transfer sequence is decided to continue, the interrupted transfer sequence is continued and the entry / exit door 130 is closed. Therefore, when the driver enters / exits the vehicle, the entry / exit door 130 is opened. While closing the exit door 130, the driver confirms the safety of the entrance / exit space 120 and the safety confirmation based on the entrance / exit space 120 video, and continues the transfer sequence. Kill.
In response to the driver's entry / exit request, the transfer sequence is interrupted after the entry / exit door is opened, the driver confirms the safety of the entry / exit space 120, waits for a specific operation, and first performs the specific operation. The second entry / exit space image acquired after acquiring the entry / exit space image and the first entry / exit space image are compared by a specific algorithm, and it is determined whether or not to continue the transfer sequence according to the comparison result. If it is decided to continue, the interrupted transfer sequence is continued and the entrance / exit door 130 is closed. Therefore, when the driver enters / exits the vehicle, the entrance / exit door 130 is opened from the time when the entrance / exit door 130 is opened. During closing, the transfer sequence can be continued by confirming the safety of the entry / exit space 120 by the driver and the safety confirmation based on the entry / exit space image.
In response to the driver's entry / exit request, the transfer sequence is interrupted after opening the entry / exit door 130, waiting for the driver to press the safety confirmation button, and after pressing the safety confirmation button, the first entry / exit space image and After acquiring one entry / exit space image, compare with the second entry / exit space image acquired by a specific algorithm, decide whether to continue the transfer sequence according to the comparison result, and let the driver confirm the safety and start Waiting for the button to be pressed, if the start button is pressed and it is decided to continue the transfer sequence, the interrupted transfer sequence is continued and the entry / exit door 130 is closed, so the driver enters and exits the vehicle. When the door is opened and closed, the entrance / exit door 130 is closed and the safety of the entrance / exit space 120 is checked by the driver and the entrance / exit space image is used. And all the confirmation and can continue with the transfer sequence.
The transfer sequence is interrupted after opening the entry / exit door 130 in response to the driver's entry / exit request, waiting for the driver to perform a specific operation, and after performing the specific operation, the first entry / exit space image and the first entry / exit Compared with the second entry / exit space image acquired after acquiring the space image by a specific algorithm, it was decided whether to continue the transfer sequence according to the comparison result, and it was interrupted if it was decided to continue the transfer sequence Since the transfer sequence is continued and the entrance / exit door 130 is closed, when the driver enters / exits the vehicle, the entrance / exit space image is displayed while the entrance / exit door 130 is closed after the entrance / exit door 130 is opened. The transfer sequence can be continued with a safety check based on.
Also, the transfer sequence is interrupted, and the difference between the first entry / exit space image and the second entry / exit space image obtained several seconds after the first entry / exit space image is obtained by a specific algorithm, and the difference evaluation value Since it was decided to continue the transfer sequence when the value is smaller than the predetermined threshold, and when it was decided to continue the transfer sequence, the suspended transfer sequence was continued.
When the change in the state of the entry / exit space 120 confirmed by the video is small, the once-interrupted transfer sequence can be continued.
In addition, the difference between the first entry / exit space image obtained by photographing the entry / exit space 120 of only the parking device without a vehicle in advance and the second entry / exit space image obtained after the driver performs a specific operation is determined by a specific algorithm. However, when the evaluation value of the difference is smaller than the predetermined threshold value, it is decided to continue the transfer sequence, and if it is decided to continue the transfer sequence, the suspended transfer sequence is continued. When the change in the state of the loading / unloading space 120 and the state of the loading / unloading space 120 is small, the transfer sequence once interrupted can be continued.
In addition, after the first entry / exit space α image, which is a portion of the first entry / exit space image acquired by photographing the entry / exit space 120 of only the parking device without a vehicle in advance, and the driver performs a specific operation. The difference between the acquired second entry / exit space image and the second entry / exit space α image, which is a part of the area α, is determined by a specific algorithm, and the transfer sequence is determined to be continued when the difference evaluation value is smaller than a predetermined threshold value. When the transfer sequence is decided to be continued, the interrupted transfer sequence is continued, so that the state of the space and the entry / exit space of the entry / exit space 120 of the entry / exit space 120 of the parking device without a vehicle confirmed by the image is confirmed. When the change from the state of the space over 120 area α is small, the transfer sequence once interrupted can be continued.
In addition, the first entry / exit space αβ image, which is a portion of the first entry / exit space image acquired by photographing the entry / exit space 120 of only the parking device without a vehicle in advance, is specified by the driver. The difference between the second entry / exit space αβ image, which is a portion of the second entry / exit space image acquired after the process is performed, is determined by a specific algorithm, and the evaluation value of the difference is smaller than a predetermined threshold value When it was decided to continue the transfer sequence, and when it was decided to continue the transfer sequence, the interrupted transfer sequence was continued. When there is little change between the state of the space between α and area β and the state of the space between the area α and area β of the entry / exit space 120, the transfer sequence that has been suspended It is possible to continue the scan.
In addition, the first entry / exit space α obtained by extracting only the portion corresponding to the area α based on the depth information from the first entry / exit space image obtained by photographing the entry / exit space 120 of only the parking device without a vehicle in advance. The difference between the image and the second entry / exit space α image obtained by extracting only the part related to the area α based on the depth information from the second entry / exit space image obtained after the driver performs a specific operation is determined by a specific algorithm. However, when the evaluation value of the difference is smaller than the predetermined threshold, it is decided to continue the transfer sequence, and if it is decided to continue the transfer sequence, the suspended transfer sequence is continued, so there is no vehicle confirmed in the image. When the change between the state of the space over the area α of the entrance / exit space 120 with only the parking device and the state of the space over the area α of the entrance / exit space 120 is small, the transfer system once interrupted. It is possible to proceed with the cans.
Further, the first obtained by extracting only the portion related to the area α and the area β based on the depth information from the first entry / exit space image obtained by photographing the entrance / exit space 120 of only the parking device without a vehicle in advance. The second entry / exit space αβ obtained by extracting only the portion related to the areas α and β based on the depth information from the entry / exit space αβ image and the second entry / exit space image obtained after the driver performs a specific operation. Since the difference from the video is taken by a specific algorithm, it is decided to continue the transfer sequence when the evaluation value of the difference is smaller than the predetermined threshold, and if it is decided to continue the transfer sequence, the interrupted transfer sequence is continued. The state of the space covering the area α and the area β of the loading / unloading space 120 and the space covering the area α and the area β of the loading / unloading space 120, which is confirmed only by the video without the vehicle. When the change of the state is small, once it is possible to continue the interrupted transfer sequence.
In addition, since the area β is a space surrounded by the hexahedron enveloping surface that encloses the vehicle placed in the entry / exit space 120, the area α is placed in the entry / exit space for entry / exit. It is outside the hexahedron envelope that encloses the vehicle. When the change between the state of the space outside the hexahedral envelope of the entry / exit space 120 confirmed by the image and the state of the space outside the hexahedral envelope of the entry / exit space 120 is small, the suspended transfer sequence is continued. can do.
In addition, the transfer sequence is interrupted, and after obtaining the first entry / exit space image, the difference from the second entry / exit space image acquired after the driver performs a specific operation is determined by a specific algorithm, and a plurality of pixels A plurality of pixels whose difference evaluation value obtained by evaluating the difference is determined to be larger than a predetermined threshold is selected, and the size of the area occupied by the selected pixels in the image of the entry / exit space is predetermined. Since the transfer sequence is determined to be continued when the size is smaller than the size, the transfer sequence once interrupted can be continued when the change in the state of the entry / exit space confirmed by the video is small.
In addition, since the central control center that centrally manages the parking apparatus is notified when it is not determined to continue the transfer sequence, it is possible to centrally manage the parking apparatus that cannot continue the interrupted entry / exit sequence.

The present invention is not limited to the embodiments described above, and various modifications can be made without departing from the scope of the invention.
Although the parking apparatus of the type which carries a vehicle on a pallet was demonstrated to the example, it is not limited to this. For example, it may be a parking device that directly supports and conveys the vehicle, or a parking device that conveys the vehicle on a conveyor.
The entry / exit space 120 may be a warehousing space.
The entry / exit space 120 may be a delivery space.
In the figure, the parking mechanism is described as being an elevator system, but is not limited thereto. For example, other types of parking mechanisms may be used.
In the case of a three-stage type on the ground, the parking mechanism has a plurality of entrance / exit doors 130.
It may be a parking mechanism in which the parking space and the entry / exit space 120 are not clearly distinguished.

α Area α
β Area β
K Enveloping surface W Enveloping surface C Lens lens center 100 Parking mechanism 120 Entry / exit space 130 Entry / exit door 140 Imaging device 150 Pallet 160 Camera 200 Operation panel S10 Authentication process S20 Calling process S30 Vehicle transfer process S40 Entry / exit door opening process S50 Safety confirmation process S51 Interruption process S52 (First) Specific operation waiting process S53 Judgment process S54 Second specific operation waiting process S55 Continuation process S56 Notification process S60 Entry / exit door closing process S70 Vehicle transfer process

JP 2012-26121 A JP 2014-139401 A

Claims (21)

A safety confirmation method for a parking device in which a photographing device capable of photographing the inside of a vehicle is provided and the operation panel is moved into and out of a loading / unloading space provided outside and the vehicle is transferred and parked according to a predetermined transfer sequence,
An interruption process for interrupting the transfer sequence for a given vehicle;
After the interruption step, when the driver performs a specific operation that is a specific operation on the operation panel, the first entry / exit space image is compared with the second entry / exit space image by a specific algorithm that is a specific algorithm, A decision process for determining whether to continue the transfer sequence according to the result obtained by the comparison; and
A continuation step of continuing the interrupted transfer sequence when it is determined to continue the transfer sequence in the determination step;
With
The first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device;
The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device,
The time when the second entry / exit space image is acquired is after the driver has performed the specific operation and after the first entry / exit space image is acquired,
A safety confirmation method for a parking device. The first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device after the driver performs the specific operation,
The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device when a predetermined number of seconds have elapsed since the acquisition of the first entry / exit space image.
When the driver performs the specific operation on the operation panel, the determination step is obtained by taking the difference between the first entry / exit space image and the second entry / exit space image by the identification algorithm and evaluating the difference. When the difference evaluation value, which is a value, is smaller than a predetermined threshold value, it is determined that the transfer sequence is continued.
The safety confirmation method for a parking apparatus according to claim 1. The first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space of only a parking device without a vehicle with a photographing device in advance,
The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with the photographing device after the driver performs the specific operation,
When the driver performs the specific operation, the determination step takes a difference between the first entry / exit space image and the second entry / exit space image by the identification algorithm, and the difference evaluation is a value obtained by evaluating the difference. Determine to continue the transfer sequence when the value is less than a predetermined threshold;
The safety confirmation method for a parking apparatus according to claim 1. The entry / exit space is defined as an area β, which is a space surrounded by an envelope surface that encloses vehicles placed in the entry / exit space, and an area α, which is a space excluding the area β from the entry / exit space,
The first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space of only the parking device without a vehicle with a photographing device in advance,
The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with the photographing device after the driver performs the specific operation,
In the determination step, when the driver performs the specific operation for warehousing, the first entry / exit space α image and the second entry / exit are portions of the first entry / exit space image by the identification algorithm. The transfer sequence is continued when the difference evaluation value, which is a value obtained by evaluating the difference by taking a difference from the second entry / exit space α image that is a portion of the exit space image corresponding to the area α, is smaller than a predetermined threshold value. To decide,
The safety confirmation method for a parking apparatus according to claim 1. When the determination step is performed by the driver to perform the specific operation, the first entry / exit space αβ image that is a portion of the first entry / exit space image by the identification algorithm that covers the areas α and β. The difference evaluation value, which is a value obtained by evaluating the difference by taking the difference between the second entry / exit space αβ image, which is the portion of the second entry / exit space image, which covers the area α and the area β, is a predetermined threshold value. Decides to continue the transport sequence when smaller,
The method for confirming safety of a parking device according to claim 4, wherein: It has a stereo camera that can detect the depth information of each part of the video shot by the shooting device,
The first entry / exit space α image is an image obtained by extracting only the portion of the first entry / exit space image based on the depth information from the first entry / exit space image, which covers the area α,
The second entry / exit space α image is an image obtained by extracting only the portion of the second entry / exit space image based on the depth information from the second entry / exit space image, which covers the area α,
The method for confirming safety of a parking device according to claim 4, wherein: The area β is a space surrounded by an envelope of a hexahedron that wraps a vehicle placed in the loading / unloading space.
The method for confirming safety of a parking apparatus according to any one of claims 4 and 6. The image of the entry / exit space acquired by photographing the entry / exit space with the imaging device is defined as a set of pixels,
The determination step takes a difference between the first entry / exit space image and the second entry / exit space image by the identification algorithm when the driver performs the specific operation, and evaluates the difference for each pixel from a plurality of pixels. When a plurality of pixels determined that the obtained difference evaluation value is larger than a predetermined threshold value are selected, and the size of the area occupied by the selected plurality of pixels in the image of the entry / exit space is smaller than the predetermined size, transfer Decide to continue the sequence,
The safety confirmation method of the parking apparatus according to claim 1. A reporting process for reporting to a centralized management center that centrally manages parking devices when the determination process does not determine to continue the transfer sequence;
Comprising
The safety confirmation method for a parking apparatus according to claim 1. An imaging device capable of photographing the inside of the vehicle and an entry / exit door capable of partitioning the inside and the outside are provided, and the operation panel is moved into and out of an entry / exit space provided outside, and the vehicle is transferred according to a predetermined transfer sequence. A control method for a parking device for parking,
Entry / exit door opening process to open the entry / exit door in response to the driver's entry / exit request,
An interruption step of interrupting the transfer sequence when executing the entry / exit door opening step;
A specific operation waiting process for waiting for a driver to perform a specific operation which is a specific operation on the operation panel after confirming the safety of the entry / exit space after the interruption process;
A determination step of confirming whether the entry / exit space is safe after the interruption step and determining whether to continue the transfer sequence;
A continuation step in which it is determined to continue the transfer sequence in the determination step, and when the driver performs the specific operation in the specific operation waiting step, the continuation step of continuing the interrupted transfer sequence;
A loading / unloading door closing process for closing the loading / unloading door when executing the continuation process;
With
The determination step compares the first entry / exit space image with the second entry / exit space image by a specific algorithm that is a specific algorithm, and determines whether to continue the transfer sequence according to the result obtained by the comparison,
The first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device;
The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device,
The time when the second entry / exit space image is acquired is after the time when the first entry / exit space image is acquired,
A control method for a parking device. An imaging device capable of photographing the inside of the vehicle and an entry / exit door capable of partitioning the inside and the outside are provided, and the operation panel is moved into and out of an entry / exit space provided outside, and the vehicle is transferred according to a predetermined transfer sequence. A control method for a parking device for parking,
Entry / exit door opening process to open the entry / exit door according to the driver's warehousing request,
An interruption step of interrupting the transfer sequence when executing the entry / exit door opening step;
A specific operation waiting step for waiting for the driver to perform the specific operation which is a specific operation on the operation panel after confirming the safety of the entry / exit space after the interruption step;
A determination step of confirming whether the entry / exit space is safe after the specific operation waiting step and determining whether to continue the transfer sequence;
A continuation step of continuing the interrupted transfer sequence when it is determined to continue the transfer sequence in the determination step;
A loading / unloading door closing process for closing the loading / unloading door when executing the continuation process;
With
The determination step compares the first entry / exit space image with the second entry / exit space image by a specific algorithm that is a specific algorithm, and determines whether to continue the transfer sequence according to the result obtained by the comparison,
The first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device;
The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device,
The time when the second entry / exit space image is acquired is after the driver has performed the specific operation and after the first entry / exit space image is acquired,
A control method for a parking device. An imaging device capable of photographing the inside of the vehicle and an entry / exit door capable of partitioning the inside and the outside are provided, and the operation panel is moved into and out of an entry / exit space provided outside, and the vehicle is transferred according to a predetermined transfer sequence. A control method for a parking device for parking,
Entry / exit door opening process to open the entry / exit door according to the driver's warehousing request,
An interruption step of interrupting the transfer sequence when executing the entry / exit door opening step;
A first specific operation waiting step of waiting for the driver to perform a first specific operation which is a first specific operation on the operation panel after the interruption step;
A determination step of determining whether to confirm the safety of the storage space after the first specific operation waiting step and to continue the transfer sequence;
A second specific operation waiting step of waiting for the driver to confirm the safety of the entry / exit space and to perform the second specific operation which is the second specific operation on the operation panel when it is determined that the transfer sequence is continued in the determination step. When,
A continuation step in which the transfer sequence is determined to be continued in the determination step, and when the driver performs the second specific operation in the second specific operation waiting step, the continuation step of continuing the interrupted transfer sequence;
A loading / unloading door closing process for closing the loading / unloading door when executing the continuation process;
With
The determination step compares the first entry / exit space image with the second entry / exit space image by a specific algorithm that is a specific algorithm, and determines whether to continue the transfer sequence according to the result obtained by the comparison,
The first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device;
The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device,
The time when the second entry / exit space image is acquired is after the driver has performed the second specific operation and after the first entry / exit space image is acquired,
A control method for a parking device. An imaging device capable of photographing the inside of the vehicle and an entry / exit door capable of partitioning the inside and the outside are provided, and the operation panel is moved into and out of an entry / exit space provided outside, and the vehicle is transferred according to a predetermined transfer sequence. A control method for a parking device for parking,
Entry / exit door opening process to open the entry / exit door according to the driver's warehousing request,
An interruption step of interrupting the transfer sequence when executing the entry / exit door opening step;
A specific operation waiting step for waiting for the driver to perform a specific operation that is a specific operation on the operation panel after the interruption step;
A determination step of confirming whether the entry / exit space is safe after the specific operation waiting step and determining whether to continue the transfer sequence;
A continuation step of continuing the interrupted transfer sequence when it is determined to continue the transfer sequence in the determination step;
A loading / unloading door closing process for closing the loading / unloading door when executing the continuation process;
With
The determination step compares the first entry / exit space image with the second entry / exit space image by a specific algorithm that is a specific algorithm, and determines whether to continue the transfer sequence according to the result obtained by the comparison,
The first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device;
The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device,
The time when the second entry / exit space image is acquired is after the driver has performed the specific operation and after the first entry / exit space image is acquired,
A control method for a parking device. The first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device after the driver performs the specific operation,
The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with a photographing device when a predetermined number of seconds have elapsed since the first entry / exit space image was acquired,
The determination step takes a difference between the first entry / exit space image and the second entry / exit space image by the specific algorithm, and when the difference evaluation value, which is a value obtained by evaluating the difference, is smaller than a predetermined threshold, Decide to continue,
14. The method for controlling a parking apparatus according to claim 10, wherein the control method is the same as in claim 10. The first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space of only the parking device without a vehicle with a photographing device in advance,
The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with the photographing device after the driver performs the specific operation,
When the determination step takes a difference between the first entry / exit space image and the second entry / exit space image by the specific algorithm, and the difference evaluation value, which is a value obtained by evaluating the difference, is smaller than a predetermined threshold value, the transfer sequence Decide to continue,
14. The method for controlling a parking apparatus according to claim 10, wherein the control method is the same as in claim 10. The entry / exit space is defined as an area β, which is a space surrounded by an envelope surface that encloses vehicles placed in the entry / exit space, and an area α, which is a space excluding the area β from the entry / exit space,
The first entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space of only the parking device without a vehicle with a photographing device in advance,
The second entry / exit space image is an image of the entry / exit space acquired by photographing the entry / exit space with the photographing device after the driver performs the specific operation,
The determination step is a portion of the first entry / exit space image that is applied to the area α when the specific operation is performed after the driver places the vehicle in the entry / exit space for entry. The difference evaluation value after obtaining the difference between the first entry / exit space α image and the second entry / exit space α image, which is the portion of the second entry / exit space image, which is applied to the area α, is obtained by evaluating the difference. Determine to continue the transfer sequence when less than a predetermined threshold;
14. The method for controlling a parking apparatus according to claim 10, wherein the control method is the same as in claim 10. In the determination step, when the driver performs the specific operation after taking the vehicle out of the entry / exit space for exiting, the specific algorithm takes the areas α and β in the first entry / exit space image. Obtain the difference between the first entry / exit space αβ image that is a part and the second entry / exit space αβ image that is the part of area α and area β of the second entry / exit space image, and evaluate the difference. Determine that the transfer sequence is continued when the difference evaluation value after that is smaller than a predetermined threshold,
The control method of the parking apparatus according to claim 16. It has a stereo camera that can detect the depth information of each part of the video shot by the shooting device,
The first entry / exit space α image is an image obtained by extracting a portion of the first entry / exit space image from the first entry / exit space image based on the depth information, and the area α.
The second entry / exit space α image is an image obtained by extracting a portion of the second entry / exit space image from the second entry / exit space image based on the depth information, and the area α.
The control method of the parking apparatus according to claim 16. Area β is a space surrounded by a hexahedron enveloping surface that encloses a vehicle placed for entry / exit in the entry / exit space,
19. The method for controlling a parking apparatus according to claim 16, wherein the parking apparatus is controlled. The image of the entry / exit space acquired by photographing the entry / exit space with the imaging device is defined as a set of pixels,
The determination step takes a difference between the first entry / exit space image and the second entry / exit space image by the identification algorithm when the driver performs the specific operation,
A region where a difference evaluation value obtained by evaluating a difference for each pixel from a plurality of pixels is selected from a plurality of pixels that are determined to be larger than a predetermined threshold, and the selected pixels occupy in an image of the entry / exit space Decides to continue the transfer sequence when the size of is less than a predetermined size;
The method for controlling a parking apparatus according to any one of claims 14 to 16. A reporting process for reporting to a centralized management center that centrally manages parking devices when the determination process does not determine to continue the transfer sequence;
Comprising
The method for controlling a parking apparatus according to any one of claims 10 to 13.

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