JP2019035261A - Mixed type multistory parking system - Google Patents

Abstract

To provide a mixed type multistory parking system capable of achieving unmanned parking smoothly and increasing storage efficiency in an environment where an automatic drive vehicle and a non-automatic drive vehicle are mixed.SOLUTION: A mixed type multistory parking system for storing an automatic drive vehicle 1 that freely and automatically travels and a non-automatic drive vehicle 2 that is driven by a user in a parking lot of a parking space formed in multi-stories, comprises: an automatic conveyance device 5 that freely conveys the non-automatic drive vehicle 2; an elevating conveyance device 7 that elevates and conveys the automatic drive vehicle 1 and the non-automatic drive vehicle 2 conveyed by the automatic conveyance device 5 among multi-stories; and a controlling device 6 that performs transmission and reception of a signal related to entering and exiting among the automatic drive vehicle 1, the automatic conveyance device 5, and the elevating conveyance device 7.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a mixed type multi-story parking system.

  In recent years, the development of an autonomous driving vehicle that can automatically travel without involving passengers has been rapidly progressing, and is expected to spread in the future.

  For example, Patent Document 1 shows a general technical level related to an autonomous driving vehicle.

Japanese Patent Laying-Open No. 2015-75899

  By the way, in the future parking system, it is assumed that not only autonomous driving vehicles but also vehicles that do not support autonomous driving are mixed, but both autonomous driving vehicles and vehicles that do not support autonomous driving are mixed. In the type parking system, a vehicle that does not support automatic driving must be driven and parked by the user himself / herself.

  However, if the user himself / herself drives a car that does not support automatic driving and parks, not only is the parking act bothered, but the user also has to enter the parking facility and get in and out of the car. A plurality of sensors or the like must be installed, which may lead to an increase in cost.

  The present invention has been made in view of the above-described conventional problems, and can provide unmanned parking smoothly in an environment where autonomous driving vehicles and autonomous driving non-compatible vehicles coexist and can improve accommodation efficiency. Is to provide a system.

In order to achieve the above object, the mixed type multi-story parking system of the present invention is not compatible with an automatic driving vehicle that can automatically run in a parking space in a parking space formed in a plurality of hierarchies and an automatic driving that a user drives. A mixed type parking system that stores cars,
An automatic transfer device that can freely transport the vehicle that does not support automatic driving;
A lift transport device that lifts and transports the automatic driving vehicle and the non-automatic driving vehicle transported by the automatic transport device between a plurality of levels, and
And a control device that performs transmission and reception of signals related to loading and unloading with the automatic driving vehicle, the automatic transfer device, and the lifting and lowering transfer device.

  In the mixed type multi-story parking system, the control device determines whether or not there is a reserved vehicle at the warehousing destination and determines whether or not the reserved vehicle is an automatic driving vehicle. In the case of a driving vehicle, a designated position instruction signal and a start permission signal can be output as the signal to the autonomous driving vehicle.

  In the mixed type multi-story parking system, the control device determines whether or not there is a reserved vehicle at the warehousing destination and determines whether or not the reserved vehicle is an automatic driving vehicle. In the case of a non-driving vehicle, a conveyance instruction signal can be output as the signal to an automatic conveyance device that conveys the automatic non-operation vehicle.

  In the mixed type multi-level parking system, the control device determines whether or not the autonomous driving vehicle can automatically travel, and if the autonomous driving vehicle is not capable of automatic traveling, the control device transports to the automatic transportation device. An instruction signal can be output as the signal.

  In the mixed three-dimensional parking system, the control device includes an automatic travel parking mode in which an automatic driving vehicle automatically travels in and out, and an automatic transport device in which an automatic driving incompatible vehicle or an automatic driving vehicle is loaded and unloaded by an automatic transport device. The parking mode can be configured so that the user can freely select.

  The mixed-type three-dimensional parking system includes an openable / closable entrance / exit door that separates the entrance / exit from the outside, and a partition gate that separates the entrance / exit from the parking space, and the user can park by the entrance / exit door or the partition gate. It can be configured to be isolated from operation.

  In the mixed type multi-level parking system, the control device is configured to check unattended in the loading / unloading unit only when the user leaves the loading / unloading unit after getting off and confirms that the loading / unloading unit is unmanned. To start the warehousing sequence.

  In the mixed type multi-story parking system, the control device can start the warehousing sequence only when the vehicle state is checked and it is determined that warehousing is possible.

  According to the mixed-type three-dimensional parking system of the present invention, it is possible to achieve an excellent effect that unmanned parking can be smoothly realized and the accommodation efficiency can be improved in an environment where an autonomous driving vehicle and an autonomous driving non-compliant vehicle coexist.

It is a block diagram which shows the Example of the mixed type multi-story parking system of this invention. It is a top view which shows the Example of the mixed type multi-story parking system of this invention. It is a side view which shows the Example of the mixed type multi-story parking system of this invention. It is a top view which shows an example of the conveyance trolley with an automatic travel function as an automatic conveyance apparatus in the Example of the mixed-type three-dimensional parking system of this invention. It is a flowchart which shows the action | operation at the time of warehousing in the Example of the mixed type multi-level parking system of this invention. It is a flowchart which shows the action | operation at the time of the warehousing following FIG. It is a flowchart which shows the action | operation at the time of the warehousing following FIG. It is a flowchart which shows the action | operation at the time of the warehousing following FIG. It is a flowchart which shows the action | operation at the time of leaving in the Example of the mixed type multi-level parking system of this invention. It is a flowchart which shows the action | operation at the time of the delivery following FIG. It is a flowchart which shows the action | operation at the time of the delivery following FIG. FIG. 10 is a flowchart showing a front vehicle movement sequence in FIG. 9.

  Embodiments of the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 to FIG. 12 show an embodiment of the mixed type multi-level parking system of the present invention, in which an autonomous driving vehicle 1 capable of autonomous driving and an autonomous driving non-compliant vehicle 2 driven by a user are formed in a plurality of layers. The parking space 3 is stored in the parking space 3.

  As shown in FIG. 1, the mixed-type three-dimensional parking system includes an automatic transfer device 5 that transfers the non-automated driving vehicle 2 between a loading / unloading unit 4 (see FIG. 2) and a parking place 3, and the automatic driving. Lifting / lowering conveying device 7 for moving up and down the vehicle 1 and the non-automatic driving vehicle 2 conveyed by the automatic conveying device 5 between a plurality of levels (see FIG. 3), the automatic driving vehicle 1, the automatic conveying device 5, and the raising / lowering conveying And a control device 6 that performs transmission and reception of signals relating to loading and unloading with the device 7.

  In the case of the present embodiment, as shown in FIG. 2, an openable / closable door 8 that separates the loading / unloading section 4 from the outside, and a partition gate 9 that separates the loading / unloading section 4 from the inside of the parking space, A turning device 10 such as a turntable is provided inside the parking space of the partition gate 9. The turning device 10 is driven by a signal output from the control device 6. However, the turning device 10 is not necessarily provided and can be omitted.

  In addition, a buffer 11 (see FIG. 2) is provided in the parking space for temporarily retracting the outgoing reservation vehicle when there is an outgoing reservation vehicle.

  The automatic transfer device 5 may be, for example, a transfer cart 15 with an automatic travel function as shown in FIG. The transport cart 15 with an automatic travel function includes a cart body 16 and a lifter 17. The cart body 16 can be self-propelled by the traveling drive device 18 and can enter the lower part of the vehicle 2 that does not support automatic driving. The lifter 17 has a lifter frame 17a attached to a carriage frame 16a of the carriage main body 16 via a connecting member 19, and a storage position along the side surface of the carriage frame 16a and each wheel 20 of the vehicle 2 that does not support automatic driving. A pair of lift bars 17b that can be pivoted between the unfolded position where the vehicle is lifted up while being supported so as to be sandwiched from the front and the rear are pivotally mounted in correspondence with the wheels 20 of the vehicle 2 that does not support automatic driving. Yes.

  In addition, as the conveyance cart 15 with the automatic traveling function, for example, the one disclosed in JP 2013-19210 A can be adopted. However, the conveyance cart 15 with the automatic traveling function is not limited to the format shown in FIG. Incidentally, you may employ | adopt what is disclosed by Unexamined-Japanese-Patent No. 2017-95926.

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

  First, the control at the time of entering the vehicle will be described with reference to FIGS.

  When the vehicle enters the vehicle, the user enters the entry / exit section 4 of the mixed type multi-level parking system from the opened door 8 and gets off (see step S501 in FIG. 5). 6, it is determined whether or not the vehicle is the automatic driving vehicle 1 (see step S <b> 502 in FIG. 5). If the vehicle is the automatic driving vehicle 1, the vehicle needs to be set to the automatic traveling parking mode. Is determined (see step S503 in FIG. 5).

  Here, the automatic traveling parking mode setting indicates that the autonomous driving vehicle 1 and the control device 6 of the mixed three-dimensional parking system are set in a communicable state. In general, the automatic driving vehicle 1 with weak security blocks communication with external devices because there is a risk of being hacked. For this reason, the self-driving vehicle 1 with weak security needs to be set in a state where it can communicate with the control device 6 of the mixed three-dimensional parking system by the automatic travel parking mode setting. On the other hand, since the automatic driving vehicle 1 with high security is always in a state where it can communicate with an external device, it is not particularly necessary to set the automatic traveling parking mode.

  If the vehicle requires the automatic driving parking mode setting, the automatic driving parking mode setting is performed (see step S504 in FIG. 5), and the autonomous driving vehicle 1 can communicate with the control device 6 of the mixed type multi-level parking system. Is set to the correct state.

  When the vehicle does not require the automatic traveling parking mode setting, the autonomous driving vehicle 1 is in a state of waiting in the automatic traveling parking mode (see step S505 in FIG. 5). Incidentally, it is recognized that the autonomous driving vehicle 1 has arrived near the parking lot on the basis of the GPS information, and automatically waits for communication with the control device 6 of the mixed type multi-level parking system, that is, the automatic running parking mode standby state. It is also possible to set to shift to.

  After getting off, the user exits from the loading / unloading unit 4 (see step S506 in FIG. 5), confirms that the loading / unloading unit 4 is unmanned, and performs a loading start instruction operation (step in FIG. 5). (See S507). The said warehousing start instruction | indication operation is performed when a user operates the operation panel (not shown) provided in the outer side of the entrance door 8 of the storage / exit part 4, for example. In addition, the said warehousing start instruction | indication operation | movement can also be performed from the smart phone which a user owns.

  The control device 6 of the mixed type multi-story parking system stands by until a user enters a warehousing start instruction (see step S508 in FIG. 5), and when a warehousing start instruction operation is performed by the user, a monitoring (not shown) is performed. Based on camera images and detection signals from various sensors, unmanned confirmation (reconfirmation) in the loading / unloading unit 4 and vehicle state check are performed (see step S509 in FIG. 5). The vehicle state check may be performed before unattended confirmation (reconfirmation) in the loading / unloading unit 4. If it is confirmed that there is a person in the vehicle or around the vehicle, or if it is confirmed that the vehicle exceeds the allowable range size, an error notification is performed (see step S510 in FIG. 5). A warehousing error is displayed on the operation panel or the smartphone (see step S511 in FIG. 5).

  An unattended confirmation and vehicle state check are performed in the storage / removal unit 4, and when it is determined that there is no problem and storage is possible, a storage sequence is started (see step S512 in FIG. 5), and the storage is completed normally. The start is displayed on the operation panel or the smartphone (see step S513 in FIG. 5), the entrance door 8 is closed (see step S514 in FIG. 5), and the partition gate 9 is opened (step in FIG. 5). (See S515).

  Subsequently, in the control device 6 of the mixed type multi-level parking system, it is determined whether or not the warehousing mode is the automatic transfer device parking mode (see step S516 in FIG. 5). The automatic transfer device parking mode is a parking mode in which the automatic transfer device 5 basically enters and leaves the vehicle 2 that does not support automatic driving. On the other hand, it is the automatic traveling parking mode that the autonomous driving vehicle 1 travels automatically and enters and exits. However, even in the case of the automatic driving vehicle 1, when the charge amount of the fuel or the battery is small, the user may select the automatic conveyance device parking mode and allow the automatic conveyance device 5 to enter and exit the automatic driving vehicle 1. Is possible. In addition, the user can select the automatic conveyance device parking mode for the purpose of shortening the traveling distance as much as possible and minimizing the damage to the automatic driving vehicle 1. Furthermore, in the case of an autonomous driving vehicle 1 with a minimum ground clearance that is extremely low due to special mufflers, aero parts, etc., and if there is a possibility of contact if the automatic transport device 5 is used. It is also possible to select the automatic traveling parking mode and set so as not to shift to the automatic transfer device parking mode.

  In step S502 of FIG. 5, when the vehicle is not the automatic driving vehicle 1, that is, the vehicle 2 is not compatible with automatic driving, the automatic transfer device parking mode is applied (see step S517 of FIG. 5).

  If the warehousing mode is the automatic transfer device parking mode, the automatic transfer device parking mode is entered (see step S601 in FIG. 6).

  When the warehousing mode is not the automatic transfer device parking mode, that is, the automatic traveling parking mode, a vehicle state check is performed to determine whether automatic traveling parking is possible in the control device 6 of the mixed three-dimensional parking system (FIG. 6). Step S602). Accordingly, the self-driving vehicle 1 determines whether or not automatic traveling parking is possible by self-diagnosis (see step S603 in FIG. 6). If it is determined by the self-diagnosis that automatic driving parking is possible, the automatic driving vehicle 1 notifies the control device 6 of the mixed three-dimensional parking system that automatic driving parking is possible (see step S604 in FIG. 6). On the other hand, if it is determined by the self-diagnosis that automatic driving parking is not possible, there is an automatic driving parking error that disables automatic driving parking from the autonomous driving vehicle 1 to the control device 6 of the mixed three-dimensional parking system. Notification is made (see step S605 in FIG. 6).

  In the control device 6 of the mixed-type three-dimensional parking system, it is determined whether or not information indicating whether automatic traveling parking is possible or whether an automatic traveling parking error has occurred is received (see step S606 in FIG. 6). When the information is received, it is determined again whether or not automatic traveling parking is possible (see step S607 in FIG. 6). If automatic traveling parking is possible, the automatic traveling parking mode is determined. Is notified to the operation panel or the smartphone (see step S608 in FIG. 6), and it is displayed on the operation panel or the smartphone that automatic running parking is started (see step S609 in FIG. 6). Recognize this.

  If the information is not received even after a predetermined time has elapsed (see step S610 in FIG. 6), it is determined that some trouble has occurred and the automatic transfer device parking mode is entered (see step S611 in FIG. 6). The operation panel or smartphone is notified that the automatic transfer device parking mode is started (see step S612 in FIG. 6), and the start of automatic transfer device parking is displayed on the operation panel or smartphone (see FIG. 6). The user recognizes this (see step S613). Whether or not the automatic traveling parking is possible is determined (see step S607 in FIG. 6), and the automatic transfer device parking mode is entered even when the automatic traveling parking is not possible (step S611 in FIG. 6). reference).

  When the operation panel or the smartphone is notified that the automatic traveling parking mode is started in step S608 of FIG. 6, an automatic traveling sequence is started from the control device 6 of the mixed type multi-level parking system to the autonomous driving vehicle 1. (See step S701 in FIG. 7), the autonomous vehicle 1 receives the start of the automatic travel sequence and outputs an activation confirmation signal (see step S702 in FIG. 7). The control device 6 of the mixed type multi-level parking system waits for a response from the autonomous driving vehicle 1 (see step S703 in FIG. 7), and when there is a response, the vehicle moves to the lifting / lowering conveyance device 7 (or the turning device 10). Whether or not it is necessary to ride is determined in the control device 6 of the mixed type multi-level parking system (see step S704 in FIG. 7). When the vehicle does not need to get on the lifting / lowering conveyance device 7 (or the turning device 10), the designated position instruction signal and the activation permission signal are output from the control device 6 of the mixed type multi-level parking system to the automatic driving vehicle 1 (see FIG. 7). In step S705, the autonomous driving vehicle 1 starts automatic traveling toward the designated position (parking place 3) and also starts the automatic running to the designated position (parking place 3). 6 (see step S706 in FIG. 7) and automatically travel (see step S707 in FIG. 7).

  In the determination in step S704 of FIG. 7, when the vehicle needs to get on the lifting / lowering conveyance device 7 (or the turning device 10), the position from the control device 6 of the mixed three-dimensional parking system to the lifting / lowering conveyance device 7 (or the turning device 10) is determined. The instruction signal and the activation permission signal are output (see step S708 in FIG. 7). Here, when the device on which the vehicle needs to ride is the lifting / lowering transport device 7, the lifting / lowering transport device 7 moves up and down to a predetermined level based on the position instruction signal and the activation permission signal, and waits for the arrival of the vehicle. . When the device on which the vehicle needs to ride is the turning device 10, the turning device 10 turns to a predetermined angle and waits for the arrival of the vehicle. The automatic driving vehicle 1 starts automatic traveling toward the lifting / lowering conveyance device 7 (or the turning device 10) moved based on the position instruction signal and the activation permission signal, and toward the lifting / lowering conveyance device 7 (or the turning device 10). The control device 6 of the mixed type multi-story parking system is notified that the automatic traveling has started (see step S709 in FIG. 7), and automatically travels (see step S710 in FIG. 7).

  In step S703 in FIG. 7, if the response from the automatic driving vehicle 1 has not passed for a certain period of time (see step S711 in FIG. 7), it is determined that some trouble has occurred in the automatic driving vehicle 1 and mixed. A transport instruction signal is output from the control device 6 of the three-dimensional parking system to the automatic transport device 5 (see step S712 in FIG. 7), and transport by the automatic transport device 5 is performed (see step S713 in FIG. 7).

  The control device 6 of the mixed type three-dimensional parking system is automatically activated even when “transition to automatic conveyance device parking mode” is performed in step S601 in FIG. 6 or when “automatic conveyance device parking mode start is notified” in step S612 in FIG. A transport instruction signal is output to the transport device 5 (see step S712 in FIG. 7), and the automatic transport device 5 performs transport (see step S713 in FIG. 7).

  Following step S706 in FIG. 7, when the autonomous driving vehicle 1 automatically travels (see step S707 in FIG. 7) and arrives at the designated position (parking place 3), the autonomous driving car 1 moves to the designated position (parking place). The arrival at 3) is notified to the control device 6 of the mixed type multi-level parking system (see step S801 in FIG. 8).

  The control device 6 of the mixed type multi-level parking system determines whether or not there is a delivery reservation vehicle at the entry destination (see step S802 in FIG. 8). If there is no delivery reservation vehicle, the entry vehicle arrives at the parking place 3. (See Step S803 in FIG. 8), and when the warehousing vehicle has arrived at the parking place 3, the completion of warehousing is notified to the operation panel or the smartphone (see Step S804 in FIG. 8). ), It is displayed on the operation panel or the smartphone that the warehousing is completed (see step S805 in FIG. 8).

  The control device 6 of the mixed type multi-story parking system notifies the operation panel or smartphone of the completion of warehousing in step S804 of FIG. 8, and then notifies the autonomous driving vehicle 1 that the warehousing sequence is completed (step of FIG. 8). When the automatic driving vehicle 1 receives the completion of the warehousing sequence, the automatic driving vehicle 1 shifts to a warehousing standby state (see step S807 in FIG. 8).

  Following step S709 in FIG. 7, when the autonomous driving vehicle 1 automatically travels (see step S710 in FIG. 7) and arrives at the position of the lifting and lowering conveyance device 7 (or the turning device 10), the autonomous driving vehicle 1 The control device 6 of the mixed type multi-level parking system is notified that it has arrived at the position of the elevating and conveying device 7 (or the turning device 10) (see step S808 in FIG. 8). The control device 6 of the mixed type multi-level parking system outputs a conveyance instruction signal to the lifting / lowering conveying device 7 (or the turning device 10) (see step S809 in FIG. 8), and the lifting / lowering conveying device 7 (or the turning device 10) is a vehicle. (See step S810 in FIG. 8). Thereafter, in the control device 6 of the mixed type multi-story parking system, it is determined whether or not the incoming vehicle needs continuous automatic travel (see step S811 in FIG. 8), and automatic travel is necessary. In step S701 in FIG. 7, the process returns to “notify start of automatic travel sequence” and the control is continued. On the other hand, when automatic travel is not necessary, it is determined whether the warehousing vehicle has arrived at the parking place 3 or not. If the warehousing vehicle has arrived at the parking place 3 (see step S812 in FIG. 8), control is performed in a manner leading to “notification of warehousing completion” in step S804 in FIG. If the warehousing vehicle has not arrived at the parking place 3, the control is performed in a manner leading to the determination of “whether there is a warehousing vehicle at the warehousing destination” in step S802 of FIG.

  In step S 803 in FIG. 8, it is determined whether the warehousing vehicle has arrived at the parking place 3. If the warehousing vehicle has not arrived at the parking place 3, is the warehousing vehicle the automatic driving vehicle 1? A determination is made as to whether or not (see step S813 in FIG. 8), and if the warehousing vehicle is the automatic driving vehicle 1, the control returns to “notify start of automatic running sequence” in step S701 in FIG. On the other hand, when the warehousing vehicle is not the automatic driving vehicle 1, the control is performed in such a manner as to be connected to the “transfer instruction signal to the automatic transfer device 5” in step S 712 in FIG. 7.

  The control device 6 of the mixed type multi-level parking system needs to return the lifting and lowering conveying device 7 (or the turning device 10) to the initial position after notifying the automatic driving vehicle 1 that the warehousing sequence has been completed in step S806 of FIG. If it is not necessary to return the lifting / lowering conveyance device 7 (or the turning device 10) to the initial position, the control related to warehousing is terminated. When it is necessary to return the lifting / lowering conveyance device 7 (or the turning device 10) to the initial position, the control device 6 of the mixed type multi-level parking system instructs the lifting / lowering conveying device 7 (or the turning device 10) to return to the initial position. Is output (see step S815 in FIG. 8), the lifting / lowering conveyance device 7 (or turning device 10) returns to the initial position (see step S816 in FIG. 8), and the control related to warehousing ends.

  In step S802 in FIG. 8, it is determined whether or not there is a reserved delivery vehicle at the warehousing destination. If there is a reserved warehousing vehicle at the warehousing destination, a determination is made as to whether or not the outgoing reservation vehicle is the automatic driving vehicle 1. (See step S714 in FIG. 7) When the leaving reservation vehicle is the automatic driving vehicle 1, it is determined whether or not the leaving reservation vehicle can automatically travel (see step S715 in FIG. 7). When the delivery reservation vehicle is capable of automatic traveling, control is continued by returning to “notify start of automatic traveling sequence” in step S701 in FIG. In step S712 of FIG. 7, the control is performed in a form leading to “a conveyance instruction signal to the automatic conveyance device 5”. Note that, in the determination in step S714 in FIG. 7, even when the evacuation reservation vehicle is not the automatic driving vehicle 1, that is, the automatic driving non-compliant vehicle 2, the “transfer instruction signal to the automatic transfer device 5” in step S712 in FIG. Control is performed in a form that leads to

  Next, the control at the time of leaving the vehicle will be described with reference to FIGS.

  When leaving the vehicle, the user inputs a leaving instruction from the operation panel or a smartphone (see step S901 in FIG. 9).

  The control device 6 of the mixed type multi-story parking system stands by until a user issues a delivery instruction (see step S902 in FIG. 9), and when a delivery instruction operation is performed by the user, a delivery sequence is started. Is notified to the operation panel or the smartphone (see step S903 in FIG. 9), and the start of the delivery sequence is displayed on the operation panel or smartphone (see step S904 in FIG. 9).

  When it is notified in step S903 in FIG. 9 that the exit sequence is started, the control device 6 of the mixed type multi-level parking system determines whether or not there is a vehicle in front of the exit vehicle (in FIG. 9). When the vehicle is on the near side of the leaving vehicle, the near side vehicle movement sequence (see Step S906 in FIG. 9) is started. The near side vehicle movement sequence will be described later with reference to FIG.

  If there is no vehicle in front of the leaving vehicle in step S905 in FIG. 9, it is determined whether or not the leaving vehicle is the automatic driving vehicle 1 (see step S1001 in FIG. 10). When the leaving vehicle is the automatic driving vehicle 1, it is determined whether or not the automatic driving vehicle 1 can be directly discharged (see step S1002 in FIG. 10), and when the automatic driving vehicle 1 can be directly discharged, The control device 6 of the mixed type multi-level parking system is notified that the delivery sequence is started to the autonomous driving vehicle 1 (see step S1003 in FIG. 10), and the automated driving vehicle 1 receives that the delivery sequence is started. The activation confirmation signal is output (see step S1004 in FIG. 10). The control device 6 of the mixed type multi-level parking system waits for a response from the autonomous driving vehicle 1 within a certain time (see step S1005 in FIG. 10). Whether or not it is necessary to get on the device 10) is determined in the control device 6 of the mixed type multi-level parking system (see step S1006 in FIG. 10). When the vehicle does not need to get on the lifting / lowering conveyance device 7 (or the turning device 10), the exit position instruction signal and the activation permission signal are output from the control device 6 of the mixed type multi-level parking system to the autonomous driving vehicle 1 (see FIG. 10). In step S1007, the autonomous driving vehicle 1 starts automatic traveling toward the unloading position (entry / exiting unit 4), and also starts automatic traveling to the unloading position (entry / exiting unit 4). The control device 6 is notified (see step S1008 in FIG. 10) and automatically travels (see step S1009 in FIG. 10).

  When the control device 6 of the mixed-type three-dimensional parking system detects that the autonomous driving vehicle 1 that has automatically traveled in step S1009 in FIG. 10 has passed a specific position (see step S1010 in FIG. 10), unmanned confirmation of the loading / unloading unit 4 is performed. This is done (see step S1011 in FIG. 10), and the partition gate 9 is opened (see step S1012 in FIG. 10). When the autonomous driving vehicle 1 confirms that the partition gate 9 is opened (see step S1013 in FIG. 10), it automatically travels (see step S1014 in FIG. 10), and when it reaches the loading / unloading unit 4, the loading / unloading unit 4 is notified to the control device 6 of the mixed type multi-level parking system (see step S1015 in FIG. 10).

  When it is necessary to get on the lifting / lowering conveyance device 7 (or the turning device 10) in step S1006 of FIG. 10, the position instruction signal and the activation permission are sent from the control device 6 of the mixed type multi-level parking system to the lifting / lowering conveyance device 7 (or the turning device 10). The signal is output (see step S1016 in FIG. 10). The automatic driving vehicle 1 starts automatic traveling toward the lifting / lowering conveyance device 7 (or the turning device 10) moved based on the position instruction signal and the activation permission signal, and toward the lifting / lowering conveyance device 7 (or the turning device 10). The control device 6 of the mixed type multi-story parking system is notified that the automatic traveling has started (see step S1017 in FIG. 10), and automatically travels (see step S1018 in FIG. 10).

  When the automatic driving vehicle 1 arrives at the position of the lifting and lowering conveyance device 7 (or the turning device 10), it notifies the control device 6 of the mixed three-dimensional parking system that it has arrived at the position of the lifting and lowering conveyance device 7 (or the turning device 10). (See step S1019 in FIG. 10). The control device 6 of the mixed type multi-level parking system outputs a transport instruction signal to the lifting and lowering transport device 7 (or the turning device 10) (see step S1020 in FIG. 10), and the lifting and lowering transport device 7 (or the turning device 10) is a vehicle. (See step S1021 in FIG. 10). Thereafter, in the control device 6 of the mixed type multi-level parking system, it is determined whether or not the outgoing vehicle needs continuous automatic travel (see step S1022 in FIG. 10), and when automatic travel is necessary. Is returned to “notify start of delivery sequence” in step S1003 in FIG. 10, and control is continued. On the other hand, when automatic traveling is not necessary, unattended confirmation of the entry / exit unit 4 is performed (see step S1023 in FIG. 10). ), The partition gate 9 is opened (see step S1024 in FIG. 10), and control is performed in a manner leading to “notification of arrival at the warehouse 4” in step S1015 in FIG.

  If the outgoing vehicle is not the automatic driving vehicle 1 in step S1001 of FIG. 10 or if there is no response from the automatic driving vehicle 1 within a certain time in step S1005 of FIG. 10, the control device 6 of the mixed three-dimensional parking system automatically A transport instruction signal is output to the transport device 5 (see step S1025 in FIG. 10), and transport is performed by the automatic transport device 5 (see step S1026 in FIG. 10).

  When the control device 6 of the mixed type multi-level parking system detects that the automatic transport device 5 that transports the outgoing vehicle has passed the specific position in step S1026 in FIG. 10 (see step S1027 in FIG. 10), the unmanned portion of the incoming / outgoing portion 4 Confirmation is performed (see step S1028 in FIG. 10), and the partition gate 9 is opened (see step S1029 in FIG. 10). The automatic transfer device 5 confirms that the partition gate 9 has been opened (see step S1030 in FIG. 10), conveys the vehicle to the loading / unloading unit 4 (see step S1031 in FIG. 10), and goes to the loading / unloading unit 4 Is notified to the control device 6 of the mixed-type three-dimensional parking system (see step S1032 in FIG. 10). Thereafter, the automatic transfer device 5 is retracted from the loading / unloading unit 4 (see step S1033 in FIG. 10) and moved to the parking place 3 or the buffer 11. Note that after the partition gate 9 is opened in step S1024 in FIG. 10, control is performed in a manner leading to “confirmation of partition gate 9 open” in step S1030 in FIG.

  After the automatic driving vehicle 1 notifies arrival at the loading / unloading unit 4 in step S1015 of FIG. 10 or after the automatic transfer device 5 has retreated from the loading / unloading unit 4 in step S1033 of FIG. The control device 6 closes the partition gate 9 (see step S1101 in FIG. 11), and determines whether or not the exit instruction is an operation from the operation panel (see step S1102 in FIG. 11).

  When the exit instruction is an operation from the operation panel, the control device 6 of the mixed type multi-level parking system opens the door 8 (see step S1103 in FIG. 11) and notifies the operation panel of the completion of the exit (FIG. 11). In step S1104, the operation panel displays the completion of leaving (see step S1105 in FIG. 11), and the user recognizes this.

  If the exit instruction is not an operation from the operation panel in step S1102 of FIG. 11, the control device 6 of the mixed type multi-level parking system notifies the user's smartphone of completion of the exit (see step S1106 of FIG. 11). When the smartphone displays the completion of the delivery (see step S1107 in FIG. 11) and the user recognizes this, and gives an instruction to open the entrance door 8 (see step S1108 in FIG. 11), the mixed three-dimensional parking system The control device 6 opens the door 8 (see step S1109 in FIG. 11), and notifies the operation panel of the completion of leaving in step S1104 in FIG.

  The control device 6 of the mixed type multi-level parking system notifies the automatic driving vehicle 1 that the exit sequence is completed after closing the partition gate 9 in step S1101 in FIG. 11 (see step S1110 in FIG. 11). The automatic driving vehicle 1 receives the completion of the delivery sequence (see step S1111 in FIG. 11).

  The control device 6 of the mixed type multi-level parking system determines whether or not it is necessary to return the lifting and lowering conveying device 7 (or the turning device 10) to the initial position after closing the partition gate 9 in step S1101 of FIG. If it does (see step S1112 of FIG. 11) and it is not necessary to return the raising / lowering conveyance apparatus 7 (or turning apparatus 10) to an initial position, the control regarding unloading will be complete | finished. When it is necessary to return the lifting / lowering conveyance device 7 (or the turning device 10) to the initial position, the control device 6 of the mixed type multi-level parking system instructs the lifting / lowering conveying device 7 (or the turning device 10) to return to the initial position. Is output (see step S1113 in FIG. 11), the lifting and lowering conveying device 7 (or the turning device 10) returns to the initial position (see step S1114 in FIG. 11), and the control relating to unloading ends.

  Hereinafter, the front side vehicle movement sequence will be described in detail with reference to FIG.

  If there is a vehicle on the front side of the leaving vehicle in step S905 in FIG. 9, it is determined whether or not the front vehicle is the automatic driving vehicle 1 (see step S1201 in FIG. 12).

  When the front vehicle is the autonomous driving vehicle 1, it is notified that the movement sequence is started from the control device 6 of the mixed type multi-level parking system to the autonomous driving vehicle 1 (see step S1202 in FIG. 12). 1 receives the start of the movement sequence and outputs an activation confirmation signal (see step S1203 in FIG. 12). The control device 6 of the mixed type multi-level parking system waits for a response from the autonomous driving vehicle 1 (see step S1204 in FIG. 12). The designated position instruction signal and the activation permission signal are output to 1 (see step S1205 in FIG. 12), and the autonomous driving vehicle 1 starts automatic traveling toward the designated position and starts automatic traveling to the designated position. The control device 6 of the mixed type multi-level parking system is notified (see step S1206 in FIG. 12) and automatically travels (see step S1207 in FIG. 12). When the autonomous driving vehicle 1 arrives at the designated position, the autonomous driving vehicle 1 notifies the arrival at the designated position to the control device 6 of the mixed type multilevel parking system (see step S1208 in FIG. 12), and the near-side vehicle movement sequence. Ends.

  If the front vehicle is not the automatic driving vehicle 1 in step S1201 in FIG. 12, a transport instruction signal is output from the control device 6 of the mixed type multi-level parking system to the automatic transport device 5 (see step S1209 in FIG. 12). When the automatic conveyance device 5 is conveyed (see step S1210 in FIG. 12) and the automatic conveyance device 5 arrives at the designated position, the automatic conveyance device 5 determines that the arrival at the designated position is the control device 6 of the mixed three-dimensional parking system. (See step S1211 in FIG. 12), the front-side vehicle movement sequence ends.

  In addition, although it is not specified in the control at the time of leaving the vehicle, as in the control at the time of entering (for example, step S602 and step S603 in FIG. 6), the automatic traveling parking (outgoing) in the control device 6 of the mixed type multi-level parking system. In addition, a vehicle state check may be performed to determine whether or not the automatic driving vehicle 1 can perform automatic traveling parking (shipping) by self-diagnosis.

  In the case of the present embodiment, it is not necessary for the user to drive the self-driving vehicle 2 to perform parking, and it is not necessary to perform annoying parking. The user enters the parking facility and gets in and out of the car. There is no need, and it is not necessary to install a plurality of human sensors and the cost can be reduced.

  In this way, unattended parking can be realized smoothly and accommodation efficiency can be improved in an environment where the autonomous driving vehicle 1 and the autonomous driving non-compliant vehicle 2 coexist.

  In addition, the mixed type multi-story parking system of the present invention is not limited to the above-described embodiment, and it is needless to say that various changes can be made without departing from the gist of the present invention.

DESCRIPTION OF SYMBOLS 1 Auto-driving car 2 Auto-operation non-correspondence car 3 Parking place 4 Entry / exit part 5 Automatic conveyance apparatus 6 Control apparatus 7 Lifting conveyance apparatus

Claims (8)

A mixed-type three-dimensional parking system that stores an autonomous driving vehicle that can freely travel in a parking space formed in a multi-level parking space and an autonomous driving non-compliant vehicle that a user drives,
An automatic transfer device that can freely transport the vehicle that does not support automatic driving;
A lift transport device that lifts and transports the automatic driving vehicle and the non-automatic driving vehicle transported by the automatic transport device between a plurality of levels, and
A mixed-type three-dimensional parking system comprising: a control device that transmits and receives signals related to loading and unloading between the automatic driving vehicle, the automatic transfer device, and the lifting and lowering transfer device.   The control device makes a determination as to whether or not there is a reservation vehicle at the warehousing destination and whether or not the reservation vehicle is an automatic driving vehicle, and when the reservation vehicle is an automatic driving vehicle, The mixed type multi-level parking system according to claim 1, wherein a specified position instruction signal and an activation permission signal are output to the autonomous driving vehicle as the signals.   The control device makes a determination as to whether or not there is a reserved reservation vehicle at the storage destination and whether or not the reserved reservation vehicle is an autonomous driving vehicle, and when the outgoing reservation vehicle is a vehicle that does not support automatic driving. The mixed type multi-level parking system according to claim 1, wherein a transport instruction signal is output as the signal to an automatic transport device that transports the vehicle that does not support automatic driving.   The control device determines whether or not the self-driving vehicle is capable of automatic traveling, and outputs the conveyance instruction signal as the signal to the automatic conveying device when the self-driving vehicle is not capable of automatic traveling. The mixed type multi-level parking system according to claim 1.   The control device allows the user to select an automatic running parking mode in which an automatic driving vehicle automatically moves in and out, and an automatic conveying device parking mode in which an automatic driving device loads or unloads an automatic driving vehicle or an automatic driving vehicle. The mixed type multi-story parking system according to claim 1, which is configured to be free.   A doorway that can be opened and closed to separate the entrance / exit part from the outside, and a partition gate that separates the entrance / exit part from the inside of the parking space, and configured to be separated from the parking operation by the entrance door or the partition gate. The mixed three-dimensional parking system according to any one of claims 1 to 5.   The control device starts the warehousing sequence by performing unattended reconfirmation in the loading / unloading section only when the user leaves the loading / unloading section after getting off and confirms that the loading / unloading section is unmanned. The mixed type multi-level parking system according to claim 6.   The mixed type multi-level parking system according to claim 6, wherein the control device starts a warehousing sequence only when the state of the vehicle is checked and it is determined that warehousing is possible.

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