JP2018178521A - Parking device and method of controlling parking device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a parking device which has high safety during operation.SOLUTION: A parking device has: a plurality of pallets configured to be mounted with a vehicle; a driving device which moves the plurality of pallets; a control device which controls the driving device; and an imaging device which is controlled by the control device to acquire an image of a user. The control device has a control unit which generates biological information of the user from the image. The control unit is configured to limit the operation of the driving device when no user is detected by the imaging device.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a parking apparatus for parking a vehicle such as a car and a method of operating the same.

  A mechanical parking device is known as a device for parking a vehicle such as a passenger car. In particular, mechanical parking devices that can be stored three-dimensionally so as to stack vehicles are called three-dimensional parking devices, and are widely used as parking devices that can effectively use narrow sites, such as parking lots in public facilities and apartment buildings. In a typical three-dimensional parking system, a plurality of pallets for mounting a vehicle are arranged in a grid of a plurality of rows and stages. The user operates a control device for controlling the three-dimensional parking system to select a pallet. The selected pallet is transported to a position (in / out port) where it can be moved in and out while moving the other pallets in the horizontal and vertical directions as appropriate.

  When operating such a three-dimensional parking device, the user should confirm its operation in the vicinity of the three-dimensional parking device, in order to prevent an accident from occurring, until the selected pallet is safely transported to the storage port. Take measures such as emergency stop depending on the situation. That is, the security at the time of operation is secured by the user. However, since there is a limit in securing security only by the user, various ideas are applied to the three-dimensional parking apparatus. For example, Patent Literatures 1 and 2 disclose a three-dimensional parking device equipped with an interlock function for not allowing another user to operate when the user is in the three-dimensional parking device. However, in these three-dimensional parking apparatuses, the number of times the user operates the operation panel is increased compared to the conventional case, which puts a burden on the user, and the safety of the user while operating the three-dimensional parking apparatus There remains an issue in that there is no way to see if we continue to check visually.

Patent No. 5562750 gazette Patent No. 5710042

  An embodiment of the present invention aims to improve the operational safety of a three-dimensional parking apparatus. Alternatively, an embodiment of the present invention aims to reduce the burden on the user when operating the three-dimensional parking apparatus.

  One of the embodiments of the present invention is a parking device. The parking device is controlled by a plurality of pallets configured to mount the vehicle, a drive device for moving the plurality of pallets, a control device that controls the drive device, and the control device, and acquires an image of the user An imaging device. The control device has a control unit that generates biometric information of the user from the image. The controller is configured to limit the operation of the drive when the user is not detected by the imaging device.

  One of the embodiments of the present invention is a method of operating a parking device. The operation method includes capturing an image of a user by an imaging device, generating biological information of the user from the image, moving a plurality of pallets configured to mount a vehicle using a driving device, and Including limiting the operation of the drive when the user is not detected by the imaging device.

BRIEF DESCRIPTION OF THE DRAWINGS The typical front view of the parking apparatus of one Embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS The typical side view of the parking apparatus of one Embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS The typical front view and block diagram of the control apparatus of the parking apparatus of one Embodiment of this invention. The flow of the operating method of the parking apparatus of one embodiment of the present invention. The flow of the operating method of the parking apparatus of one embodiment of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS The typical front view of the control apparatus of the parking apparatus of one Embodiment of this invention. The flow of the operating method of the parking apparatus of one embodiment of the present invention. The flow of the operating method of the parking apparatus of one embodiment of the present invention.

  Hereinafter, embodiments of the invention disclosed in the present application will be described with reference to the drawings. However, the present invention can be implemented in various forms without departing from the scope of the present invention, and the present invention is not interpreted as being limited to the description of the embodiments exemplified below.

  In addition, the drawings may be schematically represented as to the width, thickness, shape, etc. of each portion in comparison with the actual embodiment in order to clarify the description, but this is merely an example, and the interpretation of the present invention There is no limitation on In the specification and the drawings, elements having the same functions as those described with reference to the drawings in the drawings may be denoted by the same reference numerals and redundant description may be omitted.

First Embodiment
[1. overall structure]
A schematic front view and a side view of a three-dimensional parking apparatus (hereinafter simply referred to as a parking apparatus) 100 which is one of the embodiments of the present invention are shown in FIGS. 1 and 2, respectively. Here, the front view is a view seen from the side of the entry and exit of the parking device 100.

  The parking apparatus 100 has its main structure constituted by a plurality of columns 102 and a plurality of beams 104 connected to the columns 102, and a plurality of pallets 106 on which vehicles (described by dotted lines) are mounted are installed in the main structure. Be done. In the main structure, the pallet 106 provides a parking space stacked in multiple tiers in the vertical direction. In the parking device 100 shown in FIGS. 1 and 2, the pallets 106 are stacked in three tiers, and the first tier is located at substantially the same height as the road surface 126. Although not shown, the parking apparatus 100 may be configured such that the pallet 106 is also installed below the road surface 126, ie, underground.

  The pallets 106 are each fixed to the frame 120, and the frame 120 and the pallet 106 are moved by the first driving device 108. For example, the first drive device 108 is connected to the drum 110, and when the first drive device 108 is driven, the drum 110 is rotated by a motor (not shown). A cable (or chain) 112 is wound around the drum 110, and the pallet 106 is connected to the first driving device 108 by the cable 112. The cable 112 is taken up or pulled out by the rotation of the drum 110 so that the pallet 106 can be moved up and down along the support 102.

  In addition, the frame 120 of the first stage or the second stage is installed on a rail 122 extending laterally through the wheel 124. The first drive 108 drives the wheel 124 so that the pallet 106 can be moved laterally with the frame 120.

  In the present embodiment, the elevation and lateral movement of the pallet 106 are both driven by the first drive device 108, but the embodiment of the present invention is not limited thereto. For example, raising and lowering and lateral movement of the pallet 106 may use different drive devices. In this case, the entire device for driving the vertical movement and the lateral movement of the pallet 106 can also be recognized as a first driving device.

  As shown in FIGS. 1 and 2, the parking apparatus 100 further includes a gate 130 on the side of the storage / entry port and a second drive device 132 for driving the gate 130. The gate 130 is connected to the second drive 132 by a cable 134, and the cable 134 is wound around a drum (not shown). The second driving device 132 rotates the drum and winds up or pulls out the cable 134, thereby moving the gate 130 up and down to open and close the gate 130. Usually, the gate 130 is closed and set so that a person does not intrude into the parking device 100. On the other hand, the gate 130 is opened at the time of entering and leaving the vehicle.

[2. Control device]
The parking device 100 is provided with a control device 140, through which the parking device 100 is operated by the user. The controller 140 can be provided, for example, on one of the columns 102. An example of the control device 140 is shown in FIG. As shown in FIG. 3A, the control device 140 can be provided with a power switch 142, an operation panel 144, an emergency stop button 148, an imaging device 146, and the like. Also, as an optional configuration, a human sensor 149 may be provided. Although not shown, a door may be provided to protect the control device 140.

  A key for operating the parking device 100 is inserted into the power switch 142, and the power is supplied to the control device 140 by rotating the switch thereafter, whereby the operation of the parking device 100 is started.

  For example, a display device equipped with a touch sensor can be used as the operation panel 144, a display area 144_1 for displaying a garage number on a display surface of the display device, ten keys 144_2 for selecting a pallet 106, and operation Can be displayed, for example. Although details will be omitted, the ten key 144_2 and the command key 144_3 may be configured by mechanical buttons or switches.

  After the selected pallet 106 moves to the loading / unloading opening, the second driving device 132 is automatically operated, and the gate 130 is opened. Alternatively, although not shown, a command key for driving the second driving device 132 to open the gate 130 may be separately provided. After the gate 130 is opened, the user enters the parking device 100, drives the vehicle, and exits the parking device 100. Thereafter, the user operates the control device 140 again to close the gate 130. Specifically, the second drive device 132 is operated by operating the command key 144_3 (for example, storage key), and the gate 130 is closed.

  The emergency stop button 148 is a button for stopping the operation of the parking device 100 when an abnormality occurs when the pallet 106 is moved or when the gate 130 is opened and closed. For example, when the pallet 106 and the vehicle interfere, the gate 130 and the vehicle contact, or a person intrudes into the parking device 100 while the parking device 100 is in operation, the user operates the emergency stop button 148 to perform the first operation. The operation of the drive 108 and the second drive 132 can be stopped.

  The imaging device 146 has a function of capturing an image, and for example, a photodiode such as an avalanche photodiode (APD) or a photodiode (PD) including a bipolar transistor, a photomultiplier tube (PMT), a charge coupled device (CCD) Cameras including image sensors such as image sensors and complementary metal oxide semiconductor (CMOS) image sensors can be used. By using the imaging device 146, an image of a user operating the control device 140 can be captured.

  The human sensor 149 is a space sensor that responds when a person approaches the parking device 100 or the control device 140, and can use an infrared sensor, a visible light sensor, an ultrasonic sensor, or the like. The control device 140 may be configured to drive the operation panel 144 when the human sensor 149 detects an approach of a person. Thus, even when the vicinity of the control device 140 is dark, the user can easily recognize the control device 140 and the power switch 142.

  A block diagram of the control device 140 is shown in FIG. 3 (B). The control device 140 can include a control unit 150, a storage unit 152, an imaging unit 154, a display / input unit 156, and the like. The imaging unit 154 includes the imaging device 146 described above, and the display / input unit 156 includes a display device on which a touch sensor is mounted. The control unit 150 controls the entire control device 140.

  The image captured by the imaging device 146 is converted into data of 1 or 0 in the imaging unit 154, and transmitted to the control unit 150. The signal sequence is processed in the control unit 150 and used to generate biometric information of the user. For example, a face is detected from the captured image using an algorithm such as the Viola-Jones method or a general learning vector quantization method. Next, candidates for feature points are detected for each feature, and positions of feature points are detected from the face shape model. Thereafter, biological information can be generated from the image of the user's face by creating a posture variation image using a face shape model and a lighting variation image using a lighting model. The generated biological information can be stored in the storage unit 152 in accordance with an instruction of the control unit 150.

  The command from the user input through the display / input unit 156 is transmitted to the control unit 150. The control unit 150 generates an instruction signal according to the received instruction. For example, from the arrangement of the pallet 106 at the time of receiving the command from the user, the procedure for moving the pallet 106 selected by the user to the loading / unloading opening is calculated earliest, and the command signal corresponding to the procedure is generated. It transmits to the first drive unit 108 and the second drive unit 132. The first drive unit 108 and the second drive unit 132 are driven according to the command signal.

[3. operation]
The flow of the operation of the parking device 100 is shown in FIG. 4 and FIG. Here, an operation of the user selecting the pallet 106 and taking out the vehicle stored on the selected pallet 106 from the parking device 100 will be described.

  First, when the user operates the power switch 142 using a key to supply power to the control device 140, the imaging device 146 starts imaging. At the start of the operation of the parking apparatus 100, the user usually faces the control device 140, so that it is possible to precisely obtain an image of the user, in particular an image of a face. The biometric information of the user is created as reference information from the data of the obtained image, and stored in the storage unit 152 (160).

  Thereafter, the user inputs the number of the pallet 106 to be selected using the ten key 144_2, and confirms the correctness of the input in the display area 144_1. Subsequently, when the user operates the command key 144_3 (here, the call key) (162), an instruction from the user is transmitted to the control unit 150. As described above, the control unit 150 calculates a procedure for moving the selected pallet 106 to the loading / unloading port, and the first drive device 108 is driven according to this procedure.

  The imaging unit 154 continues imaging using the imaging device 146. Imaging may be performed at regular intervals, and in this case, imaging may be performed at intervals of, for example, every second, every five seconds, every ten seconds, or the like. The acquired image data is sequentially transmitted to the control unit 150. The control unit 150 collates the biological information obtained from the data of the image with the reference information, and determines whether the user who operates the parking apparatus 100 is included in the captured image, that is, whether the user can detect To judge.

  When the user is detected, the control unit 150 determines that the safety confirmation by the user is performed near the parking apparatus 100 or the control device 140, and the movement of the pallet 106 is started and maintained (166). The imaging device 146 continues to repeat the imaging operation until the movement of the pallet 106 is completed, and the control unit 150 repeatedly determines whether the user can detect it. While the user is being detected, the movement of the pallet 106 is maintained.

  On the other hand, when the user can not detect, the control unit 150 determines that the user is in a place where safety confirmation of the parking device 100 can not be performed. According to this determination, control unit 150 transmits a command for limiting the operation of first drive unit 108 to first drive unit 108. According to this command, the first drive unit 108 does not start moving or stops moving the pallet 106 (168). The control unit 150 may control the first drive device 108 so as to reduce the moving speed of the pallet 106 without stopping the first drive device 108. Further, at this time, a warning sound may be emitted using an audio output unit (not shown) provided in the control device 140.

  When the movement of the pallet 106 is not started or the movement is stopped, the user operates the ten key 144_2 and the command key 144_3 of the control device 140 again to resume the delivery operation (162). At this time, the control device 140 may be configured to perform a user authentication operation. That is, the image of the user may be acquired again by the imaging device 146, and the biological information may be generated from the image. It is determined whether this biometric information matches the reference information, and if it is determined that the information matches, the drive of the first drive device 108 is resumed, and if it does not match, the first drive device 108 The controller 140 can be configured to maintain the stopped state.

  When the movement of the pallet 106 is completed, the control unit 150 tries to detect the user again. If the user is detected, the control unit 150 transmits an instruction to open the gate 130 to the second driving device 132. Thereby, opening of the gate 130 is started (170). Also in this case, similarly, acquisition of image data by the imaging device 146, generation of biological information by the control unit 150, and detection of a user are repeated until the opening of the gate 130 is completed. If a user is detected, the opening operation of the gate 130 is maintained. After the opening of the gate 130 is completed, the user takes out the vehicle (172).

  On the other hand, when the user can not detect after completion of the movement of the pallet 106, the control unit 150 determines that the user is in a place where safety confirmation of the parking device 100 can not be performed, and limits the operation of the second drive device 132. Transmit an instruction. Similar to the movement of the pallet 106, this command causes the second drive 132 not to start or stop opening the gate 130 (174). Therefore, the user operates the control device 140 again, and performs an operation to start or restart the opening of the gate 130 (176). Also in this case, as in the operation of the pallet 106, the user authentication operation may be performed again. When the user is authenticated by the authentication operation, the control unit 150 re-drives the second driving device 132, whereby the opening of the gate 130 is resumed. If not authenticated, the second drive device 132 is stopped or the opening speed is kept low. The instruction for limiting the operation of the second driving device 132 may be an instruction for reducing the moving speed of the gate 130. Further, as in the case of movement of the pallet 106, the control unit 150 may be configured to emit a warning sound using an audio output unit (not shown) provided in the control device 140 when the user can not detect.

  After leaving the vehicle (172), the user starts closing the gate 130 (FIG. 5). That is, the command key 144_3 (here, the storage key) of the control device 140 is operated (178). By this operation, the control unit 150 receives the closing command of the gate 130. At this time, as with the operation of the pallet 106, the control unit 150 attempts to detect the user again. If a user is detected, the control unit 150 sends an instruction to the second drive 132 to close the gate 130. This initiates the closing of the gate 130 (180). Also, the control unit continues detecting the user until the closing of the gate 130 is completed. If a user is detected, the closing operation of the gate 130 is maintained. Completion of closing of the gate 130 completes a series of delivery operations.

  On the other hand, when the user can not detect, the control unit 150 determines that the user is in a place where safety confirmation of the parking device 100 can not be performed. In this case, the closing of the gate 130 is not initiated or stopped 182. Therefore, the user operates the control device 140 again to operate the command key 144_3 for starting or resuming the storage operation (178). At this time, as in the case described above, the user may be authenticated again.

  Although details will be omitted, storage of the vehicle by the user can also be performed according to the same flow.

  As described above, in order to prevent the occurrence of an accident, the user performs safety confirmation near the parking device at the time of operation of the parking device. However, depending on the arrangement of pallets 106 before operation, it may take a relatively long time to move the selected pallets 106 to the loading / unloading opening. For this reason, some users may temporarily leave the parking device while the pallet 106 is moving, and as a result, the operation of the parking device may not be monitored sufficiently.

  However, in the present embodiment, biological information of the user is acquired when the operation of the parking device 100 is started, and the user is detected during operation of the parking device 100 using this information to determine the presence or absence of the user. When it is determined that the user does not exist in the vicinity of the parking device 100, the operation of the parking device 100 is stopped or the operation speed is reduced. For this reason, in a situation where safety confirmation by the user is not performed, the operation of the parking apparatus is not permitted or the operation speed is reduced, so that high safety can be secured and at the same time the user can make awareness about safety. it can.

[4. Modified example]
The imaging device 146 does not necessarily have to be incorporated in the control device 140. For example, as shown in FIGS. 1 and 2, the remote imaging device 147 installed on the support 102 may be used for the imaging unit 154. Further, the remote imaging device 147 does not have to be installed directly on the parking device 100, and may be installed at a position where it can cover a place where the safety of the parking device 100 can be sufficiently confirmed. Alternatively, the imaging device 146 may be provided at or near the control device 140 in order to accurately acquire the user's face information, and a remote imaging device 147 for imaging a wider area may be separately provided. In this case, the reference information is generated from the data of the image acquired by the imaging device 146, and the detection of the user is generated from the data of the image acquired from the remote imaging device 147 or both the remote imaging device 147 and the imaging device 146 This can be done by collating the biological information with the reference signal.

Second Embodiment
In the delivery and storage method of the first embodiment, biometric information of the user is generated from an image of the user's face, and whether the user can detect based on the biometric information, that is, the user exists near the parking apparatus 100 Decide whether or not to do it, and conduct thorough safety checks. On the other hand, in the present embodiment, the line of sight of the user or the direction of the face is acquired from the biological information of the user, and the operation of the parking apparatus 100 is controlled based on this.

  When controlling the operation of the parking device 100 using the direction of the user's face, for example, the control unit 150 extracts feature points from the image captured by the imaging device 146, and applies a face shape model to both eyeballs and two nasal cavities Identify the location of Further, the center point of the nose is determined from the position of the nasal cavity, and two points at which a straight line parallel to the horizontal plane passing the center point and the contour of the face intersect are detected. The orientation of the user's face can be calculated from these two points and the center point of the nose.

  When controlling the operation of the parking device 100 using the line of sight of the user, the control device 190 shown in FIG. 6 may be used. The controller 190 differs from the controller 140 in having a near infrared light source 192 and in that the imaging device 146 can detect near infrared light. The near infrared light emitted from the near infrared light source 192 can be reflected on the corneal surface of the user's eye and observed as a white point (reflection point). This point can be adopted as a reference point because it does not change with the orientation of the eye. On the other hand, the position of the pupil observed at the lowest luminance changes depending on the line of sight. Therefore, by determining the position of the pupil and the coordinates of the reference point, it is possible to determine the three-dimensional orientation of the eye, that is, the line of sight. For example, feature points are extracted from the image captured by the imaging device 146, and a face shape model is applied to specify the positions of the eyeballs of both eyes. Thereafter, the position of the pupil and the position of the reflection point are detected to determine the line of sight.

  The operation of the pallet 106 or the gate 130 may be stopped by using whether the user's face or line of sight is facing at least one of the pallet 106 as a criterion of determination. That is, when the control unit 150 determines that the user's face or line of sight is directed to at least one of the pallets 106, the operation of the pallets 106 and the gate 130 is maintained. On the other hand, when it is determined that the user's face or line of sight is not directed to any of the pallets 106, the operation of the pallets 106 and the gate 130 is not started or stopped.

  By applying the parking device 100 described in the present embodiment or the operation method thereof, it is possible to strictly monitor the safety confirmation operation of the user, and it is possible to provide a parking device having higher security. .

Third Embodiment
In the delivery and storage method described above, the user turns on the control device 140 using the key, and performs the selection operation of the pallet 106 using the operation panel 144. On the other hand, in the present embodiment, the user is authenticated based on biological information obtained from the image of the user's face. Thus, a method of operating the parking device more simply is provided.

  The flow of the operation method of the parking apparatus according to the present embodiment is shown in FIG. 7 and FIG.

  First, the user registers biometric information and the number of the pallet 106. Specifically, the controller 140 is turned on using a key. Thereby, as described in the first embodiment, the image of the face by the imaging device 146 is acquired, and the biological information of the user is generated from the acquired image. This biometric information is stored in the storage unit 152 as reference information (190).

  Thereafter, the user inputs the number of the pallet 106 (192), and touches the command key 144_3 for registration (here, the registration key) displayed on the operation panel 144. As a result, the stored biometric information and the number of the pallet 106 are assigned to this user, and registration of the user is performed (194). Although not shown, a command key 144_3 for confirming or canceling the assignment may be appropriately displayed.

  When the user takes out and stores (FIG. 8), the key is first used to turn on the control device 140. According to this operation, the control device 140 acquires an image of the face of the user as described in the first embodiment, detects a feature point, and generates biometric information of the user (200).

  The biological information generated at this time is collated with the reference information stored in the storage unit 152. When the reference information of a plurality of users is stored, collation with all the reference information is performed. In matching, various algorithms such as linear discriminant analysis and hidden Markov models can be applied. If it is determined that the biometric information and one of the reference information match, it is considered that the user has been authenticated, and the control unit 150 sets a first signal for moving the pallet 106 having the registered number to the storage / retrieval opening. To the driving device 108 of As a result, the delivery operation is started (202). If authentication can not be performed, the operation of the parking device is not permitted. Since the subsequent flow is the same as the flow described in the first embodiment, the description will be omitted.

  By applying the present embodiment, for example, it is possible to prevent an operation by a user who illegally obtained a key for operating the control device 140 or an operation by a child or the like, thereby providing a safer parking apparatus. can do. In addition, once the user registers biometric information and a pallet number, it is not necessary to input the pallet number for each storage and storage, so that the operational burden can be greatly reduced.

  Further, the control device 140 may be configured to supply power when the human sensor 149 described in the first embodiment senses the approach of a person. In this case, as described above, since the user's reference information and the pallet 106 number have already been assigned to the user by the first registration, simply operating the command key 144_3 for sending a delivery instruction after the authentication is completed. , Movement of the pallet 106 can be started. That is, the user can perform storage operation without using the key, and can enjoy high convenience.

  The embodiments described above as the embodiments of the present invention can be implemented in combination as appropriate as long as they do not contradict each other. In addition, those to which a person skilled in the art appropriately adds, deletes, or changes the design of components based on each embodiment are also included in the scope of the present invention as long as the gist of the present invention is included.

  In addition, even if other functions and effects different from the functions and effects provided by the above-described embodiments are apparent from the description of the present specification or those that can be easily predicted by those skilled in the art, it is natural. It is understood that the present invention provides.

  100: parking device, 102: post, 104: beam, 106: pallet, 108: first drive device, 110: drum, 112: cable, 120: frame, 122: rail, 124: wheel, 126: road surface, 130 : Gate, 132: Second drive device, 134: Cable, 140: Control device, 142: Power switch, 144: Operation panel, 144_1: Display area, 144_2: Numeric keypad, 144_3: Command key, 146: Imaging device, 147 : Remote imaging device, 148: Emergency stop button, 150: Control unit, 152: Storage unit, 154: Imaging unit, 156: Display / input unit, 158: Display unit, 190: Control device, 192: Near infrared light source

Claims (16)

A plurality of pallets configured to mount a vehicle;
A drive for moving the plurality of pallets;
A control device that controls the drive device;
It has an imaging device which is controlled by the control device and acquires an image of the user,
The control device has a control unit that generates biological information of the user from the image,
The parking device, wherein the control unit is configured to limit the operation of the drive when the user is not detected by the imaging device. A gate installed before at least one of the pallets;
It further comprises a second driving device for moving the gate,
The parking device according to claim 1, wherein the control unit is further configured to limit the operation of the second drive when the user is not detected by the imaging device.   The parking apparatus according to claim 1, wherein the control unit is further configured to emit an alarm to the control device when the user is not detected by the imaging device.   The parking apparatus according to claim 1, wherein the image is an image of a face of the user.   The parking apparatus according to claim 1, wherein the control unit is further configured to acquire at least one of a gaze and a face direction of the user from the image.   The controller according to claim 5, wherein the control unit is further configured to stop the drive when at least one of the sight line and the face orientation of the user is not directed to at least one of the pallets. Parking equipment. The control device further includes a memory unit that stores the biological information.
The parking apparatus according to claim 1, wherein the control unit is configured to register the stored biological information. The control unit further
Collating the image acquired by the imaging device with the registered biometric information;
The parking device according to claim 7, configured to allow operation of the control device if the user is authenticated by the matching. Capturing an image of a user by an imaging device;
Generating biometric information of the user from the image;
Moving a plurality of pallets configured to load a vehicle using a drive, and limiting operation of the drive when the user is not detected by the imaging device Control method. Moving the at least one previously installed gate of the pallet with a second drive, and limiting the operation of the second drive when the user is not detected by the imaging device The control method of the parking apparatus according to claim 9, comprising:   The control method of the parking apparatus according to claim 9, further comprising emitting a warning sound when the user is not detected by the imaging device.   The control method of the parking apparatus according to claim 9, wherein the image is an image of a face of the user.   The control method of the parking apparatus according to claim 9, further comprising acquiring at least one of the line of sight and the direction of the face of the user from the image.   The method according to claim 13, further comprising stopping the drive when at least one of the user's line of sight and the face orientation do not face at least one of the pallet.   The control method of the parking apparatus according to claim 9, further comprising storing and registering the biological information. Collating the image acquired by the imaging device with the registered biometric information;
The method according to claim 15, further comprising: allowing movement of the plurality of pallets if the user is authenticated by the collation.

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