JP2018178519A - Mechanical parking device for automatic driving vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mechanical parking device for an automatic driving vehicle capable of eliminating the need for user's entry into an inner side and also simplifying a structure by eliminating the need for a pallet and a pallet moving mechanism.SOLUTION: A mechanical parking device for an automatic driving vehicle comprises: a plurality of storage shelves 1 for storing an automatically traveling automatic driving vehicle 4; a conveyance device 2 having at least an elevation function so as to convey the automatic driving vehicle 4 between a storage shelf 1 and a loading/unloading gate 5; and a control device outputting to the automatic driving vehicle 4 a signal for instructing automatic traveling between a loading/unloading gate 5 and the conveyance device 2 and automatic traveling between the conveyance device 2 and storage shelf 1.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a mechanical parking device for an autonomous vehicle.

  In general, a mechanical parking apparatus is provided with a plurality of storage shelves for storing a vehicle in a building interior part built on the ground or in a space formed in the basement, and a transfer device is provided between the storage shelf and the loading / unloading opening. The transport device is adapted to store and retrieve vehicles.

  In addition, as what shows the general technical level relevant to the said mechanical parking apparatus, there exists patent document 1, for example.

JP, 2017-25484, A

  However, in the conventional mechanical parking system, it is necessary for the user to get into the interior of the mechanical parking system and get on and off the vehicle, and it is necessary to install a plurality of human sensors and the like. The latter cars had to be carried on the pallet of the mechanical parking device and transported to the storage position, which required a large number of pallets and pallet moving mechanisms, leading to an increase in cost.

  On the other hand, in recent years, development of self-driving self-driving cars has been rapidly advanced without the involvement of crew members, and although it is expected to spread in the future, mechanical parking devices that can be used for self-driving cars are currently However, it does not exist, and practical application at an early stage is desired.

  SUMMARY OF THE INVENTION The present invention has been made in view of the above-described conventional problems, and it is possible to eliminate the need for the user's entry into the interior, and to eliminate the need for pallets and pallet movement mechanisms and to simplify the structure. It is an object of the present invention to provide a parking system.

In order to achieve the above object, the mechanical parking device for an autonomous vehicle according to the present invention comprises a plurality of storage shelves for storing an autonomous vehicle capable of traveling automatically;
A transport device having at least a lifting function to transport the automated driving vehicle between the storage rack and the storage / unloading port;
A control device may be provided that outputs a signal instructing automatic traveling between the loading / unloading port and the transporting device and automatic traveling between the transporting device and the storage rack to the autonomous vehicle. .

  In the mechanical parking apparatus for an autonomous vehicle, when the automatic vehicle is put in, the signal is an open signal for transmitting to the autonomous vehicle that an inlet / outlet door for opening and closing the inlet / outlet opening is opened, It can be made into the conveyance completion signal at the time of warehousing which the conveyance apparatus reached to the position of the storage shelf which should store an automatic driving vehicle to an automatic driving vehicle.

  Further, at the time of leaving the automatic driving vehicle, the signal is a movement completion signal for transmitting to the automatic driving vehicle that the transfer device has reached the position of the storage shelf storing the automatic driving vehicle, and the transfer device entering and leaving the storage device. A delivery completion signal for transferring to the automatic driving vehicle that the position of the mouth has been reached can be an open signal for transferring to the automatic driving vehicle that the loading / unloading door opening / closing the loading / unloading opening has been opened. .

  Furthermore, the transport device can have a traversing function.

  According to the mechanical parking apparatus for an autonomous vehicle of the present invention, it is possible to eliminate the need for the user's entry into the interior, and to achieve an excellent effect that the pallet and the pallet moving mechanism can be omitted and the structure can be simplified. .

1 is a schematic side view showing an embodiment of a mechanical parking device for an autonomous vehicle according to the present invention. 1 is a schematic plan view showing an embodiment of a mechanical parking device for an autonomous vehicle according to the present invention. FIG. 1 is a block diagram showing an embodiment of a mechanical parking device for an autonomous vehicle according to the present invention. It is a flowchart which shows the operation | movement at the time of the warehousing in the Example of the mechanical parking apparatus for self-driving cars of this invention. It is a flowchart which shows the operation | movement at the time of leaving in the Example of the mechanical parking apparatus for self-driving cars of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the attached drawings.

  1 to 5 show an embodiment of a mechanical parking device for an autonomous vehicle according to the present invention.

  The mechanical parking apparatus for an autonomous vehicle according to the present embodiment includes a storage rack 1, a transport device 2, and a control device 3.

  As shown in FIGS. 1 and 2, the storage racks 1 are disposed on the front side and the rear side of the transfer device 2 at a plurality of floors respectively, and are arranged in multiple rows in the width direction of the transfer device 2. Automatic driving vehicle 4 is stored.

  The transport device 2 has an elevating function and a traversing function so as to transport the automatic driving vehicle 4 between the storage rack 1 and the storage / unloading opening 5 (the loading opening 5a and the unloading opening 5b). When the storage racks 1 are not arranged in a plurality of rows in the width direction of the transport device 2 but are single rows, the transport device 2 does not have to have a transverse function, but has only an elevating function. Just do it. Further, the storage / unloading opening 5 is divided into a loading opening 5a provided with a loading opening door 6a and an unloading opening 5b provided with an exit opening door 6b, and a getting-off area and a riding area are divided and formed. However, it is needless to say that the unloading area and the boarding area may be combined into one to make the entry and exit 5 one, and the entry and exit 5 may be provided with the entry and exit door 6.

  The control device 3 performs wireless communication with the automatic driving vehicle 4 as shown in FIG. 3, and automatically travels between the loading / unloading opening 5 and the conveying device 2 with respect to the automatic driving vehicle 4. Also, a signal instructing automatic traveling between the transport device 2 and the storage rack 1 is output.

  At the time of storage of the automatic driving vehicle 4, the signal is transmitted to transmit to the automatic driving vehicle 4 that the storage opening door 6 (storage opening door 6a) for opening and closing the storage opening 5 (storage opening 5a) is opened. A signal C (see FIG. 4) at the time of storage for transmitting to the automatic driving vehicle 4 the signal A (see FIG. 4) and that the transfer device 2 has reached the position of the storage rack 1 where the automatic driving vehicle 4 should be stored. As.

  Further, when the automatic driving vehicle 4 is leaving, the signal is transmitted to the automatic driving vehicle 4 that the transfer device 2 has reached the position of the storage rack 1 storing the automatic driving vehicle 4 (see FIG. 5), an exit transport completion signal F (see FIG. 5) for transmitting to the automatic driving vehicle 4 that the transport device 2 has reached the position of the entrance 5 (outlet 5b), and the entrance An open signal A (see FIG. 5) is transmitted to the automatic driving vehicle 4 that the door 6 (outlet door 6b) is open.

  Next, the operation of the above embodiment will be described.

  When the autonomous driving vehicle 4 arrives at the unloading area (see FIG. 1) at the time of storage of the autonomous driving vehicle 4 (see step S10 in FIG. 4), the user dismounts in the unloading area (see FIG. 1) (FIG. 4) The storage start operation is performed (see step S12 in FIG. 4). The warehousing start operation is performed, for example, by pressing a warehousing button (not shown) provided in the warehousing port 5 (the warehousing port 5a).

  When the warehousing start operation is performed, the warehousing door 6 (the warehousing door 6a) is opened (see step S13 in FIG. 4), and an open signal A is output from the control device 3 (refer to FIG. 3). The fact that the mouth door 6 (the entrance door 6 a) is opened is transmitted to the automatic driving vehicle 4.

  When the automatic driving vehicle 4 receives the open signal A output from the control device 3, the automatic driving vehicle 4 travels automatically and gets into the transfer device 2 (see step S14 in FIG. 4).

  When the automatic driving vehicle 4 gets into the transport device 2, the automatic driving vehicle 4 outputs the entry completion signal B to the control device 3, and the entry / exit door 6 (the entry door 6a) is closed (FIG. 4) Step S15).

  When the loading / unloading door 6 (the loading door 6a) is closed, the transport device 2 ascends and traverses as necessary, until the position of the storage shelf 1 where the automated driving vehicle 4 is to be stored. 4 is transported (see step S16 in FIG. 4).

  When the transport device 2 reaches the position of the storage rack 1 where the automatic driving vehicle 4 is to be stored, the controller 3 outputs a storage-time transport completion signal C to the automatic driving vehicle 4.

  When the automatic driving vehicle 4 receives the incoming conveyance completion signal C output from the control device 3, the automatic driving vehicle 4 travels automatically and moves to the storage rack 1 (see step S17 in FIG. 4). Incidentally, when the storage rack 1 to store the automatic driving vehicle 4 is on the front side of the transfer device 2, the automatic driving vehicle 4 moves forward, and the storage rack 1 to store the automatic driving vehicle 4 is the transfer device 2 When the vehicle is behind the self-driving car 4, the self-driving car 4 moves backward.

  When the automatic driving vehicle 4 travels automatically and moves to the storage rack 1, the storage completion signal D is output from the automatic driving vehicle 4 to the control device 3, and when the storage device completion signal D is received, the transfer device As 2 descends, it traverses as necessary, and moves to the position of the loading / unloading port 5 (see step S18 in FIG. 4), whereby the storage of the autonomous vehicle 4 is completed.

  On the other hand, when leaving the automatic driving vehicle 4, the user performs a delivery start operation (see step S101 in FIG. 5). The delivery start operation is performed, for example, by pressing a delivery button (not shown) provided at the entry and exit 5 (outlet 5b).

  When the delivery start operation is performed, the transport device 2 ascends and traverses as necessary, and moves to the position of the storage rack 1 in which the automatic driving vehicle 4 is stored (see step S102 in FIG. 5). A movement completion signal E is output from the device 3 to the autonomous vehicle 4.

  When the movement completion signal E is output from the control device 3 to the automatic driving vehicle 4, the automatic driving vehicle 4 gets into the transport device 2 from the storage rack 1 by automatic traveling (see step S103 in FIG. 5). Incidentally, when the storage rack 1 in which the automatic driving vehicle 4 is stored is on the front side of the transfer device 2, the automatic driving vehicle 4 is retracted, and the storage rack 1 in which the automatic driving vehicle 4 is stored is transferred If it is behind the device 2, the autonomous vehicle 4 moves forward.

  When the automatic driving vehicle 4 gets on the transport device 2 from the storage rack 1, the on-loading completion signal B is output from the automatic driving vehicle 4 to the control device 3, and the transport device 2 carrying the automatic driving vehicle 4 is lowered. It moves to the position of the entry and exit 5 (the exit 5b) (see step S104 in FIG. 5).

  When the transfer device 2 reaches the position of the entry and exit 5 (outlet 5b), the control device 3 outputs the delivery completion signal F at the time of exit to the automatic driving vehicle 4, and the entry and exit door 6 (outport door 6b) is opened (see step S105 in FIG. 5), an open signal A is output from the control device 3, and it is transmitted to the automatic driving vehicle 4 that the inlet / outlet door 6 (outlet door 6b) is opened.

  When the automatic driving vehicle 4 receives the delivery conveyance completion signal F and the open signal A outputted from the control device 3, the automatic driving vehicle 4 travels automatically and is taken out from the storage port 5 (the storage port 5 b) (See step S106 in FIG. 5).

  When the automatic driving vehicle 4 leaves the storage / unloading opening 5 (outlet opening 5b), the automatic driving vehicle 4 outputs an exit completion signal G to the control device 3, and the inlet / outlet opening door 6 (outgoing opening door 6b) is closed. (Refer to step S107 in FIG. 5), the user confirms leaving and gets on the automatic driving vehicle 4 in the boarding area (refer to FIG. 1) (refer to step S108 in FIG. 5). Delivery of is completed.

  In the case of this embodiment, unlike the conventional mechanical parking device, it is not necessary for the user to get in and out of the mechanical parking device and get on and off the automatic driving vehicle 4, and it is not necessary to install a plurality of human sensors etc. Also, since the autonomous driving vehicle 4 after the user gets out of the vehicle automatically travels, it does not have to be placed on the pallet of the mechanical parking device and transported to the storage position, and a large number of pallets and pallet moving mechanisms become unnecessary. Cost reduction is possible.

  In this way, it is possible to eliminate the need for the user's entry into the interior and to simplify the structure without requiring the pallet and the pallet moving mechanism.

  And in a present Example, at the time of warehousing of the said automatic driving vehicle 4, the said signal carries out automatically that the warehousing door 6 (warehousing door 6a) which opens and closes the warehousing door 5 (warehousing mouth 5a) was opened. An open signal A transmitted to the driving vehicle 4 and a conveyance completion signal C transmitted to the automatic driving vehicle 4 that the transfer device 2 has reached the position of the storage rack 1 to store the automatic driving vehicle 4 are used. According to this configuration, at the time of storage, the automatic driving vehicle 4 gets into the transport device 2 by automatically traveling from the entry / exit port 5 (the entrance 5 a) to the transport device 2 and automatically travels from the transport device 2 to the storage rack 1 It can move smoothly.

  Further, when the automatic driving vehicle 4 is leaving, the signal is a movement completion signal E for transmitting to the automatic driving vehicle 4 that the transfer device 2 has reached the position of the storage rack 1 storing the automatic driving vehicle 4; A delivery completion signal F for transferring to the automatic driving vehicle 4 that the transfer device 2 has reached the position of the entry and exit 5 (outlet 5b), and an entry and exit for opening and closing the entry and exit (outlet 5b) It is considered as an open signal A for transmitting to the automatic driving vehicle 4 that the mouth door 6 (delivery door 6b) is opened. According to this configuration, when the automatic driving vehicle 4 leaves the storage room, the automatic driving vehicle 4 gets into the storage device 1 from the storage rack 1 by the automatic traveling by the automatic traveling, and by the automatic traveling from the conveyance device 2 to the storage opening 5 (outgoing opening 5b). It can be done smoothly.

  Furthermore, the transport device 2 has a traversing function. This configuration is effective in increasing the number of storage racks 1 and increasing the number of automatically driven vehicles 4 accommodated.

  The mechanical parking apparatus for an autonomous vehicle according to the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the present invention.

DESCRIPTION OF SYMBOLS 1 Storage shelf 2 Conveying device 3 Control device 4 Automatic operation vehicle 5 In and out port 6 In and out port door A open signal C Upon receipt Transfer complete signal E Movement complete signal F Transfer complete signal

Claims (4)

Multiple storage racks for storing self-driving self-driving cars,
A transport device having at least a lifting function to transport the automated driving vehicle between the storage rack and the storage / unloading port;
A control device for outputting a signal instructing automatic traveling between the loading / unloading port and the conveying device and automatic traveling between the conveying device and the storage rack to the autonomous driving vehicle; A mechanical parking system for autonomous driving vehicles.   At the time of storage of the automatic driving vehicle, the signal is an open signal for transmitting to the automatic driving vehicle that the inlet / outlet door for opening and closing the inlet / outlet opening has been opened, and the storage device for storing the automatic driving vehicle 2. A mechanical parking device for an autonomous driving vehicle according to claim 1, wherein the receipt time transport completion signal is transmitted to the autonomous driving vehicle to reach the position of the shelf.   At the time of leaving the automatic driving vehicle, the signal is a movement completion signal for transmitting to the automatic driving vehicle that the transfer device has reached the position of the storage shelf storing the automatic driving vehicle, and the transfer device The delivery completion signal for transferring the arrival of the position to the automatic driving vehicle, and the open signal for transferring the opening of the storage door to the automatic driving vehicle for opening and closing the storage opening and closing. 2. The mechanical parking device for an autonomous vehicle according to 2.   The mechanical parking device for an autonomous vehicle according to any one of claims 1 to 3, wherein the transfer device has a traverse function.

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