JP2019002246A - Object movement detection device and mechanical type parking facility provided with the same, and vehicle movement detection method thereof - Google Patents

Abstract

To provide an object movement detection device capable of appropriately detecting an object moving position on an entering and exiting part or the like.SOLUTION: An object movement detection device is the device detecting a movement position of an object on a preset detection area, and comprises: a partitioned detection area setting part that sets the detection area as partitioned detection area partitioning the same to plural areas in the object movement direction; and a detection part that detects the object on the partitioned detection area. The object movement detection device is configured to detect the movement position of the object by changing the partitioned detection area to the object movement direction on the basis of an object detection on the partitioned detection area at an object detection start side with the detection part.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an object movement detection device provided in an entrance / exit of a mechanical parking facility, a mechanical parking facility including the same, and a vehicle movement detection method thereof.

  Conventionally, there is an entry / exit part of a mechanical parking facility, for example, which needs to detect the movement of an object. This storage / exit section will be described below as an example. In the loading / unloading section of the mechanical parking facility, it is necessary to detect the presence / absence of the vehicle, the stop position, etc. when the vehicle is loaded / unloaded. In the case of many mechanical parking facilities, a plurality of sensors (for example, photoelectric sensors) are arranged in the moving direction (incoming / outgoing direction) of the vehicle, and the incoming position of the vehicle is detected at the position of the sensor blocked by the vehicle. .

  In addition, the entrance / exit section of the mechanical parking facility is provided with a detection sensor that detects an object other than a vehicle, and monitoring of people and objects remaining in the entrance / exit section is performed. However, when monitoring the remainder of a person or an object, the stopping position and size of the warehousing vehicle are different each time, so it is difficult to monitor the remainder in an area near the vehicle such as on a pallet.

  For example, as this type of prior art, the distance to an object existing in a preset reference area is measured and output, and a monitoring unnecessary area is set in the reference area based on the output, and monitoring is not required from the reference area There is a technique in which a monitoring area is set in an area other than the area, and it is determined whether or not an object including a human body exists in the monitoring area (see, for example, Patent Document 1).

  In addition, as another prior art, a boarding area at the time of vacancy is stored in advance, vehicle contour data is obtained from the difference from the time of vacancy after the vehicle stops, and an area excluding the vehicle from the boarding area is referred to as a remaining monitoring area. (For example, refer to Patent Document 2).

JP 2013-228343 A JP 2014-80735 A

  However, the above-mentioned patent document 1 sets the monitoring area in a range excluding the monitoring unnecessary area after measuring the distance to the object in the preset reference area and setting the monitoring unnecessary area. It is related to the monitoring area setting after the object stops, and it is difficult to detect the moving position of the object such as a vehicle.

  Since the above-mentioned Patent Document 2 needs to store a boarding / alighting area at the time of vacancy, usable area detection devices are limited. Further, since the two-dimensional shape data is processed, the control may be complicated. Furthermore, it is difficult to detect the movement position of an object such as a vehicle.

  Therefore, an object of the present invention is to provide an object movement detection device that can appropriately detect the movement position of an object in an entry / exit section or the like, a mechanical parking facility including the same, and a vehicle movement detection method thereof.

  In order to achieve the above object, an object movement detection apparatus according to the present invention is an object movement detection apparatus that detects a movement position of an object in a preset detection area, wherein the detection area is set in the movement direction of the object. A division detection region setting unit that sets a division detection region divided into a plurality of regions; and a detection unit that detects the object in the division detection region, and the division detection on the detection start side of the object by the detection unit. Based on the detection of the object in the area, the division detection area is switched to the movement direction of the object, and the movement position of the object is detected by the detection unit. “Object” in this specification and claims includes “vehicle”, “conveyor” and the like.

  With this configuration, the entire detection area is divided into a plurality of divided detection areas divided in the moving direction of the object, and the object is detected by switching the divided detection area to the moving direction by detecting that the object has entered the divided detection area. Thus, the moving position of the object can be detected from the divided detection area for detecting the object. Therefore, an object such as a vehicle can be guided to a predetermined position such as a stop position with a small configuration, and the number of existing sensors can be reduced.

  Further, the detection area has a plurality of the divided detection areas that become smaller toward the back side in the moving direction of the object, and the detection unit moves the divided detection area to the back side as the object is detected. It may be configured to switch to the division detection region and detect the movement of the object.

  With this configuration, after detecting that an object has entered the detection area, it is possible to detect the object by switching the division detection area to a division detection area that decreases in the moving direction. From this, it is possible to detect the moving position of the object.

  The detection area includes a plurality of the division detection areas that increase toward the back side in the moving direction of the object, and the detection unit moves the division detection area to the back side in accordance with the detection of the object. It may be configured to switch to the division detection region and detect the movement of the object.

  With this configuration, after an object leaves the detection area and becomes non-detected, the divided detection area can be switched to a divided detection area that increases in the moving direction, and the object can be detected. The moving position of the object can be detected from the divided detection area.

  In addition, the detection unit is provided at least on the back side and the entrance side in the moving direction of the object, and the detection unit on the entrance side has a plurality of the size that increases in the moving direction of the object up to a central portion of the detection region. The detection unit on the back side is set to a plurality of division detection regions that are set in the division detection region and become smaller in the moving direction of the object from the central portion of the detection region, and the detection unit on the entrance side is the object As the detection becomes non-detection, the division detection area is switched to the large division detection area to detect the movement of the object up to the central portion of the detection area, and the detection unit on the back side detects the center of the detection area. The division detection area may be switched to a smaller division detection area in accordance with detection of the object from a part, and the movement of the object may be detected to the far side of the detection area.

  With this configuration, after detecting that an object has entered the detection area, the object is detected by switching to a divided detection area that becomes large up to the center of the detection area as the object becomes undetected. Since the object is detected by switching from the central part to the divided detection area that becomes smaller with the detection of the object, the movement position of the object is appropriately adjusted by different detection units on the back side and the entrance side across the central part of the detection area It can be detected. “Up to the central portion” and “from the central portion” of the detection region may be in the vicinity of the central portion, and include a case where there is an interval between the two portions and a case where both portions overlap.

  In addition, the detection unit is provided at least on the back side and the entrance side in the moving direction of the object, and the detection unit on the entrance side has a plurality of the divided detection regions that increase in the moving direction of the object in the detection region. The detection unit on the back side is set to a plurality of the divided detection regions that become smaller in the moving direction of the object in the detection region, and the detection unit on the entrance side is configured to make the object non-detection. Accordingly, the division detection area is switched to the large division detection area to detect the movement of the object, and the detection unit on the back side changes the division detection area to the small division detection area as the object is detected. The movement of the object is switched to detect the movement position of the object by the detection unit on the entrance side and the movement position detection result of the object by the detection unit on the back side. Reached It may be configured to detect that the.

  If comprised in this way, the movement position of the rear part of an object will be detected by the detection part of an entrance side, the movement position of the front part of an object will be detected by the detection part of a back side, and an object will be predetermined by cooperation of these detection results. It can be detected that the position has been reached.

  On the other hand, the mechanical parking facility according to the present invention is a mechanical parking facility provided with any of the object movement detection devices, and includes the object movement detection device in a loading / unloading unit for loading and unloading vehicles. The moving position of the vehicle in the entry / exit section is detected by the object movement detection device to detect the warehousing position of the vehicle, and the vehicle is guided to a predetermined stop position based on the detection result of the object movement detection device. It is configured.

  With this configuration, since the moving position of the vehicle can be detected by the object movement detection device, the moving object detection device can be guided to stop the vehicle at an appropriate position. Thereby, the sensor in a storage / exiting part can be reduced and the cost of equipment can be reduced.

  Further, the object movement detection device detects that the vehicle has stopped at a predetermined position, and the object movement detection device sets the division detection set on the back side with respect to the vehicle stop position by switching based on the detection of the vehicle. The region may be configured to be set as an object monitoring region.

  If comprised in this way, an object can be monitored in the more suitable area | region of the vehicle back side by the division | segmentation detection area | region switched as a result of vehicle guidance.

  Further, the object movement detection device detects that the vehicle has stopped at a predetermined position, and the object movement detection device is set on the entrance side with respect to the vehicle stop position selected by switching based on detection of the vehicle. The division detection area in which the back side boundary part is adjacent to the entrance side of the back side boundary part of the division detection area may be configured to be set as the object monitoring area.

  If comprised in this way, an object can be monitored in the more suitable area | region on the vehicle entrance side by the division | segmentation detection area | region switched as a result of vehicle guidance.

  Further, the object movement detection device is provided at a right position and a left position with respect to a stop position of the vehicle of the storage / exit section, and each of the object movement detection devices is provided with a vehicle stop position. Either the right position or the left position may be set in the fixed object monitoring area.

  According to this structure, the right and left positions of the vehicle stop position are fixed by the object movement detection devices provided at the right position and the left position with respect to the stop position of the vehicle in the loading / unloading section. It can be set as a fixed object monitoring area defined in (1).

  On the other hand, a vehicle movement detection method according to the present invention is a vehicle movement detection method for detecting a movement position of a vehicle in a loading / unloading section of a mechanical parking facility, and a detection area is provided in a detection section provided in the loading / unloading section. The detection area is set as a plurality of division detection areas by dividing the detection area at predetermined intervals in the moving direction of the vehicle, and the division detection area is detected by the detection unit detecting the vehicle in one of the division detection areas. Is switched to the moving direction of the vehicle, and the vehicle is detected in each of the division detection areas.

  With this configuration, by detecting the vehicle in the division detection area, the division detection area can be switched to the movement direction of the vehicle, and by detecting the vehicle in each division detection area, the movement position of the vehicle in the storage / exit section can be detected It is possible to guide the vehicle to stop at an appropriate position when the vehicle is received. Thereby, it is possible to reduce the cost of equipment by reducing the number of sensors.

  In addition, after the movement position of the vehicle is detected from the entrance side portion to the center portion of the detection region by the detection unit provided on the entrance side of the detection region, The detection unit may be configured to detect from the center portion of the detection region to the back side portion.

  If comprised in this way, after detecting from the detection start position of a detection area to the center part by the detection part by the side of an entrance, it can detect from the center part to the back side of a detection area by the back side detection part. Thereby, an object can be detected in a fine division detection area by each detection part.

  Further, after detecting that the vehicle has stopped at an appropriate position, the division detection area on the entrance side and the back side with respect to the stop position of the vehicle may be set as an object monitoring area.

  According to this configuration, the divided detection area obtained by dividing the monitoring area, which is switched according to the movement of the vehicle, can be set as the object monitoring area for monitoring the object. Therefore, even if the size of the vehicle and the stop position are different. The object monitoring area can be set appropriately.

  According to the present invention, since the movement position of an object such as a vehicle can be detected by the object movement detection device, it is possible to reduce costs by reducing sensors such as existing vehicle guidance sensors.

FIG. 1 is a drawing showing a loading / unloading part of a mechanical parking facility according to an embodiment including the present invention, (A) is a schematic view in plan view, and (B) is a front view of a position guide lamp. . FIG. 2 is a schematic plan view showing movement detection by an object detection sensor on the back side in the loading / unloading unit shown in FIG. FIG. 3 is a schematic plan view showing movement detection by the object detection sensor on the entrance side in the loading / unloading section shown in FIG. 4 (A) to 4 (G) are schematic diagrams sequentially illustrating vehicle warehousing guidance by the object detection sensor illustrated in FIGS. FIGS. 5A to 5D are schematic diagrams illustrating a vehicle detection state by the object detection sensor illustrated in FIG. 4. 6A to 6C are diagrams illustrating an operation example of the object detection sensor on the back side when the object detection sensor illustrated in FIGS. FIGS. 7A to 7D are diagrams illustrating an operation example of the object detection sensor on the entrance side when the object detection sensor illustrated in FIGS. FIG. 8 is a schematic plan view showing different movement detections by the object detection sensor in the entrance / exit of the mechanical parking facility shown in FIG. FIG. 9 is a schematic diagram illustrating a setting example of an object monitoring area based on a movement detection result by the object detection sensor illustrated in FIG.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following embodiment, the object movement detection device 10 provided in the loading / unloading unit 3 of the mechanical parking facility 1 will be described as an example. The mechanical parking facility 1 will be described by taking a pallet type as an example. It should be noted that the concepts of “entrance side”, “back side”, “right side”, and “left side” in the documents of this specification and claims are the respective sides shown in FIG. The vehicle V is indicated by a rectangular frame.

(Configuration of entry / exit section in mechanical parking equipment)
1A and 1B are views showing a loading / unloading unit 3 of a mechanical parking facility 1 according to an embodiment, wherein FIG. 1A is a schematic view in plan view, and FIG. 1B is a front view of a position guide lamp. As shown in FIG. 1 (A), this mechanical parking facility 1 is provided with a loading / unloading port 4 on the entrance side O of a parking tower 2 formed in a rectangular shape, and the inside is a loading / unloading section 3. . A pallet 5 is arranged in the center of the loading / unloading unit 3.
Further, on the back side I of the loading / unloading unit 3, a table 6 for reflecting the vehicle V and a position guide lamp 7 are provided. As shown in FIG. 1 (B), the position guide lamp 7 of this embodiment is provided with [forward] 7a, [stop] 7b, and [reverse] 7c indicator lights.

  In addition, the loading / unloading unit 3 includes object detection sensors 11 and 12 that are detection units for detecting an object. A first object detection sensor 11 is provided at a corner on the back side I in the rectangular entrance / exit section 3, and a second object detection sensor is provided at a corner on the inlet side O that is diagonal to the first object detection sensor 11. 12 is provided. As the first object detection sensor 11 and the second object detection sensor 12, for example, a laser type range sensor (a sensor that scans a laser beam to detect the position of an object) can be used. When a laser range sensor is used for the first object detection sensor 11 and the second object detection sensor 12, a wide range of detectable areas can be divided into arbitrary sections. By setting the detection area to the detection area E shown in FIG. 1, no detection signal is output even if an object exists outside the detection area E. The detection area E can be set to a range partitioned in plan view. The object detection sensors 11 and 12 can be set in a planar space defined by a predetermined height (for example, 150 mm to 250 mm above the ground) from the floor surface of the warehouse 3. The laser range sensor does not detect a dynamic change, but can detect an object that reflects outgoing light (radio waves are also acceptable) existing in the detection region E.

  The detection area E of the first object detection sensor 11 and the second object detection sensor 12 can arbitrarily set the sizes of divided detection areas E1 to E5 (E6) and E11 to E15 (E16) described later. For example, the detection area E can be set to a divided detection area divided into 20 to 30 in the moving direction W of the vehicle V. The number of division detection areas of the first object detection sensor 11 and the number of division detection areas of the second object detection sensor 12 may be the same or different. In addition, the division detection area may be divided at a fine interval between the entrance side O and the back side I and at a wide interval at the center portion. The first object detection sensor 11 and the second object detection sensor 12 only need to be able to detect an object whose state changes in the storage / exit section 3 (an object that causes presence / absence or movement).

  The first object detection sensor 11 of this embodiment is provided from the back corner of the loading / unloading unit 3 toward the entrance side of the loading / unloading unit 3. Further, the second object detection sensor 12 is provided from the entrance-side corner of the loading / unloading unit 3 toward the back side of the loading / unloading unit 3. The detection area E detected by the first object detection sensor 11 and the second object detection sensor 12 includes a range of the pallet 5 in the loading / unloading unit 3 and is set to a size including a range in the front, rear, left, and right. This detection area E is a so-called boarding / alighting range where a user using the mechanical parking facility 1 may move.

  Moreover, in this embodiment, the control part 13 of the object detection sensors 11 and 12 is provided in the loading / unloading part 3. FIG. The control unit 13 includes a processor, a volatile memory, a nonvolatile memory, an I / O interface, and the like. The control unit 13 is also a division detection area setting unit for the object detection sensors 11 and 12. The division detection area setting unit is realized by a processor performing arithmetic processing using a volatile memory based on a program stored in a nonvolatile memory. The object movement detection device 10 includes these object detection sensors 11 and 12 and a control unit 13.

(Example of object detection sensor division detection area setting)
FIG. 2 is a schematic plan view showing a detection area E by the first object detection sensor 11 on the back side I in the loading / unloading section shown in FIG. FIG. 3 is a schematic plan view showing a detection area E by the second object detection sensor 12 on the entrance side O in the warehouse shown in FIG. In these drawings, for easy understanding, the division detection areas E1 to E5 and E11 to E15 are described with a small number of divisions by widening the divided ranges. Similarly, in the drawing, the division detection areas E1 to E5 and the division detection areas E11 to E15 are shifted in the left-right direction. The number of the detection areas E of the first object detection sensor 11 and the second object detection sensor 12 can be divided into 20 to 30 as described above.

  The first object detection sensor 11 on the back side I shown in FIG. 2 is set in the division detection areas E1 to E5 in the moving direction W of the vehicle V in this example. The division detection area E1 is the entire detection area in the movement direction W. The division detection area E2 is a range that is smaller than the entire detection area by a predetermined amount. In other words, it is only necessary that the entrance-side boundary portion of E2 is located on the back side from the entrance-side boundary portion of the boundary portion that divides the division detection region E1. The same applies to E3 to E5. The division detection area E3 is a range that is smaller than the division detection area E2 by a predetermined amount. The division detection area E4 is a range that is smaller than the division detection area E3 by a predetermined amount. The division detection area E5 is a range that is smaller than the division detection area E4 by a predetermined amount.

  According to the first object detection sensor 11, when the vehicle V enters the entry / exit unit 3 from the entry / exit port 4 in a state where an object is detected in the division detection area E1, the detection is performed in the division detection area E1. When the vehicle V is detected in the division detection area E1, the vehicle is switched to the division detection area E2 in which the entrance side boundary portion is not detected adjacent to the back side. Thereafter, when the vehicle V further enters and is detected in the division detection region E2, the vehicle is switched to the division detection region E3 in which the entrance side boundary is not detected adjacent to the back side. Thereafter, when the vehicle V further enters and is detected in the division detection area E3, the vehicle is switched to the division detection area E4 in which the entrance side boundary portion is not detected adjacent to the back side. Thereafter, when the vehicle V further enters and is detected in the division detection region E4, the entrance side boundary portion is sequentially switched to the division detection region E5 in the undetected state adjacent to the back side. As described above, in the first object detection sensor 11, the detection region E is preliminarily set at a predetermined interval (the “predetermined interval” is not limited to an equal interval, and for example, the interval may be narrowed or widened depending on the required detection accuracy. The divided detection areas are divided into a plurality of divided detection areas E1 to E5 that are sequentially reduced, and the division detection area that is in the non-detection state on the most entrance side when the vehicle V is detected is selected. The moving position of the front portion of the vehicle V can be detected by sequentially switching E1 to E5 in the moving direction.

  The second object detection sensor 12 on the entrance side O shown in FIG. 3 is set in the division detection areas E11 to E15 in the moving direction W of the vehicle V in this example. The division detection area E11 is the smallest range on the entrance side of the detection area. The division detection area E12 is a range that is larger than the division detection area E11 by a predetermined amount. In other words, it is only necessary that the back side boundary portion of E12 is located on the back side from the back side boundary portion of the boundary portion that divides the division detection region E11. The same applies to E13 to E15. The division detection area E13 is a range that is a predetermined amount larger than the division detection area E12. The division detection area E14 is a range that is a predetermined amount larger than the division detection area E13. The division detection area E15 is a range that is larger than the division detection area E14, and is the entire detection area.

  According to the second object detection sensor 12, when the vehicle V enters the entry / exit unit 3 from the entry / exit port 4 in a state where an object is detected in the division detection area E11, the detection is performed in the division detection area E11. Thereafter, when the vehicle V is not detected in the division detection region E11, the vehicle is switched to the division detection region E12 in a state where the rear boundary portion is detected adjacent to the rear side. After that, when the vehicle V further enters and is not detected in the division detection area E12, the vehicle V is switched to the division detection area E13 in a state where the rear boundary portion is detected adjacent to the rear side. Thereafter, when the vehicle V further enters and becomes non-detected in the division detection area E13, it is switched to the division detection area E4 in a state where the back side boundary is detected adjacent to the back side. Thereafter, when the vehicle V further enters and is not detected in the division detection region E14, the detection is sequentially switched to the division detection region E5 in a state where the rear boundary portion is detected adjacent to the rear side. As described above, in the second object detection sensor 12, the detection region E is preliminarily set at a predetermined interval (the “predetermined interval” is not limited to an equal interval, but, for example, the interval may be narrowed or widened depending on the required detection accuracy. The divided detection area E11 is divided so as to be divided into a plurality of divided detection areas E11 to E15 that are sequentially enlarged, and the divided detection area that is in the detection state on the most entrance side when the vehicle V is not detected is selected. The moving position of the rear part of the vehicle V can be detected by sequentially switching E15 to E15 in the moving direction.

  Therefore, according to the object movement detection device 10, the movement position of the vehicle V during warehousing as described below by detecting the vehicle V in each of the divided detection areas of the first object detection sensor 11 and the second object detection sensor 12. Can be identified and guided to an appropriate stop position, and the remaining persons such as people can be monitored.

(Example of vehicle guidance using object detection sensor)
4 (A) to 4 (G) are schematic diagrams sequentially illustrating vehicle warehousing guidance by the object detection sensor illustrated in FIGS. FIGS. 5A to 5D are schematic diagrams illustrating a vehicle detection state by the object detection sensor illustrated in FIG. 4. Based on FIGS. 4 and 5, the movement position detection of the vehicle V using the first object detection sensor 11 and the second object detection sensor 12, switching between the divided detection areas E1 to E5 and the divided detection areas E11 to E15, and position guidance. The display of the lamp 7 will be described. In addition, in FIG. 5, the detection range is shown typically. Moreover, in the following description, it demonstrates using the code | symbol of FIG.2, 3 and the code | symbol of FIG. 1 (B).

  FIG. 4A shows a state in which the vehicle V has not yet entered, the first object detection sensor 11 detects the division detection area E1, and the second object detection sensor 12 detects the division detection area E11. Indicates the state. FIG. 5A shows this state. Since the vehicle V is not detected by either the first object detection sensor 11 or the second object detection sensor 12, the position guide lamp 7 displays “forward 7a”. .

  In FIG. 4B, the vehicle V enters the entry / exit section 3, and the front end of the vehicle V enters the division detection area E <b> 1 of the first object detection sensor 11 and the division detection area E <b> 11 of the second object detection sensor 12. Shows the state. In this state, the division detection area of the first object detection sensor 11 is switched from the division detection area E1 to the division detection area E2. In the second object detection sensor 12, the detection state by the division detection region E11 is maintained. FIG. 5B shows this state, and the vehicle V is detected by the first object detection sensor 11 and the second object detection sensor 12 that the front part has entered from the entrance / exit 4, but the position guide lamp 7 Remains “forward 7a”.

  FIG. 4C shows a state in which the vehicle V further enters and enters the division detection area E2 of the first object detection sensor 11. In this state, the division detection area of the first object detection sensor 11 is switched from the division detection area E2 to the division detection area E3. In the second object detection sensor 12, the detection state by the division detection region E11 is maintained. In this state, the position guide lamp 7 remains displaying “forward 7a”.

  FIG. 4D shows a state in which the vehicle V further enters and enters the division detection region E3 of the first object detection sensor 11. In this state, the division detection area of the first object detection sensor 11 is switched from the division detection area E3 to the division detection area E4. In the second object detection sensor 12, the detection state by the division detection region E11 is maintained. In this state, the position guide lamp 7 remains displaying “forward 7a”.

  FIG. 4E shows a state in which the vehicle V further enters and enters the division detection area E4 of the first object detection sensor 11. In this state, the rear end portion of the vehicle V is not detected in the divided detection region E11 of the second object detection sensor 12. Thereby, the division detection area of the first object detection sensor 11 is switched from the division detection area E4 to the division detection area E5. The division detection area of the second object detection sensor 12 is switched from the division detection area E11 to the division detection area E12. FIG. 5C shows this state, in which the vehicle V has entered an appropriate stop position of the loading / unloading unit 3. It is detected that the vehicle V has entered the stop position by the movement position detection by the first object detection sensor 11 and the second object detection sensor 12, and the position guide lamp 7 displays “stop 7b”.

  FIG. 4F shows a state where the vehicle V has entered the split detection area E5 of the first object detection sensor 11 beyond the stop position. In this state, the rear end portion of the vehicle V is not detected in the divided detection area E12 of the second object detection sensor 12. Thereby, the 1st object detection sensor 11 is the state which detected the vehicle V in the division | segmentation detection area | region E5, and the division | segmentation detection area | region of the 2nd object detection sensor 12 is switched from the division | segmentation detection area | region E12 to the division | segmentation detection area | region E13. FIG. 5 (D) shows this state, and since the vehicle V has entered the back side I beyond the appropriate stop position, the position guide lamp 7 displays “reverse 7c”, and the vehicle V Encourage you to retreat.

  In FIG. 4G, the vehicle V moves backward, the front end portion is not detected in the division detection region E5 of the first object detection sensor 11, and the rear end portion enters the division detection region E12 of the second object detection sensor 12. Indicates the state. In this state, the first object detection sensor 11 detects the division detection area E4, and the second object detection sensor 12 detects the division detection area E12. Further, the division detection area E5 of the first object detection sensor 11 is not detected, the division detection area E11 of the second object detection sensor 12 is not detected, and the state shown in FIG. The lamp 7 displays “stop 7b”.

  The determination that the vehicle V has stopped is performed in a state where the vehicle V has stopped, and at this time, the first object detection sensor 11 detects the vehicle V, the non-detection division detection area, and the second object detection. It can be determined that the vehicle is stopped when a certain period of time has passed without any change in the divided detection area where the vehicle 12 is detected by the sensor 12 and the non-detected divided detection area. The determination of the stop can be made, for example, that 5 seconds have passed without changing the state in which the vehicle V is detected in the divided detection area of the first object detection sensor 11 and the second object detection sensor 12.

  As described above, according to the object movement detection device 10, the divided detection areas E <b> 1 to E <b> 5 of the first object detection sensor 11 and the divided detection areas E <b> 11 to E <b> 15 of the second object detection sensor 12 based on the detection result of the vehicle V. It is possible to guide the vehicle V to stop at an appropriate stop position by sequentially switching and detecting the moving position of the vehicle V. Therefore, the existing sensors for stopping the vehicle V at an appropriate warehousing position in the loading / unloading unit 3 can be reduced, and the facility cost can be reduced.

  Further, after the vehicle V is stopped at an appropriate position, the non-detection state selected at the time when the stop is determined is a positive divided detection region as the object monitoring region G (G1 to G4 shown in FIG. 7 described later). In the object monitoring area G, it is possible to monitor the presence of a person. As a result, an appropriate object monitoring area G reflecting the stop position and size of the vehicle V by switching the detection areas of the object detection sensors 11 and 12 can be set around the vehicle V, and the size of the vehicle V can be reduced. Even if they are different, it is possible to properly monitor the presence of people.

  Further, the division detection areas E1 to E5 of the first object detection sensor 11 and the division detection areas E11 to E15 of the second object detection sensor 12 are each divided into, for example, 30 divisions, and the entrance side O and the back side I are closely spaced. If the vehicle V is separated by a wide interval, the stopping position of the vehicle V can be more accurately regulated, and the object monitoring region G is set up to a position closer to the vehicle V at the front and rear positions of the vehicle V. it can.

  Therefore, only the object detection sensors 11 and 12 can guide the vehicle V to an appropriate stop position, and can monitor the remaining of a person or the like.

(Example of cooperation of object detection sensors)
6A to 6C are diagrams illustrating an operation example of the object detection sensor 11 on the back side when the object detection sensor illustrated in FIGS. FIGS. 7A to 7D are diagrams illustrating an operation example of the object detection sensor 12 on the entrance side when the object detection sensors illustrated in FIGS. In the following example, the combination of the detection areas of the first object detection sensor 11 and the second object detection sensor 12 determines that the vehicle V has reached a predetermined position, and simultaneously detects the movement of the vehicle V and objects in other detection areas. An example of performing monitoring (residence monitoring) will be described. The cooperation example described below is an example of area switching at the time of entry of the vehicle V, where the area (1) is an object monitoring area for monitoring the presence of a person and the area (2) is a detection area for detecting the movement of the vehicle V. And The area (1) shows the divided detection areas E1 to E5 where the non-detection is in a positive state, and the area (2) shows the divided detection areas E1 to E4 where the detection is in a positive state. Note that the area switching between the first object detection sensor 11 and the second object detection sensor 12 is performed in parallel (independently).

  FIG. 6A shows the relationship between the control of the region (1) and the region (2) in the first object detection sensor 11, the forward and backward movements of the vehicle V, and the respective controls. As control i) (not shown), when the division detection area E1 of the area (1) is not detected (OFF), the warehousing state is entered. Thereafter, when the vehicle V enters the division detection area E1 and is detected, the division (1) is switched from the division detection area E1 to the division detection area E2, as shown in the control ii) of FIG. The area (2) becomes the division detection area E1. In this state, in the area (1), the division detection area E2 is OFF, and in the area (2), the division detection area E1 is ON. The position guide lamp 7 displays “forward 7a”. Thereafter, as the vehicle V moves forward, the division detection area E2 of the area (1) is turned on, and when the division detection area E1 of the area (2) is turned on, the respective division detection areas are switched forward. . Thereafter, similarly, the forward division detection area is sequentially switched. The position guide lamp 7 is a display of “forward 7a”. When the division detection area of the area (1) is turned off and the division detection area of the area (2) is turned off, the division detection area E5 of the area (1) is changed to the division detection area E4, and the division detection of the area (2) is made. The area E4 is switched backward to the division detection area E3. Note that the backward switching from the division detection area E2 of the area (1) and the division detection area E1 of the area (2) is not performed.

  As shown in control iii) of FIG. 6C, the vehicle V reaches a predetermined position when moving forward or backward, the division detection area of the area (1) is OFF, and the division detection area of the area (2) is OFF. When in the ON state, the position guide lamp 7 displays “stop 7b”. At this time, the movement position detection result by the second object detection sensor 12 described below can be linked. Cooperation between the first object detection sensor 11 and the second object detection sensor 12 will be described later. If the vehicle V enters from a predetermined stop position, the division detection area of the area (1) is ON, and the division detection area of the area (2) is ON, the position guide lamp 7 "Reverse 7c" is displayed and the user is prompted to retreat. In this example, after that, until the vehicle V moves backward to a predetermined position, if the division detection area of the area (1) is OFF and the division detection area of the area (2) is OFF, the division detection area is rearward. Can be switched.

  On the other hand, FIG. 7A shows the relationship between the switching of the region (1) and the region (2) in the second object detection sensor 12, the forward and backward movement of the vehicle V, and the respective controls. As control iv) (not shown), when the division detection area E11 of the area (2) is not detected (OFF), the storage standby state is entered.

  Thereafter, when the vehicle V enters the division detection area E11 and the division detection area E12 is turned on, the division detection area E11 detects that the division detection area E11 is divided as shown in the control v) of FIG. The area is switched to the area E12, and the area (1) becomes the division detection area E11. In this state, if the division detection area E11 of the area (1) is turned off and the division detection area E12 of the area (2) is turned on, the position guide lamp 7 displays “stop 7b”. That is, the rear end of the vehicle V enters the back side of the division detection region E11, and the vehicle V reaches the stop position. In the control iii) of the first object detection sensor 11 described above, the vehicle V is predetermined. This is a state in which the vehicle V is stopped at an appropriate position by cooperation with the movement position detection result of reaching the position. When both the detection state of the first object detection sensor 11 and the detection state of the second object detection sensor 12 satisfy the condition for displaying “stop 7b” on the position guide lamp 7, the vehicle V is stopped at an appropriate position. . It can be determined that the vehicle V has stopped by passing a certain time in this state.

  If the division detection area of the area (2) is ON and the division detection area of the area (1) is ON, the position guide lamp 7 displays “forward 7a”. If the division detection area of the area (2) is OFF and the division detection area of the area (1) is OFF, the division detection area E12 of the area (2) is divided into the division detection area E13 and the division of the area (1) is performed. The detection area E11 is switched forward to the divided detection area E12. However, if the division detection area of the area (2) is ON and the division detection area of the area (1) is changed from the ON state, it is determined that the vehicle V has exited (retracted) from the detection area and stopped entering. And switched to the warehousing standby state.

  Thereafter, as shown in control vi) of FIG. 7C, if the division detection area of the area (2) is OFF and the division detection area of the area (1) is OFF, the division detection area of the area (2). And the division detection area E11 of the area (1) is switched to the front division detection area. If the division detection area of the area (2) is ON and the division detection area of the area (1) is ON, the division detection area of the area (2) and the division detection area of the area (1) are respectively the rear division detection areas. Can be switched to.

  The control vii) in FIG. 7D is the same as the control vi), but it cannot normally occur, but the division detection area E15 in the area (2) is OFF and the division detection area E14 in the area (1) is OFF. If it is turned off, monitoring may be maintained.

  Further, in order to stop the vehicle V having a short vehicle length at the center, the division detection on the entrance side O from the division detection area (the division detection area E5 and the division detection area E4) at the back end of the first object detection sensor 11 is performed. An area (for example, a division detection area E4 of the area (1), a division detection area E3 of the area (2)), an entrance side end of the second object detection sensor 12 (a division detection area E11 of the area (1), and an area In the area before the (2) division detection area E12) (for example, the division detection area E12 of the area (1) and the division detection area E13 of the area (2)), the division detection area of the area (1) is simultaneously turned OFF. Thus, even when the division detection area of the area (2) is turned on, the display of the position guide lamp 7 may be set to “stop 7b” to instruct the stop of the vehicle V.

(Another embodiment of the object movement detection device)
FIG. 8 is a schematic plan view showing different movement detections by the object detection sensors 11 and 12 in the loading / unloading unit 3 of the mechanical parking facility 1 shown in FIG. FIG. 9 is a schematic diagram illustrating a setting example of the object monitoring region G based on the movement detection result by the object detection sensors 11 and 12 illustrated in FIG. Here, in order to facilitate understanding, the divided detection areas E1 to E5 and the divided detection areas E11 to E15 are shifted in the left-right direction in the drawing. Further, in the following description, description of guidance by the position guide lamp 7 is omitted.

  As shown in FIG. 8, in the object movement detection device 10 of this example, the first object detection sensor 11 monitors the portion from the center of the detection area E to the back side I in the warehouse 3 and the second object detection sensor. 12, the part on the entrance side O from the central part of the detection area E in the loading / unloading unit 3 is monitored. The division detection area of the first object detection sensor 11 is set to division detection areas E6 to E1 that become smaller from the back side I at a predetermined interval. The division detection areas of the second object detection sensor 12 are set to division detection areas E11 to E16 that increase from the entrance side O at a predetermined interval. The division detection area E6 and the division detection area E16 are areas that overlap at the center. The division detection areas E6 to E1 may be concentrated on the back side I, the division detection areas E11 to E16 may be concentrated on the entrance side O, and there may be an interval in the central portion where the vehicle V always exists.

  According to the object movement detection device 10 of this example, when the vehicle V enters the loading / unloading unit 3 in the state where the second object detection sensor 12 is in the division detection region E11, the leading end of the vehicle is divided and detected by the second object detection sensor 12. It is detected that the vehicle has entered the area E11. Then, when the vehicle V exits from the division detection area E11 and is not detected, the division detection area of the second object detection sensor 12 is switched from the division detection area E11 to the division detection area E12. When the vehicle V further enters and is not detected in the division detection area E12, the division detection area of the second object detection sensor 12 is switched from the division detection area E12 to the division detection area E13. Thereafter, when the vehicle V further enters and is not detected in the division detection area E13, the division detection area E13 of the division detection area of the second object detection sensor 12 is switched to the division detection area E14. Thereafter, similarly, when the vehicle V further enters and is not detected in the division detection area E14, the division detection area of the second object detection sensor 12 is switched from the division detection area E14 to the division detection area E15. When the vehicle V further enters and is not detected in the division detection area E15, the division detection area of the second object detection sensor 12 is switched from the division detection area E15 to the division detection area E16.

  The division detection area E16 overlaps the division detection area E6 of the first object detection sensor 11, and the first object detection sensor 11 is in a state where the division detection area E6 can be detected in the initial state. When the first object detection sensor 11 detects that the vehicle V has entered the division detection area E6, the division detection area of the first object detection sensor 11 is switched from the division detection area E6 to the division detection area E5.

  Thereafter, when the vehicle V further enters, the division detection area of the first object detection sensor 11 is switched from the division detection area E5 to the division detection area E4. Thereafter, similarly, when the vehicle V further enters, the division detection area E4 is switched to the division detection area E3. When the vehicle V further enters, the division detection area E3 is switched to the division detection area E2. When the vehicle V further enters, the vehicle is divided from the division detection area E2. It is switched to the detection area E1.

  Thus, according to this embodiment, the detection of the vehicle V in the detection region E is detected by the second object detection sensor 12 from the entrance side O which is the detection start position to the center portion, and from the center portion to the back side I. Can be detected by the first object detection sensor 11. That is, the position of the front end of the vehicle V can be detected by the first object detection sensor 11, and the position of the rear end can be detected by the second object detection sensor 12. In addition, in this way, the division detection areas E11 to E16 of the second object detection sensor 12 and the division detection areas E1 to E6 of the first object detection sensor 11 are respectively set to 20 to 30 in the moving direction W of the vehicle V. It is possible to divide and set the division detection area more finely. Therefore, the moving position of the vehicle V can be detected more finely, and the vehicle V can be guided to stop at an appropriate stop position.

  Further, after the vehicle V is stopped at an appropriate stop position, the surroundings of the vehicle V can be set more finely as the object monitoring region G (FIG. 9), so that even if the size of the vehicle V is different, the vehicle V An appropriate object monitoring area G reflecting the size can be set around the vehicle V to appropriately monitor the presence of a person. Therefore, only the object detection sensors 11 and 12 can guide the vehicle V and monitor the remainder of a person or the like.

(Monitoring area setting after vehicle stops)
As shown in FIG. 9, according to the first object detection sensor 11, the non-detection that was selected when the vehicle V was stopped at an appropriate stop position and then the vehicle V was determined to stop. The division detection area E whose state is set to the positive back side I can be set as the object monitoring area G1 (lower left oblique line portion). Further, according to the second object detection sensor 12, the non-detection state selected when the vehicle V is determined to stop after the vehicle V is stopped at an appropriate stop position is positive division. A detection region or a division detection region in which the non-detection state having a back side boundary portion adjacent to the entrance side of the back side boundary portion of the positive division detection region in which the selected detection state is positive is set to the positive entrance side O E can be set as the object monitoring region G2 (lower right hatched portion). Further, according to the first object detection sensor 11, in addition to the above-described divided detection areas E1 to E6, the fixed object monitoring area G3 (vertical line portion) is provided at the left position of the pallet 5 that is the vehicle stop position in the loading / unloading section 3. ) Can be set. Further, according to the second object detection sensor 12, in addition to the above-described division detection areas E11 to E16, the fixed object monitoring area G4 (vertical line portion) is positioned at the right side of the pallet 5 which is the vehicle stop position in the loading / unloading section 3. ) Can be set. The object monitoring areas G1 to G4 including these are the remaining monitoring areas.

  And according to the 1st object detection sensor 11, reflection data of the whole range is acquired by one scan (scanning) operation with respect to either of division detection fields E1-E6, and fixed object monitoring field G3, The presence or absence of an object can be monitored. Further, according to the second object detection sensor 12, the reflection data of the entire range is acquired by one scan (scanning) operation with respect to any of the divided detection areas E11 to E16 and the fixed object monitoring area G4. The presence or absence of an object can be monitored. When the presence of an object is detected in at least one of the set remaining monitoring areas, it is determined that a person or an object remains, and the entrance / exit 4 is closed or the mechanical parking facility 1 is operated. Interlock can be applied to prohibit

  Note that the object monitoring in the fixed object monitoring areas G3 and G4 is effective until the entry / exit port 4 is closed from the state in which the vehicle V can be entered, similarly to the object monitoring areas G1 and G2 at the front and rear positions of the vehicle V. And it is sufficient.

  As described above, according to the object movement detection device 10, after the vehicle V is guided to an appropriate stop position, the object monitoring regions G1 to G4 are set in the vehicle front-rear position and the left and right sides in the vicinity of the vehicle V. Can do. Therefore, even if the size or the stop position of the vehicle V changes, the non-detection state selected when the stop of the vehicle V is determined in the detection region E is changed to the positive detection region E1. -G4 can be appropriately set. These controls are controlled by the control unit 13.

(Summary)
As described above, according to the object movement detection device 10, in the mechanical parking facility 1, when it is detected that the entering vehicle V has entered the entry / exit section 3, the first object detection sensor 11 and the second object are detected. By switching the detection area with the detection sensor 12, it is possible to detect the moving position of the vehicle V and guide the vehicle V to stop at an appropriate stop position. In addition, after determining that the vehicle V has stopped at an appropriate stop position, it is possible to monitor an object by setting the non-detection state selected at the time of stop determination as the remaining monitoring area as the remaining monitoring area. It becomes possible.

  Therefore, it is possible to monitor the remainder reflecting the guidance of the vehicle V, the size of the vehicle V, and the stop position only by the object movement detection device 10. As a result, it is possible to reduce existing vehicle guidance sensors and occupancy monitoring sensors, and it is possible to reduce facility costs.

(Modification)
In the above-described embodiment, the division detection areas E1 to E5 (E6) and E11 to E15 (E16) obtained by dividing the detection area E in the movement direction W are described as an example. You may make it unequal according to the object to do. For example, when detecting the vehicle V, the range where the center part of the vehicle V is located can be divided broadly, and the part where the front part and the rear part of the vehicle V are located can be divided finely. Moreover, although the example which made the division | segmentation detection area | region rectangular was shown, for example, each of E1-E6 of FIG. 6 can also be set to the L-shaped area | region integrated with G3 and each of E11-E16 with G4.

  Further, in the above-described embodiment, the fixed object monitoring areas G3 and G4 on the left and right sides of the vehicle V are detected by the object detection sensors 11 and 12, but a detector that detects only other fixed areas is provided. You can also. Moreover, although the example which arranged the object detection sensors 11 and 12 diagonally at the corner | angular part of the storage / exiting part was shown, it is not restricted to this, For example, symmetrically with respect to a vehicle stop position, the entrance side of a storage / exiting part, center part It can be arranged on the back side.

  Furthermore, the mechanical parking facility 1 is not limited to the pallet type, and may be an underground type as long as it is a mechanical parking facility provided with the loading / unloading unit 3 and is not limited to the above embodiment. Moreover, although warehousing guidance was illustrated, the object movement detection apparatus 10 can be used for leaving confirmation of a vehicle or a person even when leaving.

  Furthermore, a single area is used for each of the object detection sensor 11 and the object detection sensor 12, and each of them detects whether the vehicle V is moving forward or backward, and holds the detection result. The determination of whether or not the position has been reached can also be branched.

  Further, the above-described embodiment shows an example, and the object movement detection device 10 is not limited to the mechanical parking facility 1 but can be used for guiding an object to a predetermined position. The present invention is not limited to the above-described embodiment.

1 Mechanical parking equipment
2 parking tower
3 Entry / Exit Department
4 Entrance / exit
5 palettes
6 mirror stand
7 Location light
10 Object movement detection device
11 First object detection sensor (detection unit)
12 Second object detection sensor (detection unit)
13 Control unit (division detection area setting unit)
E detection area E1 to E6 division detection area E11 to E16 division detection area G1 to G4 object monitoring area
I back side
O entrance side
V vehicle
W Movement direction

Claims (12)

An object movement detection device for detecting a movement position of an object in a preset detection region,
A division detection area setting unit for setting the detection area as a division detection area divided into a plurality of areas in the moving direction of the object;
A detection unit for detecting the object in the division detection region;
With
Based on the detection of the object in the selected division detection area on the object detection start side by the detection unit, the selection of the division detection area is switched to the movement direction of the object, and the movement position of the object is detected. Configured to detect
An object movement detection device characterized by the above. The detection area has a plurality of the divided detection areas that become smaller toward the back side in the moving direction of the object,
The detection unit is configured to detect the movement of the object by switching the division detection area to the division detection area on the back side in accordance with the detection of the object.
The object movement detection apparatus according to claim 1. The detection area has a plurality of the divided detection areas that increase toward the back side in the moving direction of the object,
The detection unit is configured to detect the movement of the object by switching the division detection region to the division detection region on the back side when the object is not detected.
The object movement detection apparatus according to claim 1. The detection unit is provided at least on the back side and the entrance side in the moving direction of the object,
The detection unit on the entrance side is set to a plurality of the divided detection areas that increase in the moving direction of the object up to a central portion of the detection area,
The detection unit on the back side is set to a plurality of the divided detection areas that become smaller in the moving direction of the object from the central part of the detection area,
The detection unit on the entrance side detects the movement of the object up to a central portion of the detection area by switching the division detection area to the large division detection area as the object is not detected.
The detection unit on the back side detects the movement of the object to the back side of the detection region by switching the division detection region to the small division detection region in accordance with detection of the object from the central portion of the detection region. It is configured,
The object movement detection apparatus according to claim 1. The detection unit is provided at least on the back side and the entrance side in the moving direction of the object,
The detection unit on the entrance side is set to a plurality of the divided detection areas that increase in the moving direction of the object in the detection area,
The detection unit on the back side is set to a plurality of the divided detection regions that become smaller in the moving direction of the object in the detection region,
The detection unit on the entrance side detects the movement of the object by switching the division detection area to the large division detection area in association with the non-detection of the object,
The detection unit on the back side detects the movement of the object by switching the division detection area to the small division detection area with the detection of the object,
The movement position detection result of the object by the detection unit on the entrance side and the movement position detection result of the object by the detection unit on the back side are configured to detect that the object has reached a predetermined position. ing,
The object movement detection apparatus according to claim 1. A mechanical parking facility comprising the object movement detection device according to any one of claims 1 to 5,
The object movement detection device is provided in a loading / unloading unit that loads and unloads vehicles,
The moving position of the vehicle in the loading / unloading unit is detected by the object movement detection device to detect the loading position of the vehicle,
It is configured to guide the vehicle to a predetermined stop position based on a detection result of the object movement detection device.
This is a mechanical parking facility. Detecting that the vehicle has stopped at a predetermined position with the object movement detection device,
The division detection area set on the back side with respect to the stop position of the vehicle by switching based on detection of the vehicle by the object movement detection device is configured to be set as an object monitoring area.
The mechanical parking facility according to claim 6. Detecting that the vehicle has stopped at a predetermined position with the object movement detection device,
A division in which the rear boundary portion is adjacent to the entrance side of the rear boundary portion of the division detection region set on the entrance side with respect to the stop position of the vehicle selected by switching based on detection of the vehicle by the object movement detection device. Configured to set the detection area as the object monitoring area,
The mechanical parking equipment according to claim 6 or 7. The object movement detection device is provided at a right position and a left position with respect to a stop position of the vehicle of the storage / exit section,
Each of the object movement detection devices is configured to set either the right position or the left position where each of the vehicle stop positions is provided as a fixed object monitoring area.
The mechanical parking facility according to any one of claims 6 to 8. A vehicle movement detection method for detecting a movement position of a vehicle in a loading / unloading part of a mechanical parking facility,
A detection area is set in the detection unit provided in the warehouse.
The detection area is set as a plurality of divided detection areas by dividing the detection area at predetermined intervals in the moving direction of the vehicle,
When the detection unit detects the vehicle in one of the division detection areas, the division detection area is switched to a moving direction of the vehicle, and the vehicle is detected in each of the division detection areas.
The vehicle movement detection method characterized by the above-mentioned. After detecting the movement position of the vehicle from the entrance side portion of the detection region to the central portion by the detection unit provided on the entrance side of the detection region,
The other detection unit provided on the back side of the detection area is configured to detect from the center part of the detection area to the back side part.
The vehicle movement detection method according to claim 10. After detecting that the vehicle has stopped at an appropriate position,
The division detection area on the entrance side and the back side with respect to the stop position of the vehicle is configured to set the object monitoring area,
The vehicle movement detection method according to claim 10 or 11.

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