JP2018053663A - Moving body detection device and mechanical parking facility - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technology capable of enhancing detection accuracy of a moving body in a vehicle of a mechanical parking facility.SOLUTION: A moving body detection device 13 is provided in a mechanical parking facility and performs in-vehicle moving body detection which detects a moving body in a vehicle. A signal generator 130 generates a transmission wave VT in the in-vehicle moving body detection. An antenna 131 transmits the transmission wave VT as a radio wave in the in-vehicle moving body detection. A determination section 140 determines whether or the moving body is present based on a synthetic wave of the transmission wave VT and a reflection wave VR which is received by the antenna 131 and is composed of a plurality of reflection objects including the moving body, in the in-vehicle moving body detection.SELECTED DRAWING: Figure 7

Description

  The present invention relates to moving object detection.

  Patent Documents 1 and 2 disclose techniques for detecting moving objects in a vehicle in a mechanical parking facility.

  Patent Document 3 and Non-Patent Document 1 disclose distance measuring techniques for measuring the distance to an object.

JP 2010-191857 A JP 2014-80735 A JP 2007-93576 A

Ishikawa, et al., “Distance measurement method using phase difference of distance spectrum in standing wave radar”, IEICE Transactions B, IEICE, 2010, Vol. J93-B, no. 7, p. 1017-1024

  Now, when detecting the moving body in a vehicle, the improvement of the detection accuracy is desired.

  Therefore, the present invention has been made in view of the above-described problems, and an object thereof is to provide a technique capable of improving the detection accuracy of a moving object in a vehicle in a mechanical parking facility.

  In order to solve the above problems, an aspect of the moving object detection device according to the present invention is a moving object detection device that is provided in a mechanical parking facility and detects a moving object in a vehicle that detects a moving object in the vehicle. In moving object detection, a first signal generator that generates a first transmission wave, in the vehicle moving object detection, a first antenna that transmits the first transmission wave as a radio wave, and in the vehicle moving object detection, the first signal It is determined whether or not the moving object is present in the vehicle based on a first combined wave of a transmitted wave and a reflected wave received by the first antenna and reflected by a plurality of reflecting objects including the moving object. A first determination unit.

  In the moving object detection device according to the aspect of the invention, the first antenna transmits the first transmission wave toward the windshield of the vehicle.

  In the moving object detection device according to one aspect of the present invention, the first antenna transmits the first transmission wave obliquely downward toward the windshield.

  In one aspect of the moving object detection device according to the present invention, in the vehicle moving object detection, a second signal generator that generates a second transmission wave, and in the vehicle moving object detection, the second transmission wave is used as a radio wave. Based on the second combined wave of the second antenna to be transmitted and the second transmitted wave and the reflected waves from the plurality of reflecting objects including the moving body, which are received by the second antenna, in the moving object detection in the vehicle. A second determination unit that determines whether or not the moving object is present in the vehicle, and the vehicle is positioned on a left side of the front row of the vehicle when the vehicle is viewed from the windshield side. And a second seat located on the right side of the front row, wherein the first antenna extends from the first seat side of the windshield toward the rear of the second seat. Transmitting one transmission wave, the second antenna , From the second seat side of the windshield, toward the rear of the first seat, transmitting the second transmission wave.

  Further, in one aspect of the moving object detection device according to the present invention, the moving object detection device performs the in-vehicle moving object detection on the vehicle existing in a passenger compartment of the mechanical parking facility, and the moving object detection device includes: The in-vehicle moving body detection is performed in a state where the door of the passenger compartment is opened.

  Moreover, the one aspect | mode of the mechanical parking equipment which concerns on this invention is a mechanical parking equipment provided with said moving body detection apparatus.

  According to one aspect of the present invention, the detection accuracy of a moving object in a vehicle in a mechanical parking facility is improved.

It is a figure which shows an example of the external appearance of a mechanical parking equipment. It is a figure which shows an example of the mode in a boarding / alighting room. It is a figure which shows an example of the entrance / exit vicinity. It is a figure which shows an example of a driving | operation control panel. It is a block diagram which shows an example of a structure of a part of mechanical parking equipment. It is a figure which shows the example of arrangement | positioning of a detection sensor and a moving body detection apparatus. It is a figure which shows an example of a structure of a moving body detection apparatus. It is a figure which shows a sink function. It is a flowchart which shows an example of operation | movement of a moving body detection apparatus. It is a flowchart which shows an example of operation | movement of a mechanical parking installation. It is a flowchart which shows an example of operation | movement of a mechanical parking installation. It is a figure which shows the example of a display of the display part of a driving | operation control panel. It is a figure which shows the example of a display of a display apparatus. It is a figure which shows the example of a display of a display apparatus. It is a figure which shows the example of a display of a display apparatus. It is a figure which shows the example of a display of a display apparatus. It is a figure which shows the example of a display of the display part of a driving | operation control panel. It is a figure which shows the example of a display of the display part of a driving | operation control panel. It is a figure which shows the example of a display of the display part of a driving | operation control panel. It is a flowchart which shows an example of operation | movement of a mechanical parking installation. It is a flowchart which shows an example of operation | movement of a mechanical parking installation. It is a figure for demonstrating the arrangement position of a moving body detection apparatus. It is a figure for demonstrating the arrangement position of a moving body detection apparatus. It is a figure for demonstrating the arrangement position of a moving body detection apparatus. It is a figure for demonstrating the arrangement position of a moving body detection apparatus. It is a figure for demonstrating the arrangement position of a moving body detection apparatus.

  FIG. 1 is a diagram showing an example of the appearance of a mechanical parking facility 1 according to the present embodiment. The mechanical parking facility 1 is, for example, an elevator type or a circulation type mechanical parking facility. The mechanical parking facility 1 is composed of, for example, a plurality of floors. In the mechanical parking facility 1, for example, a plurality of parking rooms (also called parking spaces, storage locations, or storage shelves) are provided on each floor of the second floor and above. It is possible to park the vehicle 10 of the automobile in each parking room. Hereinafter, the mechanical parking facility 1 may be simply referred to as “parking facility 1”.

  The vehicle 10 enters a boarding / exiting room 5 (also referred to as a boarding room or a boarding part) in the parking facility 1 from the entrance / exit 2 of the parking facility 1. FIG. 2 is a view showing an example of a state in the passenger compartment 5.

  As shown in FIG. 2, the vehicle 10 is located on the pallet 6 in the passenger compartment 5. In the parking facility 1, the vehicle 10 is transported while being mounted on the pallet 6. The vehicle 10 is conveyed by the pallet 6 being conveyed by the transporter. The pallet 6 can be turned by the turntable 7. Thereby, the vehicle 10 can turn and change its direction. The vehicle 10 may be directly transported by a transporter without being mounted on the pallet 6.

  A mirror 8 and a display device 9 are provided in the passenger compartment 5 so as to face the entrance / exit 2 with the vehicle 10 in the passenger compartment 5 interposed therebetween. At least when the vehicle 10 enters, various types of information are displayed on the display device 9.

  In the case of warehousing, the vehicle 10 enters the entrance / exit 5 from the entrance / exit 2 and is positioned on the pallet 6. The vehicle 10 enters the passenger compartment 5 from the front, for example. And after a person goes down from the vehicle 10, the pallet 6 is conveyed from the boarding / alighting room 5 to an empty parking room by a transporter. Thus, the vehicle 10 is parked in the parking room.

  On the other hand, in the case of delivery, the pallet 6 on which the vehicle 10 is mounted is transported from the parking room to the passenger compartment 5 by a transporter. Thereby, the vehicle 10 is conveyed to the passenger compartment 5. Then, as the turntable 7 turns, the direction of the vehicle 10 rotates 180 degrees, and the front of the vehicle 10 faces the entrance / exit 2. Thereafter, after a person gets on the vehicle 10 in the passenger compartment 5, the vehicle 10 goes out of the parking facility 1 from the entrance / exit 2.

  Hereinafter, in the passenger compartment 5, the entrance / exit 2 side may be referred to as “front side” and the display device 9 side may be referred to as “back side”. In the passenger compartment 5, the right side and the left side when viewed from the front side to the back side may be simply referred to as “right side” and “left side”, respectively.

  FIG. 3 is a diagram illustrating an example of a state near the entrance / exit 2 when the parking facility 1 is viewed from the outside. As shown in FIG. 3, a door 3 is provided at the entrance / exit 2. The door 3 is a slide door, for example. In the example of FIG. 2, the door 3 of the entrance / exit 2, in other words, the door 3 of the passenger compartment 5 is opened.

  A driving operation panel 4 is provided on the outer wall of the parking facility 1 near the entrance / exit 2. The operator can input information or give an instruction to the parking facility 1 by operating the driving operation panel 4. The operator is, for example, a driver of the vehicle 10 or a manager of the parking facility 1.

  FIG. 4 is a diagram illustrating an example of the driving operation panel 4. The driving operation panel 4 includes a display unit 40, a numeric keypad 41, and a plurality of operation buttons 42. The display unit 40 is a touch panel display, for example, and can display various information such as characters, symbols, and graphics. The numeric keypad 41 and the plurality of operation buttons 42 are, for example, hardware buttons. The display unit 40 can display operation buttons that are software buttons. The operator can input information or give an instruction to the parking facility 1 by operating the operation buttons, the numeric keys 41 and the operation buttons 42 displayed on the display unit 40. For example, the operator can cause the parking facility 1 to open and close the door 3, turn the turntable 7, and transport the pallet 6.

  The parking facility 1 according to the present embodiment can determine whether an object such as a person or a baggage exists outside the vehicle 10 in the parking facility 1. Here, for example, the parking facility 1 determines whether an object exists outside the vehicle 10 in the passenger compartment 5. Hereinafter, this determination may be referred to as “out-of-vehicle determination”.

  In addition, the parking facility 1 can determine whether or not a moving object exists in the vehicle 10 in the parking facility 1. Here, for example, the parking facility 1 determines whether or not there is a moving object having a high possibility of a person in the vehicle 10 present in the passenger compartment 5. Hereinafter, this determination may be referred to as “in-vehicle determination”. In addition, determining whether there is a moving object having a high possibility of a person may be simply referred to as “determining whether a person exists”. It can be said that the in-vehicle determination is a process for determining whether or not there is a person in the vehicle 10.

  FIG. 5 is a block diagram mainly illustrating an example of a configuration related to the vehicle exterior determination and the vehicle interior determination included in the parking facility 1. As shown in FIG. 5, the parking facility 1 includes a control device 11, a detection sensor group 12 that includes a plurality of detection sensors 120 for vehicle exterior determination, and a plurality of moving object detection devices 13 that perform vehicle interior determination. . The parking facility 1 includes, for example, two moving object detection devices 13. The two moving object detection devices 13 perform in-vehicle determination independently of each other. The control device 11 performs a vehicle outside determination using the detection sensor group 12.

  The control device 11 comprehensively manages the operation of the parking facility 1 by controlling other components of the parking facility 1. The control device 11 includes, for example, a CPU (Central Processing Unit), a storage unit including a RAM (Random Access Memory) and a ROM (Read Only Memory), and other various circuits. At least some of the functions of the control device 11 are realized by the CPU executing various programs in the storage unit.

  Note that all the functions of the control device 11 or a part of the functions of the control device 11 may be realized by a hardware circuit that does not require software to realize the function. Further, the storage unit of the control device 11 may include a computer-readable non-transitory recording medium other than the ROM and RAM. The storage unit may include, for example, a small hard disk drive and an SSD (Solid State Drive).

  The control device 11 controls the drive device 14 and each moving object detection device 13 in addition to the display device 9, the driving operation panel 4, and the turntable 7 described above. The driving device 14 drives a transporter 15 that transports the vehicle 10. The drive device 14 controls the transporter 15 according to an instruction from the control device 11.

  Each detection sensor 120 of the detection sensor group 12 is, for example, a photoelectric tube sensor (also referred to as a photoelectric sensor). The detection sensor 120 includes a light projecting unit and a light receiving unit. The light projecting unit outputs, for example, visible light. The light projecting unit and the light receiving unit are arranged apart from each other. Since the detection sensor 120 reacts when an object exists between the light projecting unit and the light receiving unit, the detection sensor 120 can detect the presence of the object between the light projecting unit and the light receiving unit. Each detection sensor 120 is arrange | positioned in the periphery of the space where the vehicle 10 stops in the passenger compartment 5, for example. Thereby, the control apparatus 11 can detect the object located in the periphery of the vehicle 10 which stops in the passenger compartment 5 using the detection sensor group 12. The light projecting unit may output light other than visible light, for example, infrared light. Further, the detection sensor 120 may be a sensor other than the photoelectric tube sensor.

  Each moving body detection device 13 is disposed in the passenger compartment 5. Each moving body detection device 13 can perform in-vehicle moving body detection that detects a moving body that is likely to be a person in the vehicle 10 that stops in the passenger compartment 5. Hereinafter, detecting a moving object having a high possibility of a person may be simply referred to as “detecting a person”.

  FIG. 6 is a diagram illustrating an arrangement example of the detection sensors 120 and the moving object detection devices 13 of the detection sensor group 12. FIG. 6 shows the vehicle 10 that stops in the rear direction.

  As illustrated in FIG. 6, the detection sensor group 12 includes, for example, detection sensors 120a to 120g. The light projecting unit 121a and the light receiving unit 122a of the detection sensor 120a are disposed near the entrance / exit 2. The detection sensor 120a can detect an object present at the entrance / exit 2.

  The light projecting unit 121b and the light receiving unit 122b of the detection sensor 120b are disposed in the passenger compartment 5 on the near side of the vehicle 10 that stops. Therefore, the detection sensor 120 b can detect an object that is present on the front side of the vehicle 10 in the passenger compartment 5.

  The light projecting unit 121 c and the light receiving unit 122 c of the detection sensor 120 c are disposed on the back side of the vehicle 10 in the passenger compartment 5. Therefore, the detection sensor 120 c can detect an object existing in the back side of the vehicle 10 in the passenger compartment 5.

  The light projecting unit 121 d and the light receiving unit 122 d of the detection sensor 120 d are disposed on the right side of the vehicle 10 in the passenger compartment 5. Therefore, the detection sensor 120 d can detect an object present on the right side of the vehicle 10 in the passenger compartment 5. The detection sensor 120d can also detect that the door on the right side of the passenger compartment 5 in the vehicle 10 is open.

  The light projecting part 121e and the light receiving part 122e of the detection sensor 120e are arranged in the getting-on / off chamber 5 on the right side of the light projecting part 121d and the light receiving part 122d of the detection sensor 120d. Accordingly, the detection sensor 120e can detect an object that is present on the right side of the area in which the detection sensor 120d detects an object in the passenger compartment 5.

  The light projecting unit 121 f and the light receiving unit 122 f of the detection sensor 120 f are arranged on the left side of the vehicle 10 in the passenger compartment 5. Therefore, the detection sensor 120 f can detect an object present on the left side of the vehicle 10 in the passenger compartment 5. The detection sensor 120f can also detect that the door existing on the left side of the passenger compartment 5 in the vehicle 10 is open.

  The light projecting unit 121g and the light receiving unit 122g of the detection sensor 120g are arranged on the left side of the getting-on / off chamber 5 with respect to the light projecting unit 121f and the light receiving unit 122f of the detection sensor 120f. Therefore, the detection sensor 120g can detect an object that is present on the left side of the area in which the detection sensor 120f detects an object in the passenger compartment 5.

  The control device 11 confirms whether or not an object is detected for each of the detection sensors 120a to 120g in the determination outside the vehicle. Then, the control device 11 determines that an object exists outside the vehicle 10 when at least one of the detection sensors 120a to 120g detects the object. On the other hand, the control device 11 determines that there is no object outside the vehicle 10 when none of the detection sensors 120a to 120g has detected the object.

  The two moving object detection devices 13 are disposed in the back side of the vehicle 10 in the passenger compartment 5. The two moving body detection devices 13 are arranged away from each other. The detection areas 230 of the two moving object detection devices 13 partially overlap. The detection areas 230 of the two moving object detection devices 13 cover most of the space in the vehicle 10 that stops in the passenger compartment 5.

  The detection area 230 of one moving body detection device 13 mainly covers the rear part of the front passenger seat from the front driver seat in the space in the vehicle 10 that stops at the back. Therefore, one moving body detection device 13 can mainly detect a person existing in the driver's seat, a person existing behind the passenger seat, and the like in the in-vehicle determination (in-vehicle moving body detection). One moving body detection device 13 can also detect a person existing in another part of the vehicle 10.

  The detection area 230 of the other moving body detection device 13 mainly covers a portion of the space in the vehicle 10 that stops in the rear direction from the front passenger seat to the rear of the front driver seat. Therefore, the other moving object detection device 13 can mainly detect a person existing in the passenger seat, a person existing behind the driver's seat, and the like in the in-vehicle determination (in-vehicle moving object detection). The other moving body detection device 13 can also detect a person existing in another part of the vehicle 10.

  The number and arrangement example of the detection sensors 120 included in the detection sensor group 12 are not limited to the example of FIG. Further, the number and arrangement example of the moving object detection devices 13 are not limited to the example of FIG. Further, when the vehicle 10 is viewed from the windshield side, the driver's seat and the passenger seat may be located on the left and right sides of the front row, respectively, or may be located on the right and left sides of the front row, respectively. That is, the vehicle 10 may be a right handle or a left handle.

<Details of moving object detection device>
FIG. 7 is a diagram illustrating an example of the configuration of the moving object detection device 13. The plurality of moving object detection devices 13 included in the parking facility 1 have the same configuration. The moving body detection device 13 outputs the transmission wave VT and receives the reflected wave VR at the reflector 300 for the transmission wave VT. And the moving body detection apparatus 13 performs the moving body detection in a vehicle which detects the person in the vehicle 10 based on the transmission wave VT and the reflected wave VR.

  As shown in FIG. 7, the moving body detection device 13 includes a signal generator 130, an antenna 131, detectors 132 and 133, an A / D converter 134, and a control unit 135. These components are accommodated in one case 139, for example. The moving body detection device 13 transmits the transmission wave (traveling wave) VT generated by the signal generator 130 from the antenna 131, and receives the reflected waves VR of the plurality of reflectors 300 for the transmission wave VT by the antenna 131. . The moving body detection device 13 detects a person in the vehicle 10 based on a standing wave (combined wave) generated by combining the transmission wave VT and the plurality of reflected waves VR received by the antenna 131. To do. The plurality of reflectors 300 include people in the vehicle 10, car accessories, and the like.

  The signal generator 130 can change the frequency of the transmission wave VT to be output in accordance with an instruction from the control unit 135. The transmission wave VT transmitted from the antenna 131 is a radio wave. The radio wave is an electromagnetic wave having a frequency of 3000 GHz or less. In the present embodiment, the transmission wave VT is a microwave, for example. The microwave is an electromagnetic wave having a frequency of 3 GHz or more and 30 GHz or less.

  The detectors 132 and 133 detect the standing wave power at different positions and output a detection signal indicating the detected power. The A / D converter 134 converts the detection signals output from the detectors 132 and 133 from an analog format to a digital format and outputs the result.

  The control unit 135 is a microcomputer configured with, for example, a CPU. The control unit 135 is a kind of digital circuit and determines the presence or absence of a person based on a digital detection signal output from the A / D converter 134. The control unit 135 includes a function generation unit 136, a moving object determination unit 137, and a frequency control unit 138 as functional blocks. The function generation unit 136 generates a determination function to be described later based on the detection signal output from the A / D converter 134. The moving object determination unit 137 determines the presence or absence of a person in the vehicle 10 based on the determination function generated by the function generation unit 136. The frequency control unit 138 controls the frequency of the transmission wave VT generated by the signal generator 130.

  In the moving body detection device 13 having the above-described configuration, the detectors 132 and 133, the A / D converter 134, the function generation unit 136, and the moving body determination unit 137 cause a person to enter the vehicle 10 based on a standing wave (combined wave). The determination unit 140 is configured to determine whether or not there exists.

  The A / D converter 134 may be included in the control unit 135 that is a microcomputer. Further, at least a part of the functions of the control unit 135 may be included in the control device 11. In addition, at least some of the functions included in the control unit 135 may be configured by a hardware circuit that does not require software for realizing the functions.

<Decision function>
Next, a method for generating a determination function will be described. In the following description, in order to distinguish a plurality of reflectors 300, a plurality of consecutive positive integers from No. 1 are assigned to the plurality of reflectors 300, respectively.

  In the present embodiment, the x-axis is determined as shown in FIG. The origin x = 0 of the x axis may be an arbitrary point, but in this embodiment, for example, the position of the signal generator 130 is the origin. When the amplitude and frequency of the transmission wave VT are A and f, respectively, and the speed of light is c, the transmission wave VT is expressed by the following equation (1).

  The frequency f is changed from f = f0−fw / 2 to f = f0 + fw / 2 by the control of the signal generator 130 by the frequency control unit 138.

  Assuming that the distance to the k-th reflector 300 is dk, and the ratio of the magnitude of the reflected wave VR to the transmitted wave VT and the phase difference between them at any point on the x-axis are γk and φk, respectively, The reflected wave VRk from the reflector 300 is expressed by the following equation (2).

  When there are n (≧ 1) reflectors 300, the standing wave power p (f, x) at a certain frequency f is expressed by the following equation (3).

  Here, the frequency f can be expressed by the following equation (4), where f0 is the center frequency and fd is the variable representing the change in frequency.

  At points x = x1 and x2 between the signal generator 130 and the antenna 131 as shown in FIG. 7, it may be considered that γk << 1, considering the proximity of the signal source and the space propagation loss. it can. In this case, p (f, x) can be approximated as the following expression (5) as a function of fd.

  However, Θ in the equation (5) is expressed by the following equation (6).

  In the present embodiment, the transmission wave VT is, for example, a radio wave in the 24 GHz band, and the occupied bandwidth of the transmission wave VT is 76 MHz or less. Therefore, it can be considered that f0 >> fd. In this case, Θ can be approximated by the following equation (7).

  When the detectors 132 and 133 detect the standing wave power p (fd, x) at two locations where Θ = 0 and Θ = π / 2, the detectors 132 and 133 will explain below. Two detection signals orthogonal to each other are output.

  In Expression (7), if the position x where Θ = 0 is the detection position x1, x1 = 0. If the position x where Θ = π / 2 is the detection position x2, then x2 = −λ / 8. However, λ = c / f0.

  Therefore, the standing wave power p (fd, x1) detected at the position of x = x1 and the standing wave power p (fd, x2) detected at the position of x = x2 are expressed by Equation (5). Therefore, it is expressed by the following formulas (8) and (9).

  In the present embodiment, the detector 132 detects the power of the standing wave at the position x = x1, and outputs the detection signal p (fd, 0) represented by the equation (8). On the other hand, the detector 133 detects the power of the standing wave at the position of x = x2, and outputs the detection signal p (fd, −λ / 8) represented by Expression (9). The A / D converter 134 converts the detection signal p (fd, 0) and the detection signal p (fd, −λ / 8) in analog format output from the detectors 132 and 133 into a digital format and converts the control unit 135 to Output to.

  When p (fd, 0) and p (fd, −λ / 8) differentiated by fd are respectively pdiff (fd, 0) and pdiff (fd, −λ / 8), pdiff (fd, 0) , Pdiff (fd, −λ / 8) is expressed by the following equations (10) and (11).

  An analysis signal pa (fd) having −pdiff (fd, −λ / 8) as a real part and −pdiff (fd, 0) as an imaginary part is expressed by the following expression (12).

  When the analytic signal pa (fd) is Fourier-transformed with respect to fd, a signal P (x) represented by the following equation (13) is obtained.

  Sa (z) in the equation (13) is a sink function and is represented by the following equation (14).

  The signal P (x) is a function having the distance x as a variable. The signal P (x) is shown as a distance spectrum P (x) in Non-Patent Document 1 described above.

  In the present embodiment, the function generation unit 136 of the control unit 135 has a signal P (x) based on the detection signals p (fd, 0) and p (fd, −λ / 8) from the A / D converter 134. Ask for. Then, the function generation unit 136 uses the obtained signal P (x) as the determination function P (x). The function generator 136 generates signals pdiff (fd, 0) and pdiff (fd, −λ) represented by the equations (10) and (11) from the detection signals p (fd, 0) and p (fd, −λ / 8). / 8) is obtained, and the analysis signal pa (fd) represented by the equation (12) is obtained from the signals pdiff (fd, 0) and pdiff (fd, −λ / 8). Then, the function generation unit 136 obtains a determination function P (x) from the analysis signal pa (fd).

  When there is one reflector 300 (n = 1), the amplitude of the determination function P (x) is x = d1, that is, when the distance x matches the distance d1 to the reflector 300 (x -D1 = 0), the maximum.

  It can be said that the determination function P (x) is a complex signal in which the distance x is a variable and the amplitude and phase change according to the value of the variable. Equation (13) can be rewritten as the following Equation (15).

  Equation (15) can be rewritten as the following Equation (16).

  Dk (x) and Ek (x) are expressed by the following equations (17) and (18).

Dk (x) e ^{jEk (x)} is a complex signal corresponding to the kth reflector 300, and indicates the influence of the kth reflector 300 on P (x). When Dk (x) e ^{jEk (x)} is called an individual complex signal, the determination function P (x) is a plurality of individual complex signals D1 (x) corresponding to the first to nth reflectors 300, respectively. ^{e jE1 (x) ~Dn (x} ) e jEn (x) the sum combined signal, i.e. the combined signal of the plurality of discrete complex signals ^{D1 (x) e jE1 (x} ) ~Dn (x) e jEn (x) It can be said that. The individual complex signal Dk (x) e ^{jEk (x)} is the difference distance between the variable x and the distance dk to the kth reflector 300 according to the individual complex signal Dk (x) e ^{jEk (x).} It changes according to. Specifically, as shown in equation (17), the amplitude Dk individual complex signal Dk ^{(x) e JEK (x)} (x) is a variable x, the individual complex signal Dk ^{(x) e JEK (} It changes according to the difference distance (x-dk) between the distance dk to the reflector 300 according to ^x) .

Furthermore, since the amplitude Dk (x) of the individual complex signal Dk (x) e ^{jEk (x)} includes the ^sinc function in the expression indicating the amplitude Dk (x), if the distance dk is constant, The absolute value | x−dk | of the difference distance (x−dk) tends to decrease as the absolute value | x−dk | increases.

  FIG. 8 shows the relationship between (x-dk) and Sa (x-dk). As shown in FIG. 8, Sa (x-dk) tends to decrease as (x-dk) increases or (x-dk) decreases. Therefore, Sa (2πfw / c × (x−dk)) in the equation (17) tends to decrease as the absolute value | x−dk | increases. Therefore, if the distance dk is constant, the amplitude Dk (x) tends to decrease as the absolute value | x−dk | increases. Therefore, the amplitude Dk (x) becomes maximum when x = dk.

  In the determination function P (x), when the variable x matches the distance dk to the k-th reflector 300 due to the presence of Sa (2πfw / c × (x−dk)), a plurality of reflectors are used. Of 300, the influence of the kth reflector 300 is relatively strong.

  As described above, the control unit 135 obtains the determination function P (x) based on the standing wave. The moving body determination unit 137 of the control unit 135 determines the presence / absence of a person based on the determination function P (x) obtained by the function generation unit 136.

<Motion detection>
When the kth reflector 300 is a moving object, the reflector 300 moves, and therefore the distance dk to the reflector 300 changes. As a result, as can be seen from the equation (15), the amplitude | P (x) | and the phase arg (P (x)) of the determination function P (x) change. On the other hand, as described above, in the determination function P (x), when the variable x coincides with the distance dk to the k-th reflector 300, the k-th reflection among the plurality of reflectors 300. The influence of the object 300 appears strongly. Therefore, by observing the time change of the amplitude | P (xz) | of the function value P (xz) (complex signal P (xz)) of the determination function P (x) at a certain target distance xz, the target distance is obtained. It can be determined whether or not a moving object exists in xz. Similarly, it is possible to determine whether or not a moving object exists at the target distance xz by observing a time change of the phase arg (P (xz)) of the function value P (xz).

  Therefore, the moving object determination unit 137 determines the presence or absence of a moving object that is highly likely to be a person based on the temporal changes in the amplitude | P (x) | and the phase arg (P (x)). This point will be described in detail below. Hereinafter, determining the presence / absence of a moving object having a high possibility of a person may be simply referred to as “determining the presence / absence of a person”.

  The amplitude | P (x) | and the phase arg (P (x)) at time t are AM (xz, t) and PH (xz, t), respectively. Then, an amplitude change amount ΔAM (xz, t) representing a time change of the amplitude AM (xz, t) and a phase change amount ΔPH (xz, t) representing a time change of the phase PH (xz, t) are respectively obtained. It represents with the following formula | equation (19), (20).

  As shown in the equation (19), the amplitude change amount ΔAM (xz, t) is the amplitude AM at the time (t−Δt) slightly earlier than the amplitude AM (xz, t) at the time t. This is a difference value obtained by subtracting (xz, t−Δt). Similarly, the phase change amount ΔPH (xz, t) is a time (t−Δt) slightly earlier than the phase PH (xz, t) at time t, as shown in Expression (20). Is a difference value obtained by subtracting the phase PH (xz, t−Δt).

  In the present embodiment, the moving body determination unit 137 uses the determination function P (x) obtained by the function generation unit 136 to determine the amplitude change amount ΔAM (xz, t) and the phase change amount ΔPH (xz) for the target distance xz. , T). Then, the moving body determination unit 137 determines whether there is a person in the vehicle 10 based on the obtained amplitude change amount ΔAM (xz, t) and phase change amount ΔPH (xz, t).

  When determining the presence or absence of a person based on ΔAM (xz, t) and ΔPH (xz, t), the moving object determination unit 137 uses ΔAM (xz, t) and ΔPH (xz, t), for example, A determination value R represented by the following equation (21) is obtained.

  When the determination value R is larger than the threshold value, it can be said that there is a high possibility that a moving object having a high human possibility exists at the distance xz from the moving object detection device 13. On the other hand, when the determination value R is equal to or less than the threshold value, it can be said that there is a high possibility that there is no moving object that is highly likely to be a person at the distance xz from the moving object detection device 13. Based on the determination value R, the moving body determination unit 137 determines whether or not there is a person in the vehicle 10.

  In this way, the determination unit 140 can determine whether there is a person in the vehicle 10 based on the standing wave.

<Details of in-car judgment>
Next, the operation of the moving object detection device 13 when the moving object detection device 13 performs in-vehicle determination will be described in detail. FIG. 9 is a flowchart showing an example of in-vehicle determination. Here, it is assumed that the space inside the vehicle 10 that stops in the passenger compartment 5 is generally in the range of 1 m to 5 m from the moving body detection device 13. The two moving object detection devices 13 operate in the same manner.

  In this example, the detection area 230 of the moving body detection device 13 is in the range of 1 m to 5 m from the moving body detection device 13. In the in-vehicle determination (in-vehicle moving object detection), for example, 17 target distances xz are used. Specifically, 1m, 1.25m, 1.5m, 1.75m, 2m, 2.25m, 2.5m, 2.75m, 3m, 3.25m, 3.5m, 3.75m, 4m, 4m .25m, 4.5m, 4.75m, 5m are used as the target distance xz. Thereby, the moving body detection apparatus 13 can determine whether a person exists in any of the 17 object distances xz within the range of 1 m to 5 m from the moving body detection apparatus 13. That is, the space in the vehicle 10 can be appropriately set in the detection area 230.

  As shown in FIG. 9, in the in-vehicle determination, first, in step s1, the moving object determination unit 137 determines AM (xz) and PH at each of the 17 target distances xz based on the determination function P (x). (Xz) is obtained twice every predetermined time Δt. Thereby, AM (xz, t), AM (xz, t−Δt), PH (xz, t), and PH (xz, t−Δt) are obtained for each of the 17 target distances xz.

  Next, in step s2, the moving body determination unit 137 uses ΔAM (xz, t−Δt) and AM (xz, t) and AM (xz, t−Δt) obtained in step s1 for each of the 17 target distances xz. t). Similarly, the moving object determination unit 137 calculates ΔPH (xz, t) for each of the 17 target distances xz using PH (xz, t) and PH (xz, t−Δt) obtained in step s1. Ask.

  Next, in step s3, the moving body determination unit 137 calculates a determination value R for each of the 17 target distances xz using ΔAM (xz, t) and ΔPH (xz, t) obtained in step s2. Thereby, 17 determination values R respectively corresponding to the 17 target distances xz are obtained.

  Next, in step s4, when the maximum value among the 17 determination values R obtained in step s3 is larger than the threshold value, the moving object determination unit 137 is within the range of 1 m to 5 m from the moving object detection device 13. That is, it is determined that there is a person in the vehicle 10. On the other hand, when the maximum value is equal to or less than the threshold value, the moving object determination unit 137 determines that there is no person within the range of 1 m to 5 m from the moving object detection device 13, that is, the vehicle 10.

  Note that, in step s4, when the maximum value of the 17 determination values R is equal to or greater than the threshold value, the moving body detection device 13 determines that there is a person in the vehicle 10, and the maximum value corresponds to this value. If it is less than the threshold, it may be determined that no person is present in the vehicle 10.

  In addition, in step s4, the moving body detection device 13 determines that there is a person in the vehicle 10 when the total value of the 17 determination values R is greater than the threshold value, and the total value is equal to or less than the threshold value. In this case, it may be determined that there is no person in the vehicle 10.

  In addition, in step s4, the moving body detection device 13 determines that there is a person in the vehicle 10 when the total value of the 17 determination values R is equal to or greater than the threshold value, and the total value is less than the threshold value. In this case, it may be determined that no person is present in the vehicle 10.

  Further, when the moving object detection device 13 determines in which position in the vehicle 10 a person is present, for each of the 17 determination values R, the determination value R is equal to or greater than a threshold value. It may be determined whether or not it is greater than a threshold value. In this case, if the determination value R corresponding to the target distance xz is equal to or larger than the threshold value or larger than the threshold value, the moving body detection device 13 has a person at the target distance xz in the vehicle 10. Judge that.

  Moreover, the moving body detection apparatus 13 may perform in-vehicle determination based on only ΔAM (xz, t) out of ΔAM (xz, t) and ΔPH (xz, t). In this case, the determination value R is expressed by the following equation (22), for example.

  Moreover, the moving body detection apparatus 13 may perform vehicle interior determination based only on (DELTA) PH (xz, t) among (DELTA) AM (xz, t) and (DELTA) PH (xz, t). In this case, the determination value R is expressed by the following equation (23), for example.

  In the above example, each of the two moving object detection devices 13 performs in-vehicle determination, but instead, the control device 11 uses the determination function P (x) generated by the two moving object detection devices 13. Based on this, an in-vehicle determination for determining whether or not a person exists in the vehicle 10 may be performed.

<Operation flow of parking equipment at the time of warehousing>
Next, the operation flow of the parking facility 1 at the time of warehousing will be described. 10 and 11 are flowcharts showing the operation of the parking facility 1 at the time of warehousing. For example, when the password of the user (the driver of the vehicle 10) is input, the control device 11 uses the password to authenticate whether the user of the parking facility 1 is an authorized user. I do. The operator can input a recitation number to the control device 11 by operating the numeric keypad 41 of the driving operation panel 4.

  If the user authentication fails, the control device 11 displays, for example, that effect on the display unit 40 of the driving operation panel 4. On the other hand, if the user authentication is successful (step s11), the control device 11 determines whether or not it is a warehousing call in step s12. Specifically, in step s12, the control device 11 determines whether or not the user's vehicle 10 is parked in the parking facility 1. When it is determined that the user's vehicle 10 is not parked in the parking facility 1, the control device 11 determines that the call is a warehousing call. If the control device 11 determines that the call is a warehousing call, in step s 13, the control device 11 controls the transporter 15 through the drive device 14 and causes the transporter 15 to transport the empty pallet to the loading / unloading chamber 5. Until the empty pallet arrives at the passenger compartment 5, as shown in FIG. 12, for example, notification information 400 for notifying that the empty pallet is being conveyed is displayed on the display unit 40 of the operation panel 4. The

  On the other hand, if the control apparatus 11 determines that the user's vehicle 10 is parked in the parking facility 1, the control apparatus 11 determines that the call is a delivery call. Thereafter, the parking facility 1 performs a delivery operation. The operator can cause the control device 11 to perform user authentication using a card or a remote controller.

  When an empty pallet arrives at the passenger compartment 5, the control device 11 starts a vehicle exterior determination using the detection sensor group 12 in step s 14. When the vehicle outside determination is started, the control device 11 continuously performs vehicle outside determination.

  Next, in step s15, the control device 11 opens the door 3 of the passenger compartment 5. At this time, the display device 9 in the passenger compartment 5 displays notification information 900 for notifying that warehousing is possible, as shown in FIG. Thereafter, when the vehicle 10 enters the passenger compartment 5, the detection sensor 120 a in the vicinity of the entrance / exit 2 reacts, and the control device 11 determines that there is an object outside the vehicle 10 in the continuously outside determination. Determination is made (step s16).

  After step s16, in step s17, the control device 11 sets the state of the parking facility 1 to driving lock. When the state of the parking facility 1 is set to the driving lock, the parking facility 1 does not accept the operation on the driving operation panel 4, and the operator can open / close the door 3 or move the transporter 14 to the parking facility 1. Disappear.

  After step s17, in step s18, the control device 11 determines whether or not the vehicle 10 has stopped at a fixed position in the passenger compartment 5. The parking facility 1 is provided with a plurality of detection sensors similar to the detection sensor 120 for determining whether or not the vehicle 10 has stopped at a fixed position. In step s16, the control device 11 determines whether or not the vehicle 10 has stopped at a fixed position in the passenger compartment 5 using the plurality of detection sensors. The control device 11 repeatedly executes step s18 until it is determined that the vehicle 10 has stopped at a fixed position in the passenger compartment 5.

  When the vehicle 10 is in front of the fixed position (back side) in the passenger compartment 5, as shown in FIG. 14, the display device 9 indicates that the vehicle 10 is in front of the fixed position. Notification information 901 to be notified is displayed. Further, when the vehicle 10 is behind (front side) from the fixed position, as shown in FIG. 15, the notification information that notifies the display device 9 that the vehicle 10 is behind the fixed position. 902 is displayed. When the height of the vehicle 10 exceeds the limit, as shown in FIG. 16, notification information 903 for notifying that the height of the vehicle 10 exceeds the limit is displayed on the display device 9. The The parking facility 1 is provided with a detection sensor similar to the detection sensor 120 for determining whether or not the height of the vehicle 10 exceeds the limit. The control device 11 determines whether or not the height of the vehicle 10 exceeds the limit using the detection sensor. Note that the notification information 900 to 903 may also be displayed on the display unit 40 of the driving operation panel 4.

  If it is determined in step s18 that the vehicle 10 has stopped at a fixed position in the passenger compartment 5, the controller 11 determines whether or not the user has left the passenger compartment 5 in step s19. The control device 11 repeatedly executes step s19 until it is determined that the user has exited from the passenger compartment 5. When determining that there is no object outside the vehicle 10 in the vehicle exterior determination immediately after the detection sensor 120a detects the object, the control device 11 determines that the user has left the passenger compartment 5.

  If the control device 11 determines in step s19 that the user has exited from the passenger compartment 5, in step s20, the parking facility 1 is ready to accept an operation on the safety confirmation button.

  The safety confirmation button is included in the plurality of operation buttons 42 of the driving operation panel 4. The safety confirmation button is a button for notifying the parking facility 1 that the operator has confirmed that there is no person in the passenger compartment 5. When the parking facility 1 is ready to accept an operation on the safety confirmation button, the parking facility 1 confirms the unmanned in the passenger compartment 5 and confirms the unmanned in the passenger compartment 5 and then confirms the safety confirmation button. The operator is notified of the operation. For example, as shown in FIG. 17, the display unit 40 of the driving operation panel 4 has a notification information 410 for notifying that the unoccupied room 5 is confirmed, and safety after confirming the unoccupied room 5. Notification information 411 for notifying that the confirmation button is operated is displayed.

  Note that at least one of the notification information 410 and 411 may be represented by a graphic instead of a character string. In addition to the display of the notification information 410 or instead of the display of the notification information 410, the operator may be notified by voice that the unoccupied room 5 is confirmed. In addition to displaying the notification information 411 or instead of displaying the notification information 410, the operator may be notified by voice that the safety confirmation button is operated.

  After step s20, when the operator operates the safety confirmation button in step s21, as shown in FIG. 11, in step s22, the control device 11 causes each moving object detection device 13 to start in-vehicle determination. When the vehicle interior determination starts, each moving body detection device 13 repeatedly executes the vehicle interior determination shown in FIG. 9 described above.

  In the first in-vehicle determination after step s22, when at least one of the two moving object detection devices 13 determines that there is a person in the vehicle 10 (Yes in step s23), in step s24, the parking facility 1 An in-vehicle state confirmation notice is sent to notify that the unmanned person in 10 is confirmed. Furthermore, in step s24, the parking facility 1 is in a state where it can accept an operation on the in-vehicle confirmation button. On the other hand, in the first in-vehicle determination, when each of the two moving object detection devices 13 determines that there is no person in the vehicle (No in step s23), step s26 is executed.

  The in-vehicle confirmation button is included in the plurality of operation buttons 42 of the driving operation panel 4. The in-vehicle confirmation button is a button for notifying the parking facility 1 that the operator has confirmed unattended in the vehicle 10.

  In step s24, for example, as shown in FIG. 18, the display unit 40 of the driving operation panel 4 displays notification information 420 for notifying that the unmanned vehicle 10 is confirmed. In addition, the display unit 40 displays notification information 421 for notifying that the in-vehicle confirmation button is operated after confirming that there is no person in the vehicle 10.

  Note that at least one of the notification information 420 and 421 may be represented by a graphic instead of a character string. In addition to the display of the notification information 420 or instead of the display of the notification information 420, the operator may be notified by voice that the unmanned vehicle 10 is confirmed. Further, in addition to displaying the notification information 421 or instead of displaying the notification information 421, the operator may be notified by voice that the in-vehicle confirmation button is operated. The in-vehicle confirmation button may be a software button displayed on the display unit 40.

  After step s24, when the operator operates the in-vehicle confirmation button in step s25, step s26 is executed. In step s26, the operation lock is released. When the driving lock is released, the display unit 40 of the driving operation panel 4 displays notification information 430 for notifying that the door 3 is closed as shown in FIG.

  When the driving lock is released, in step s27, the parking facility 1 is in a state where it can accept the end door closing process by the operator. The end door closing process is a process for closing the door 3 after the warehousing is completed. The end door closing process includes a process for authenticating the user again and an operation of the door closing button. As a process for re-authenticating the user, for example, input of the user's personal identification number can be considered.

  After step s27, when the user's personal identification number is input, the control device 11 uses the personal identification number to authenticate whether the user is a legitimate user, and the user. Is the same as the user who authenticated at the beginning of warehousing. When the control device 11 determines that the user is a regular user and is the same as the user who was authenticated at the beginning of the warehousing (step s28), the parking facility 1 is a door close button in step s29. It will be in the state which can receive operation with respect to. The door closing button is included in the plurality of operation buttons 42 provided in the driving operation panel 4.

  After step s29, when the door close button is operated in step s30, the control device 11 causes each moving object detection device 13 to end the vehicle interior determination in step s31. The parking facility 1 closes the door 3.

  In step s32 several seconds after the door 3 is completely closed, the control device 11 ends the vehicle exterior determination. Thereafter, the control device 11 controls the transporter 15 through the drive device 14 and causes the transporter 15 to transport the vehicle 10 to an empty parking room. When the vehicle 10 is transported to the parking room, the control device 11 associates the user identification information for identifying the user with the parking room identification information for identifying the parking room in which the vehicle 10 is transported. Register in the parking management table. Thereby, the warehousing operation of the parking facility 1 is completed. In step s12 described above, the control device 11 can specify whether or not the user's vehicle 10 is parked in the parking facility 1 by referring to the parking management table. The user identification information may be a personal identification number, or may be information obtained from a card or remote control used at the time of warehousing.

  If the vehicle exterior determination determines that there is an object outside the vehicle 10 before the operation of the door closing button is accepted in step s30 after the driving lock is released in step s26, the state of the parking facility 1 is the driving lock. It becomes. Thereafter, step s19 is executed. For example, when the user returns to the passenger compartment 5 immediately after the in-vehicle confirmation button is operated, it is determined that an object exists outside the vehicle 10 in step s33 shown in FIG. Sometimes. In this case, in step s34, the state of the parking facility 1 is set to driving lock. Thereafter, when step s19 shown in FIG. 10 is executed again, the parking facility 1 operates in the same manner.

  In step s19, when it is determined by the vehicle outside determination that an object is present outside the vehicle 10 from the time when it is determined that the user has left the passenger compartment 5 to the time when step s26 is executed, step s19 is performed. Will be executed again.

  If the vehicle exterior determination determines that an object is present outside the vehicle 10 after the door close button is operated and the vehicle exterior determination is completed, the parking facility 1 is in a driving lock state. In this case, an abnormality of the parking facility 1 may be notified from the parking facility 1 to the monitoring center or the like. If no abnormality is notified from the parking facility 1 to the management center or the like, the next user who discovers that the parking facility 1 is in the operation lock state will contact the monitoring center or the like.

  In addition, after it is determined in step s23 that there is a person in the vehicle 10, the in-vehicle determination may be performed before step s25 is executed. In this case, in the in-vehicle determination performed between step s23 and step s25, when it is determined that there is a person in the vehicle 10, the in-vehicle state confirmation notification is maintained, and the parking facility 1 performs an operation on the in-vehicle confirmation button. An acceptable state is maintained. On the other hand, when it is determined in the in-vehicle determination that there is no person in the vehicle 10, for example, step s26 is executed and the driving lock is released. Alternatively, the control device 11 prioritizes the determination that a person is present in the vehicle 10 in step s23, and ignores the determination that no person is present in the vehicle 10 in the subsequent in-vehicle determination. Thereby, the state confirmation notification in a vehicle is maintained and the state in which the parking facility 1 can accept operation with respect to the confirmation button in a vehicle is maintained.

  As described above, in the parking facility 1, since the vehicle outside determination is performed, the vehicle 10 is in a state where a person is confined in the parking facility 1 or an object such as a person or a baggage exists outside the vehicle 10. The possibility of being conveyed can be reduced. Moreover, in the parking facility 1, since the in-vehicle determination is performed, the possibility that the vehicle 10 is transported in a state where a person is present in the vehicle 10 can be reduced. Therefore, the safety of the parking facility 1 can be improved.

  Further, in this example, when it is determined in step s23 that there is a person in the vehicle 10, the driving lock is released by the operator operating the in-vehicle confirmation button. Therefore, even if it is determined in the in-vehicle determination that the car accessory or the like in the vehicle 10 is a moving object with a high possibility of human beings, the operator confirms the unattended in the vehicle 10 and then checks the in-vehicle confirmation button. By operating the, the driving lock can be released to the parking facility 1. Therefore, even if a moving body other than a person is determined as a moving body having a high possibility of a person in the in-vehicle determination, the parking facility 1 can continue the warehousing operation.

  In the above example, the vehicle interior determination is started after the safety confirmation button is operated. However, the vehicle interior determination may be started before the safety confirmation button is operated. 20 and 21 are flowcharts illustrating an example of the operation of the parking facility 1 when the in-vehicle determination starts before the safety confirmation button is operated.

  As shown in FIG. 20, the parking facility 1 executes the above steps s11 to s19. If it is determined in step s19 that the user has left the passenger compartment 5, in step s51, the control device 11 causes each moving object detection device 13 to start in-vehicle determination.

  Next, in step s20, the parking facility 1 is in a state where it can accept an operation on the safety confirmation button. Thereafter, when the control device 11 accepts an operation on the safety confirmation button in step s21, the operation lock is released in step s26. Thereafter, the parking facility 1 operates in the same manner as described above.

  If it is determined after the step s20 that the object is present outside the vehicle 10 (step s52), the step s19 is executed as described above.

  Further, in this example, the in-vehicle determination is started immediately after it is determined in step s19 that the user has exited from the passenger compartment 5. Therefore, unlike the example shown in FIGS. However, it may be determined that a person is present in the vehicle 10. In this case, step s24 is executed in the same manner as described above, a vehicle state confirmation notification is performed, and the parking facility 1 is ready to accept an operation on the vehicle confirmation button. For example, as illustrated in FIG. 21, when at least one of the two moving object detection devices 13 determines that there is a person in the vehicle 10 in step s53 between steps s20 and s21, step s24 is executed. . Thereafter, when the in-vehicle confirmation button is operated in step s25, and the safety confirmation button is operated in step s21, the driving lock is released in step s26. Thereafter, the parking facility 1 operates in the same manner.

  Further, in this example, the vehicle interior determination may be performed after it is determined in step s53 that there is a person in the vehicle 10 and before step s25 is executed. In this in-vehicle determination, when it is determined that there is a person in the vehicle 10, the in-vehicle state confirmation notification is maintained, and the state in which the parking facility 1 can accept an operation on the in-vehicle confirmation button is maintained. On the other hand, when it is determined in the in-vehicle determination that no person is present in the vehicle 10, for example, the in-vehicle state confirmation notification is finished, and the parking facility 1 can accept an operation on the in-vehicle confirmation button. Is released. Alternatively, the control device 11 gives priority to the determination that there is a person in the vehicle 10 in step s53, and ignores the determination in the subsequent in-vehicle determination that there is no person in the vehicle 10. Thereby, the state confirmation notification in a vehicle is maintained and the state in which the parking facility 1 can accept operation with respect to the confirmation button in a vehicle is maintained.

  In the example of FIGS. 20 and 21, instead of the safety confirmation button and the in-vehicle confirmation button, the driving operation panel 4 may be provided with a single confirmation button that also uses these buttons. In this case, as shown in FIG. 21, when step s53 between steps s20 and s21 is executed, step s25 is not executed, and the combined confirmation button is operated in step s21.

  Step s51 may be performed before step s19. For example, step s51 may be executed between step s13 and step s15.

  In addition, in the examples of FIGS. 10, 11, 20, and 21, the in-vehicle determination is completed immediately after the door close button is operated. However, in the same way as the out-of-vehicle determination, the inside of the vehicle is several seconds after the door 3 is completely closed. The determination may end. In this case, if it is determined by the in-vehicle determination that there is a person in the vehicle 10 after the door close button is operated and the in-vehicle determination is completed, the state of the parking facility 1 becomes a driving lock. Thereafter, for example, the parking facility 1 is notified of the abnormality of the parking facility 1 to the monitoring center or the like. Further, when no abnormality is notified from the parking facility 1 to the management center or the like, the next user or the like who finds that the state of the parking facility 1 is in operation lock notifies the monitoring center or the like.

  Further, the in-vehicle determination may be performed only when the door close button is operated. For example, the in-vehicle determination may be started when a door close button is operated and may end several seconds after the door 3 is completely closed.

  As described above, in the parking facility 1, the moving object detection device 13 determines whether there is a person in the vehicle 10 based on a standing wave that is a combined wave of the transmission wave VT and the reflected wave VR. . As described above, it is possible to determine whether or not a moving object exists at the target distance xz by using a standing wave. Therefore, the space in the vehicle 10 can be appropriately set in the detection area 230 of the moving object detection device 13 by appropriately changing the target distance xz.

  On the other hand, the case where the person in the vehicle 10 is detected using the Doppler sensor as described in the above-mentioned patent document 1 is considered. When a Doppler sensor is used, it is difficult to determine whether or not a moving object exists at a certain distance from the Doppler sensor. Therefore, even if a person exists outside the vehicle 10, It will be detected. As a result, there is a possibility that it is erroneously determined that there is a person in the vehicle 10 even though there is no person in the vehicle 10. Furthermore, when the person in the vehicle 10 is detected using a Doppler sensor with the door 3 closed, if the door 3 vibrates due to wind or the like, the vibration of the door is detected as a moving object. End up. As a result, there is a possibility that it is erroneously determined that there is a person in the vehicle 10 even though there is no person in the vehicle 10.

  In this example, since the range in the vehicle 10 can be appropriately set in the detection area 230 of the moving object detection device 13, the moving object detection device 13 detects a person outside the vehicle 10 or vibration of the door 3. It becomes difficult. Therefore, the moving body detection device 13 can more accurately determine whether or not there is a person in the vehicle 10. As a result, the detection accuracy of the person in the vehicle 10 can be improved.

  Moreover, when the moving body in the vehicle 10 is detected using the Doppler sensor with the door 3 opened, there is a possibility that a person existing outside the entrance / exit 2 is detected.

  On the other hand, in this example, since the range in the vehicle 10 can be appropriately set in the detection area 230 of the moving object detection device 13, the moving object detection is performed even when the door 3 is open as described above. The device 13 can appropriately detect a person in the vehicle 10.

  As in this example, when the vehicle interior determination is performed with the door 3 open, when it is determined that there is a person in the vehicle 10, the operator performs an operation on the parking facility 1 to open the door 3. The state in the vehicle 10 can be confirmed immediately without necessity.

  Further, after the door 3 is closed, there is a high possibility that the operator does not exist near the parking facility 1. Therefore, even if the in-vehicle determination is made after the door 3 is closed, the operator can know the result. It may not be possible. On the other hand, when the door 3 is open, the operator is present near the parking facility 1, so that the operator can reliably confirm the result by performing the vehicle interior determination with the door 3 open. Can know. Therefore, possibility that a person will be confined in the parking facility 1 can be reduced.

  Further, as in this example, when the mechanical configuration of the transporter 15 or the like starts operating immediately after the door 3 is closed, the parking facility 1 is determined by performing the in-vehicle determination while the door 3 is open. It is possible to more reliably prevent the mechanical configuration from moving in a state where a person is present. Therefore, the safety of the parking facility 1 can be further improved.

<Details of Arrangement Position of Moving Object Detection Device>
22 and 23 are diagrams for explaining the arrangement positions of the two moving object detection devices 13 in detail. FIG. 22 shows a state in which the vehicle 10 that stops in the passenger compartment 5 is viewed from the roof side. FIG. 23 shows a state in which the vehicle 10 that stops in the passenger compartment 5 is viewed from the side glass side. 22 and 23 show a maximum accommodable vehicle 10A, which is the largest vehicle 10 that can be accommodated by the parking facility 1, and a smaller vehicle 10B. As for the vehicle 10B, a driver seat 10x and a passenger seat 10y located in the front row of the vehicle 10 and a rear seat 10z located in the rear row of the vehicle 10 are shown in FIG. The positions of the driver's seat 10x and the passenger seat 10y may be reversed. In FIG. 22, the parking room 500 when the vehicle 10 is parked in the parking room 500 is virtually shown by a two-dot chain line. In this example, the area of the parking room 500 is substantially the same as the area of the pallet 6. In FIG. 22, for convenience of explanation, it is assumed that the area of the parking room 500 and the area of the pallet 6 are the same. Hereinafter, the term “stopped vehicle 10” means the vehicle 10 stopped in the passenger compartment 5.

  As shown in FIG. 22, the two moving object detection devices 13 are arranged side by side along the width direction DR <b> 1 of the stopped vehicle 10 in front of the stopped vehicle 10. When the passenger compartment 5 is viewed from the ceiling side, as shown in FIG. 22, one moving body detection device 13 is the other moving body detection device 13 with respect to the center line CL passing through the center in the width direction DR1 of the stopped vehicle 10. It is located on the opposite side. The two moving object detection devices 13 are located at the same distance D2 from the center line CL.

  The distance D1 between the two moving object detection devices 13 is set to a predetermined value α or less. The predetermined value α is equivalent to the width W20 of the parking room 500. That is, the predetermined value α is the same as or substantially the same as the width W20. The distance D1 is set to 80% to 90% with respect to the width W20, for example. The width W20 of the parking room 500 is set to a value obtained by adding a predetermined value β to the width W10 of the maximum accommodable vehicle 10A, that is, the maximum width W10 of the vehicle 10 that can accommodate the parking facility 1. For example, the predetermined value β is set to several percent of the width W10.

  As shown in FIG. 23, the heights H1 of the two moving object detection devices 13 are the same. The height H1 is equal to the height H10 of the maximum accommodable vehicle 10A, that is, the maximum height H10 of the vehicle 10 that can accommodate the parking facility 1. That is, the height H1 is the same as or substantially the same as the height H10. The height H1 is set to 90% to 110% of the height H10, for example.

  As described above, each of the two moving body detection devices 13 arranged in the passenger compartment 5 transmits the transmission wave VT toward the windshield 10f of the stopped vehicle 10, as shown in FIGS. One moving body detection device 13 transmits a transmission wave VT from the driver's seat 10x side of the windshield 10f toward the rear of the passenger seat 10y. The other moving body detection device 13 transmits a transmission wave VT from the passenger seat 10y side of the windshield 10f toward the rear of the driver seat 10x.

  Further, as shown in FIG. 23, each moving object detection device 13 transmits a transmission wave VT obliquely downward toward the windshield 10 f of the stopped vehicle 10.

  The transmission wave VT transmitted from each moving body detection device 13 toward the windshield 10f passes through the windshield 10f and enters the vehicle 10. And the reflected wave VR in the moving body in the vehicle 10 regarding the transmission wave VT is transmitted through the windshield 10 f and received by the antenna 131 of the moving body detection device 13.

  Thus, since the moving body detection apparatus 13 transmits the transmission wave VT toward the windshield 10f, it can determine more correctly whether the person exists in the stop vehicle 10. FIG. This point will be described in detail below.

<Transmission of transmission waves toward the windshield>
Here, it is assumed that a person in the vehicle 10 is detected using an optical sensor that transmits visible light like the detection sensor 120 described above. Since the visible light transmittance of the windshield 10f is required to be 70% or more, the visible light transmitted from the optical sensor passes through the windshield 10f and reaches the vehicle 10. Therefore, it may be possible to detect a person present in the driver's seat 10x and the passenger seat 10y using an optical sensor that transmits visible light toward the windshield 10f. However, since visible light does not pass through the seat in the vehicle 10, it is difficult to detect a person in the rear seat 10z using the optical sensor.

  On the other hand, since the transmission wave VT transmitted by the moving body detection device 13 is a radio wave, it can pass through the seat in the vehicle 10. Further, if a metal film for heat absorption or the like is attached to the windshield 10f, an ETC (Electronic Toll Collection System) vehicle-mounted device disposed near the windshield 10f becomes difficult to receive radio waves. It is unlikely that a metal film will be attached to. Therefore, when the moving body detection device 13 transmits the transmission wave VT toward the windshield 10f, the transmission wave VT passes through the windshield 10f, and further passes through the driver seat 10x and the passenger seat 10y to reach the rear seat 10z. Therefore, the moving body detection device 13 can detect not only a person existing in the driver's seat 10x and the passenger seat 10y but also a person in the rear seat 10z.

<Transmission of transmission waves toward the side glass on the driver's and passenger side>
Similar to the front glass 10f, the side glass (hereinafter referred to as “front side glass”) on the driver's seat 10x and passenger seat 10y side needs to have a visible light transmittance of 70% or more. Therefore, it may be possible to detect a person present in the driver's seat 10x and the passenger seat 10y using an optical sensor that transmits visible light toward the front side glass. However, as described above, since visible light does not pass through the seat, it is difficult to detect a person in the rear seat 10z using the optical sensor.

  Moreover, about the front side glass, the metal film for heat absorption etc. may be attached. Therefore, when the moving body detection device 13 transmits the transmission wave VT toward the front side glass, the transmission wave VT may not easily reach the vehicle 10. Therefore, in this case, the human detection accuracy of the moving object detection device 13 may be reduced.

<Transmission of transmission waves toward the side glass and rear glass on the rear seat side>
There is no definition of visible light transmittance for rear seat side glass (hereinafter referred to as “rear side glass”) and rear glass. Therefore, a mirror film or a curtain may be attached to the rear side glass and rear glass. Therefore, when an optical sensor that transmits visible light toward the rear side glass or rear glass is used, there is a possibility that a person in the vehicle 10 cannot be detected.

  Further, a metal film for heat absorption or the like may be attached to the rear side glass and rear glass. Therefore, when the moving body detection device 13 transmits the transmission wave VT toward the rear side glass or rear glass, the transmission wave VT may not easily reach the vehicle 10. Therefore, in this case, the human detection accuracy of the moving object detection device 13 may be reduced.

  As described above, it is unlikely that a metal film is attached to the windshield 10f, and radio waves pass through the seat in the vehicle 10. Therefore, as shown in FIGS. By transmitting the wave VT as a radio wave toward the windshield 10f, it can be more reliably determined whether or not there is a person in the vehicle 10. Therefore, the detection accuracy of the person in the vehicle 10 is further improved.

  Further, when the distance D1 between the two moving object detection devices 13 increases, the transmission wave VT transmitted by each moving object detection device 13 is likely to hit the side glass, and for the above reason, the transmission wave VT does not easily reach a wide range in the vehicle 10. Become. As in this example, when the distance D1 is set to be equal to or less than a predetermined value α that is equivalent to the width W20 of the parking room 500, the transmission wave VT is likely to hit the windshield 10f. Thereby, the transmission wave VT easily reaches a wide range in the vehicle 10, and the detection accuracy of the person in the vehicle 10 is further improved.

  Further, as shown in FIG. 23, when the transmission wave VT is transmitted obliquely downward so that the moving object detection device 13 is directed to the windshield 10f, the tall vehicle 10 such as the maximum accommodable vehicle 10A. Even if the vehicle 10B is short, the transmission wave VT easily enters the vehicle 10 from the windshield 10f. Therefore, the detection accuracy of the person in the vehicle 10 is further improved.

  Moreover, if the height H1 of the moving body detection device 13 is too large, the transmission wave VT transmitted through the windshield 10f is difficult to reach the rear seat. On the other hand, if the height H1 is too small, the transmission wave VT does not easily reach the windshield 10f of the tall vehicle 10 like the maximum accommodable vehicle 10A. As in this example, the height H1 is set to be equal to the height H10 of the maximum accommodable vehicle 10A, so that each of the tall vehicle 10 and the short vehicle 10 is transmitted over a wide range in the vehicle 10. Wave VT is easy to reach. Therefore, the detection accuracy of the person in the vehicle 10 is further improved.

  Further, as shown in FIG. 22, when a part of the transmission wave VT passes between the driver's seat 10x and the passenger seat 10y, specifically, the backrest 10xx of the driver seat 10x and the passenger seat 10y When passing between the backrests 10yy, the part is not attenuated by the seat. Therefore, the transmission wave VT can easily reach the rear seat 10z. Further, when a part of the transmission wave VT passes between the backrest 10xx of the driver's seat 10x and the backrest 10yy of the passenger seat 10y, a part of the reflected wave VR from the moving body of the rear seat 10z is also the driver seat 10x. It is easy to pass between the backrest 10xx and the backrest 10yy of the passenger seat 10y, and part of the backrest 10xx is not attenuated by the seat. Thereby, the detection accuracy of the person in the vehicle 10 further improves.

  As shown in FIG. 22, when the moving object detection device 13 transmits a transmission wave VT from the driver's seat 10x side of the windshield 10f toward the rear of the passenger seat 10y, the transmission wave VT is It becomes easy to pass between the driver's seat 10x and the passenger seat 10y. Similarly, when the moving body detection device 13 transmits the transmission wave VT from the front passenger seat 10y side of the windshield 10f toward the rear of the driver seat 10x, the transmission wave VT includes the driver seat 10x and the passenger seat. It becomes easy to pass between 10y. Therefore, the detection accuracy of the person in the vehicle 10 is further improved.

  In the above example, the two moving object detection devices 13 have the same height, but may be different from each other. In this case, it becomes easy to detect a person in the vehicle 10 for each of a plurality of types of vehicles 10 having different vehicle heights.

  Further, even when each moving body detection device 13 is arranged differently from the example shown in FIGS. 22 and 23, the transmission wave VT and the reflected wave VR are transmitted through the windshield 10f, and the transmission wave VT is transmitted to the rear seat. 10z and the transmitted wave VT and the reflected wave VR can pass between the driver seat 10x and the passenger seat 10y.

  For example, as shown in FIG. 24, even if the distance D1 between the two moving object detection devices 13 is larger than the width W20 of the parking room 500, unlike the example of FIG. The VR passes through the windshield 10f, the transmission wave VT reaches the rear seat 10z, and a part of the transmission wave VT and the reflected wave VR can pass between the driver seat 10x and the passenger seat 10y.

  In addition, even when the two moving object detection devices 13 do not transmit the transmission wave VT in a direction crossing each other but transmit the transmission wave VT in a direction parallel to each other as shown in FIG. The transmission wave VT and the reflected wave VR may pass through the windshield 10f, the transmission wave VT may reach the rear seat 10z, and a part of the transmission wave VT and the reflected wave VR may pass between the driver seat 10x and the passenger seat 10y. it can.

  Further, in the above example, the two moving object detection devices 13 are provided in the passenger compartment 5, but three or more moving object detection devices 13 may be provided. Further, only one moving body detection device 13 may be provided in the passenger compartment 5. FIG. 26 is a diagram illustrating an example of a state in which only one moving body detection device 13 is provided in the passenger compartment 5. Even in the example of FIG. 26, the transmission wave VT and the reflected wave VR pass through the windshield 10f, the transmission wave VT reaches the rear seat 10z, and a part of the transmission wave VT and the reflected wave VR are in the driver's seat 10x and the assistant. It can pass between the seats 10y.

  Moreover, the moving body detection apparatus 13 may be arrange | positioned in the passenger compartment 5 in the near side (entrance / exit port 2 side) rather than the vehicle 10. FIG. In this case, the moving body detection device 13 transmits the transmission wave VT toward the rear glass of the vehicle 10. The moving body detection device 13 may be disposed on the right side or the left side of the vehicle 10 in the passenger compartment 5. In this case, the moving body detection device 13 may transmit the transmission wave VT toward the front side glass of the vehicle 10 or may transmit the transmission wave VT toward the rear side glass of the vehicle 10. In the passenger compartment 5, at least one moving body detection device 13 may be disposed at a plurality of locations on the back side, the near side, the right side, and the left side of the vehicle 10.

  In the above example, the height H1 of the moving object detection device 13 is fixed, but the control device 11 may be able to change the height H1. In this case, a sensor that detects the height of the vehicle 10 that stops in the passenger compartment 5 is provided, and the control device 11 determines the height H1 of the moving object detection device 13 according to the height detected by the sensor. It may be changed. Thereby, the detection accuracy of the person in the vehicle 10 further improves.

  In the above example, the distance D1 between the two moving object detection devices 13 is fixed, but the control device 11 may be able to change the distance D1. In this case, a sensor that detects the width of the vehicle 10 that stops in the passenger compartment 5 may be provided, and the control device 11 may change the distance D1 according to the width detected by the sensor. Thereby, the detection accuracy of the person in the vehicle 10 further improves.

  In the above example, the direction in which the moving body detection device 13 transmits the transmission wave VT is fixed, but the control device 11 may be able to change the direction. In this case, a sensor that detects at least one of the height and width of the vehicle 10 that stops in the passenger compartment 5 is provided, and the control device 11 responds to at least one of the height and width detected by the sensor. The direction in which the moving body detection device 13 transmits the transmission wave VT may be changed. Thereby, the detection accuracy of the person in the vehicle 10 further improves.

  In the above example, it is determined whether or not there is a person in the vehicle 10 existing in the passenger compartment 5 surrounded by the door 3 and the wall, but it exists in a space different from the passenger compartment 5 described above. It may be determined whether or not a person is present in the vehicle 10 to be operated. For example, it may be determined whether there is a person in the vehicle 10 in the parking room 500. Moreover, you may determine whether a person exists in the vehicle 10 which exists in the space without a door. Moreover, you may determine whether a person exists in the vehicle 10 which exists in the space without a wall and a door. Moreover, you may determine whether a person exists in the vehicle 10 which exists in the space enclosed with the fence. Moreover, you may determine whether a person exists in the vehicle 10 which exists in the space which has a gate instead of a door.

  As mentioned above, although the parking equipment 1 was demonstrated in detail, above-described description is an illustration in all the phases, Comprising: This invention is not limited to it. The various modifications described above can be applied in combination as long as they do not contradict each other. And it is understood that the countless modification which is not illustrated can be assumed without deviating from the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Mechanical parking equipment 13 Moving body detection apparatus 10, 10A, 10B Vehicle 10f Windshield 130 Signal generator 131 Antenna 140 Determination part 300 Reflector VT Transmission wave VR Reflected wave

Claims (6)

A moving object detection device for detecting a moving object in a vehicle that is provided in a mechanical parking facility and detects a moving object in a vehicle,
In the vehicle moving object detection, a first signal generator that generates a first transmission wave;
In the vehicle moving object detection, a first antenna that transmits the first transmission wave as a radio wave;
In the in-vehicle moving body detection, based on a first combined wave of the first transmission wave and the reflected waves from a plurality of reflectors including the moving body, received by the first antenna, A moving body detection apparatus comprising: a first determination unit that determines whether or not a moving body exists. The moving object detection device according to claim 1,
The first antenna is a moving object detection device that transmits the first transmission wave toward a windshield of the vehicle. The moving object detection device according to claim 2,
The first antenna transmits the first transmission wave obliquely downward so as to face the windshield. It is a moving body detection apparatus as described in any one of Claim 2 and Claim 3, Comprising:
In the in-vehicle moving body detection, a second signal generator for generating a second transmission wave;
In the vehicle moving object detection, a second antenna that transmits the second transmission wave as a radio wave;
In the in-vehicle moving body detection, based on a second synthesized wave of the second transmission wave and the reflected waves received by the second antenna and reflected by a plurality of reflecting objects including the moving body, A second determination unit that determines whether or not a moving object exists,
The vehicle has a first seat located on the left side of the front row of the vehicle and a second seat located on the right side of the front row when the vehicle is viewed from the windshield side,
The first antenna transmits the first transmission wave from the first seat side of the windshield toward the rear of the second seat,
The said 2nd antenna is a moving body detection apparatus which transmits a said 2nd transmission wave toward the back of the said 1st seat from the said 2nd seat side of the said windshield. It is a moving body detection apparatus as described in any one of Claim 1 thru | or 4, Comprising:
The moving object detection device performs the in-vehicle moving object detection for the vehicle existing in a passenger compartment of the mechanical parking facility,
The said moving body detection apparatus is a moving body detection apparatus which performs the said moving body detection in a vehicle in the state which the door of the said passenger compartment opened.   A mechanical parking facility comprising the moving object detection device according to any one of claims 1 to 5.

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