JP2019073958A - Mechanical parking station - Google Patents

Abstract

To provide a mechanical parking station capable of improving a performance of detecting an object in a landing room and of enhancing security.SOLUTION: A mechanical parking station 100 of an embodiment of the invention is a mechanical parking station 100 for transporting and storing a vehicle 20 which entered into a landing room 12 and comprises a first detector 44 for detecting a presence of an object corresponding to a reflection light of the light floodlighted in the landing room 12 and a controller 32 configured to restrict an action of the mechanical parking station 100 when a presence of an object is detected by the first detector 44.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a mechanical parking lot.

  A mechanical parking lot is known as a parking lot capable of efficiently parking a large number of vehicles in a small space. The mechanical parking lot is also provided with various structures, one of which is mounting the vehicle on a pallet and freeing the pallet by moving the pallet back and forth or laterally using rails and grooves. A pallet-type mechanical parking lot is provided which is configured to carry to a pallet space. Also, by combining this pallet-type mechanical parking lot with a lift and a three-dimensional parking layer, a mechanical parking lot with higher parking efficiency is also provided.

  For example, Patent Document 1 describes an elevator-type parking device that stores a vehicle by loading it onto a pallet called to a loading and unloading floor and causing it to move up and down. In the parking apparatus described in Patent Document 1, a landing deck is provided on both sides of the hoistway on the storage floor, and a plurality of passive infrared sensors are disposed in the landing deck area. Passive infrared sensors detect people and animals in the passenger deck area.

JP, 2006-077425, A

  The inventor has obtained the following recognition of the mechanical parking lot. In a pallet type mechanical parking lot where vehicles entering a passenger compartment are loaded on pallets and transported, it is desirable to detect the presence or absence of a person in the passenger compartment at the time of various operations of the parking lot in order to improve safety.

For example, in order to detect the presence or absence of a person in the passenger compartment, it is conceivable to provide an infrared sensor in the passenger compartment. However, although the infrared sensor has a high ability to detect the presence or absence of a moving person, the ability to detect the presence or absence of a substantially stationary person is not high. From the above, the inventor has recognized that the mechanical parking lot has a problem to be improved in terms of enhancing the safety by improving the ability to detect a person in the passenger compartment. Such a problem of detection ability is not limited to human beings, but may also occur with objects such as luggage and animals left behind in the passenger compartment. In the following description, for the sake of simplicity, a person, a package, an animal and the like will be collectively referred to as an object.
Such problems may occur not only for pallet type mechanical parking lots but also for other types of mechanical parking lots.

  The present invention has been made in view of these circumstances, and an object thereof is to provide a mechanical parking lot capable of enhancing the safety by improving the ability to detect an object in a passenger compartment.

  In order to solve the above problems, a mechanical parking lot according to an aspect of the present invention is a mechanical parking lot that transports and stores a vehicle entering a passenger compartment, and is a reflection of light projected into the passenger compartment. A first detector that detects the presence of an object in response to light, and a control unit that controls operation of the mechanical parking lot when the presence of the object is detected by the first detector. .

  It is to be noted that any combination of the above-described constituent elements, or one obtained by replacing the constituent elements and expressions of the present invention among methods, apparatuses, systems, etc. is also effective as an aspect of the present invention.

  According to the present invention, it is possible to provide a mechanical parking lot capable of enhancing the safety by improving the ability to detect an object in a passenger compartment.

It is a front view of the mechanical parking lot which concerns on embodiment. It is a perspective view which shows the passenger compartment of the mechanical parking lot of FIG. It is a top view which shows the circumference | surroundings of the passenger compartment of the mechanical parking lot of FIG. It is explanatory drawing of the side view explaining an example of operation | movement of the 1st detector of the mechanical parking lot of FIG. It is explanatory drawing of the planar view explaining an example of operation | movement of the 1st detector of the mechanical parking lot of FIG. It is a top view which shows an example of the determination area | region of the mechanical parking lot of FIG. It is a top view which shows another example of the determination area | region of the mechanical parking lot of FIG. It is a block diagram which shows an example of a structure of the mechanical parking lot of FIG. It is a flowchart which shows an example of the warehousing operation of the mechanical parking lot of FIG. It is a flowchart which shows an example of delivery operation | movement of the mechanical parking lot of FIG.

The present inventors have studied mechanical parking lots from the viewpoint of enhancing safety, and obtained the following findings.
In a mechanical parking lot provided with a transfer mechanism for transferring a vehicle entering a passenger compartment, it is desirable to detect the presence or absence of a person in the passenger compartment in order to ensure safe operation. In order to detect the presence or absence of a person in the passenger compartment, it is conceivable to provide an infrared sensor in the passenger compartment. As an example, a configuration was considered in which an infrared sensor was installed with the detection surface obliquely downward at a position about 2 m high on the wall of the passenger compartment. It has been found that with this configuration it is possible to detect the presence or absence of a moving person but not the presence of a substantially stationary person.

  In addition, in this configuration, it may not be possible to detect people in low positions, such as squatting children, people lying on the floor, and people lying on the floor. From this, the present inventor has found that this configuration can not be said to have high human detection capability. It has also been found that with this configuration, the number of sensors installed is increased to cover the entire cabin. As mentioned above, such a problem of detection ability is not limited to humans, but may occur in general objects.

Therefore, the inventor has found that a stationary object can be detected by detecting the object in accordance with the reflected light of the projected light. In this configuration, it is also possible to set to detect an object located at a low position. It is expected that the safety of the parking lot will be further enhanced by restricting the operation of the mechanical parking lot when the detection result is an abnormal state different from the normal state based on the detection result of detecting the object in this manner. it can.
An embodiment is devised based on such knowledge and thought, and the concrete composition is explained below.

Hereinafter, the present invention will be described based on preferred embodiments with reference to the drawings. In the embodiment and the modification, the same or equivalent constituent elements and members are denoted by the same reference numerals, and duplicating descriptions will be appropriately omitted. In addition, dimensions of members in each drawing are shown appropriately enlarged or reduced for easy understanding. Moreover, a part of the member which is not important in describing the embodiment in each drawing is omitted and displayed.
Also, although terms including first and second ordinal numbers are used to describe various components, this term is used only to distinguish one component from another component, and this term The constituent elements are not limited by

Embodiment
FIG. 1 is a front view of a mechanical parking lot 100 according to the embodiment. The mechanical parking lot 100 according to the embodiment stores the vehicle 20 such as a car that has entered the passenger compartment 12 in the storage rack 14. The following description is based on the XYZ orthogonal coordinate system. The X-axis direction corresponds to horizontal horizontal direction, the Z-axis direction corresponds to horizontal horizontal direction, and the Y-axis direction corresponds to vertical vertical direction. The Y-axis direction and the Z-axis direction are orthogonal to the X-axis direction.

  First, the overall configuration of the mechanical parking lot 100 will be described. The mechanical parking lot 100 is a so-called underground mechanical parking lot provided up to the third basement below the building 24 provided on the ground. The mechanical parking lot 100 includes a passenger compartment 12, a pallet 36, and a storage rack 14. The storage rack 14 is a parking room provided on each of the first to third floors of the building 24.

  The mechanical parking lot 100 is a pallet parking lot using pallets. The mechanical parking lot 100 transfers the pallet 36 with the vehicle 20 mounted thereon between the passenger compartment 12 and the storage rack 14 by the transfer mechanism 37. The mechanical parking lot 100 raises and lowers the pallet 36 using an elevating device described later. The mechanical parking lot 100 moves the pallet in the plane direction using a transfer device described later. By these operations, the mechanical parking lot 100 is configured to park the vehicle 20 on the storage rack 14. In addition, it is not essential to use a pallet.

(Amenity)
FIG. 2 is a perspective view showing the passenger compartment 12. FIG. 3 is a plan view showing the periphery of the passenger compartment 12. The description of the vehicle 20 is omitted in FIG. A passenger compartment 12 is provided in the building 24 for loading and unloading the vehicle 20 to the mechanical parking lot 100. At the time of storage, the mechanical parking lot 100 transfers and stores the vehicle 20 entering the passenger compartment 12 to the storage rack 14 in that state. When leaving the machine, the mechanical parking lot 100 transfers the vehicle 20 to the passenger compartment 12 and leaves it. The passenger compartment 12 is provided, for example, at the upper end of the hoistway 96 in the building 24.

  The passenger compartment 12 includes a floor surface 12 g, a ceiling 12 c, a wall 12 w, an entrance 16, a door 18, and a pallet placement unit 52. The passenger compartment 12 is a room surrounding a substantially rectangular parallelepiped space defined by the four wall portions 12w between the floor surface 12g and the ceiling 12c. In one wall 12w of the passenger compartment 12, an entrance 16 for the vehicle 20 to enter and exit is provided. The entrance 16 is provided with a door 18 which can be opened and closed in the vertical direction.

  The door 18 is closed when waiting and is opened when the vehicle 20 enters. The door 18 is closed when the vehicle 20 is stored. The door 18 is opened when the vehicle 20 exits and closed after the vehicle 20 exits. The opening and closing operation of the door 18 is controlled by the control unit 32 described later.

  The floor surface 12g of the passenger compartment 12 is provided with a pallet outlet 26 communicating the passenger compartment 12 with the hoistway. The size of the pallet outlet 26 is a size obtained by adding a sufficient amount of margin to the size of the pallet in plan view so that the pallet 36 can pass without interfering with the peripheral surface of the pallet outlet 26. Be done. The pallet outlet 26 of the embodiment has, for example, a substantially rectangular shape.

(Pallet placement section)
The pallet arranging unit 52 is an area where the pallet 36 on which the vehicle 20 transferred in the passenger compartment 12 is placed is arranged. In the present embodiment, the pallet arranging unit 52 is a rectangular area along the outer edge of the pallet 36. The transferred vehicle 20 stands by on the pallet 36 arranged in the pallet arrangement unit 52.

  Next, the configuration around the passenger compartment 12 of the mechanical parking lot 100 will be described. As shown in FIG. 3, the mechanical parking lot 100 mainly includes a first detector 44, a second detector 48, an operation panel 28, and a control device 30. Control device 30 includes determination unit 40 and control unit 32. The control panel 28 is provided outside the passenger compartment 12. The control device 30 is provided inside the passenger compartment 12. The control device 30 is not limited to the inside of the passenger compartment 12 and may be provided at another place. The determination unit 40 performs abnormality determination as to whether or not the inside of the passenger compartment 12 is abnormal. The control unit 32 controls the operation of the mechanical parking lot 100. In particular, the control unit 32 mainly controls the opening / closing operation of the door 18 of the entrance 16 and the operation of a transfer mechanism described later. The determination unit 40 and the control unit 32 will be described later.

(First detector)
The first detector 44 will be described with reference to FIGS. 4 and 5 as well. FIG. 4 is an explanatory view of a side view for explaining an example of the operation of the first detector 44. FIG. 5 is an explanatory view in plan view for explaining an example of the operation of the first detector 44. In these figures, the dimensions of each part are shown in proportions different from the actual ones for easy understanding. The first detector 44 projects the output light 44 e into the passenger compartment 12 to detect the reflected light 44 f from the object 44 j. Reflective objects include those that receive output light 44e and emit reflected light 44f, such as people, animals, luggage, vehicles, walls, parking lot devices, and the like. Here, an example in which the object 44 j is a person will be described.

  The first detector 44 includes a light emitting unit (not shown) for projecting the output light 44 e and a light receiving unit (not shown) for receiving the reflected light 44 f. The light emitting unit and the light receiving unit may be arranged separately, but are integrally arranged in this example. The first detector 44 identifies the distance Ld to the object 44j based on known principles. In this example, the first detector 44 outputs the output light 44e as a pulse of a predetermined frequency, and the distance to the object 44j based on the time difference between the output timing of this pulse and the timing of the reflected light 44f received and the frequency. I have identified Ld.

  The first detector 44 may include one or more detectors. As an example, the first detector 44 may include a pair of detectors disposed so as to sandwich the pallet placement portion 52 in a plan view. In the example of FIG. 3, the passenger compartment 12 is substantially rectangular in plan view, and the first detector 44 is a pair of diagonally spaced apart on the passenger compartment 12 when the passenger compartment 12 is viewed in plan. Detectors 44b and 44c are included. When the pair of detectors 44b and 44c are collectively referred to as each detector.

  The first detector 44 is disposed to project the output light 44 e at a predetermined height from the floor surface 12 g of the passenger compartment 12. In the example of FIG. 4, the detector 44b is arranged to project the output light 44e (A) to the height H1 from the floor surface 12g. The detector 44c is disposed to project the output light 44e (B) to a height H2 from the floor surface 12g. The height of the output light 44e can be set according to the desired conditions. For example, the heights H1 and H2 are set in the range of 5 cm to 20 cm in order to detect a standing person and a low position person such as a crouching child. The heights H1 and H2 may preferably be set in the range of 8 to 12 cm. The height H1 and the height H2 may be the same or different. In this example, in order to make it hard to be influenced by each other's output light, the heights H1 and H2 of the pair of detectors 44b and 44c have a difference in the range of 1 cm to 5 cm.

  Various types of light can be employed as the output light 44e according to the desired characteristics. In this example, the output light 44e is a laser light, and the first detector 44 functions as a laser sensor. The first detector 44 can obtain the distance Ld to the object 44 j closest to the first detector 44 on the optical path of the output light 44 e. The direction of the optical path of the output light 44e may be constant, but in this example, the output light 44e is fan-likely scanned in a predetermined direction. As a result, the first detector 44 can specify the distance Ld to the object 44 j in the fan-shaped scan plane. There is no limitation on the scanning direction of the output light 44e, but in this example, the output light 44e is scanned in the horizontal direction. Thus, the first detector 44 forms a scan plane parallel to the horizontal plane. The scan plane of the output light 44e may be inclined with respect to the horizontal plane.

  Each detector is provided in the vicinity of the entering corners 12 h and 12 j where one wall surface and the other wall surface orthogonal to each other meet. The output light 44e scans the detection region 44k of approximately 90 ° from an angle parallel to one of the wall surfaces 12wb and 12wd to an angle parallel to the other wall surfaces 12wa and 12wc. Each detector can specify the angle θd when the object 44 j is detected and the detected distance Ld from the scanned output light 44 e. The angle θd may be an angle with respect to any direction. In the example of FIG. 5, the angle θd is an angle with respect to the horizontal direction (X-axis direction) in plan view.

(2nd detector)
The second detector 48 will be described. As shown in FIG. 4, the second detector 48 detects the movement of the heat radiation source 48 b in the passenger compartment 12 to detect the presence of an object. A human, an animal, a vehicle, a floor, a transfer mechanism, and the like can be considered as the heat radiation source 48b. The thermal radiation source 48b emits an electromagnetic wave 48e of a wavelength corresponding to the temperature. Here, an example in which the generation source 48 b is a person and the electromagnetic wave 48 e is an infrared ray will be described.

  As the second detector 48, a detection mechanism based on known principles can be employed. In this example, the second detector 48 functions as an infrared sensor including a pyroelectric element (not shown) utilizing the pyroelectric effect. The second detector 48 can detect the temperature distribution in the detection range by forming an image of the electromagnetic wave 48e of a wavelength according to the temperature of the generation source 48b on the pyroelectric element through the lens.

  The second detector 48 may include one or more sensors. In the example of FIGS. 3 and 4, the second detector 48 includes one sensor. The second detector 48 is provided on the ceiling 12 c of the passenger compartment 12 so that the input surface is substantially downward in the vertical direction. The second detector 48 may be provided near the center of the pallet placement unit 52 in plan view. The second detector 48 detects, in a plan view, the presence of a person who is the generation source 48 b in an area including the pallet arrangement unit 52 (hereinafter referred to as a detection area 48 m).

(Judgment unit)
The determination unit 40 performs abnormality determination according to the detection result of the first detector 44 and the detection result of the second detector 48. The determination unit 40 includes a first determination unit 41 and a second determination unit 42. The first determination unit 41 of the determination unit 40 determines whether or not the inside of the passenger compartment 12 is abnormal according to the detection result of the first detector 44. The first determination unit 41 includes determination units 41b and 41c corresponding to the detectors 44b and 44c, respectively. The second determination unit 42 determines whether or not the inside of the passenger compartment 12 is abnormal according to the detection result of the second detector 48.

(First judgment unit)
The first determination unit 41 will be described. The first determination unit 41 determines that there is an abnormality when the first detector 44 detects the presence of an object in the area excluding the pallet arrangement unit 52 in the passenger compartment 12 and the space above it during storage. FIG. 6 is a plan view showing an example of the determination area 44p of the first detector 44 at the time of storage. The determination area 44p is an area to be subjected to abnormality determination in the detection area 44k. Hereinafter, the determination area 44p in plan view will be described. In FIG. 6, the area from which the line segment from upper left to lower right is drawn is the determination area 44p1 of the detector 44b, and the area from which the line segment from upper right to lower left is drawn is the determination area 44p2 of the detector 44c. . The determination area 44p is an area obtained by combining the determination areas 44p1 and 44p2 of the detectors 44b and 44c. That is, the first determination unit 41 performs abnormality determination in the determination area 44p excluding the pallet arrangement unit 52 in the passenger compartment 12 at the time of storage. At the time of storage, since the vehicle 20 is present in the pallet arranging unit 52, if the pallet arranging unit 52 is included in the abnormality determination, the vehicle 20 is detected and an abnormality is determined.

  For this reason, as shown in FIG. 5, the first determination unit 41 sets a determination area 44p corresponding to the angle of the output light 44e at the time of detection. That is, the boundary line 44u is set corresponding to the angle of the output light 44e at the time of detection, and the side closer to the boundary line 44u is set as the judgment area 44p on the basis of the position of the first detector 44 It is set as a non-determination area 44s. The first determination unit 41 is configured not to be a target of abnormality determination when an object is detected in the non-determination region 44s even in the detection region 44k. In the example of FIG. 6, the determination area 44p is an area obtained by removing the pallet arrangement unit 52 from the detection area 44k.

(Abnormal judgment)
The abnormality determination means that the presence of an object is detected and determined to be abnormal when the detection result is different from the predetermined state. Here, the predetermined state is a reference state set according to the detection result of the first detector 44 when there are no vehicles 20 or people in the passenger compartment 12. When the vehicle 20 or a person is not present, the first detector 44 detects the facility of the parking lot such as the wall 12w of the passenger compartment 12 and the transfer mechanism. That is, the first determination unit 41 determines that the object 44 j is abnormal when it detects the object 44 j at a position different from the facility (a position closer to the facility) based on the state where the facility in the parking lot is detected. As an example, the first determination unit 41 may store the detection result of the first detector 44 when the output light 44 e is scanned, and may use the stored detection result as a reference. The first determination unit 41 can determine as abnormal if the detection result of the first detector 44 when the output light 44 e is newly scanned after the storage is significantly different from the stored detection result.

  FIG. 7 is a plan view showing another example of the determination area 44 q of the first detector 44 at the time of leaving the house. The determination area 44 q is an area to be subjected to abnormality determination in the detection area 44 k. Hereinafter, the determination area 44 q in plan view will be described. In FIG. 6, the area from which the line segment from upper left to lower right is drawn is the determination area 44q1 of the detector 44b, and the area from which the line segment from upper right to lower left is drawn is the determination area 44q2 of the detector 44c. . The determination area 44 q is an area obtained by combining the determination areas 44 q 1 and 44 q 2 of the detectors 44 b and 44 c. The first determination unit 41 performs abnormality determination in the determination area 44 q including the pallet arrangement unit 52 in the passenger compartment 12 at the time of delivery. In other words, when the first detector 44 detects the presence of an object in the entire area within the passenger compartment 12 including the pallet arrangement portion 52 in the passenger compartment 12 and the space above it, it is determined as abnormal. Since the vehicle 20 does not exist inside the passenger compartment 12 at the time of leaving the room, no problem occurs even if the abnormality determination including the pallet arrangement unit 52 is performed. Rather, in the absence of the vehicle 20, since there is a possibility that a person is present in the pallet arrangement unit 52, it is desirable that the pallet arrangement unit 52 be included in the abnormality determination. As described above, the first determination unit 41 is configured to be able to switch the determination area between the determination area 44p and the determination area 44q at the time of storage and at the time of storage.

(Second judgment unit)
The second determination unit 42 will be described. The second determination unit 42 determines that the second detector 48 is abnormal when the second detector 48 detects the presence of the generation source 48 b. When the second detector 48 is an infrared sensor, the second determination unit 42 detects a person when a high temperature area exists in the detected temperature distribution if the background temperature is in a sufficiently low state. It can be judged as abnormal. However, when the background temperature is high, such as when the temperature of the wall surface or the floor surface or the temperature of the vehicle body is high, it is difficult to detect the presence of a person only by the temperature difference. Therefore, in the present example, the second determination unit 42 detects the presence of the generation source 48b in accordance with the fluctuation of the electromagnetic wave 48e emitted from the generation source 48b.

  As an example, the second determination unit 42 may perform abnormality determination based on the difference from the temperature distribution detected immediately before by the second detector 48. Specifically, the second determination unit 42 stores the temperature distribution detected immediately before by the second detector 48, and performs the abnormality determination based on the stored temperature distribution. In particular, the second determination unit 42 stores the temperature distribution detected by the second detector 48 at predetermined intervals, and determines abnormality based on the stored temperature distribution. The second determination unit 42 determines that the temperature distribution newly detected by the second detector 48 after the storage thereof is abnormal when it is significantly different from the stored temperature distribution. By making the determination using the difference in this manner, the second detector 48 can detect a moving person.

  As shown in FIG. 6, at the time of storage, the first determination unit 41 does not perform abnormality determination on the pallet arrangement unit 52. For this reason, it is desirable for the second detector 48 to detect the presence of the source 48 b at least in the area including the pallet placement unit 52. The second detector 48 is set such that its detection area 48m includes the pallet arranging section 52 in a plan view. That is, the second detector 48 is configured to detect the presence of the generation source 48 b in a region where the first determination unit 41 does not perform the abnormality determination.

  The first determination unit 41 and the second determination unit 42 output the result of the abnormality determination to the control unit 32. The control unit 32 controls the operation of the mechanical parking lot 100 according to the determination result. The control unit 32 restricts the operation of the mechanical parking lot 100 in a state where at least one of the first determination unit 41 and the second determination unit 42 determines that it is abnormal. As an example, the control unit 32 prohibits or stops the closing operation of the door 18 of the entrance 16 and the operation of the transfer mechanism 37 which will be described later in a state where it is determined that an abnormality occurs at the time of storage. As an example, the control unit 32 prohibits or stops the closing operation of the door 18 of the entrance 16 when it is determined that an abnormality occurs at the time of leaving the house.

(Operation board)
Next, the control panel 28 will be described. The operation panel 28 has a function as a user interface for a parking lot user or a parking lot manager. The operation panel 28 is provided with a touch panel (not shown) for receiving an input of an operation such as operation start of the door 18 or the transfer mechanism 37 and outputting an operation result to the control unit 32 and displaying an operation state of a parking lot. It is also good.

  Next, the control device 30 will be described. FIG. 8 is a block diagram showing an example of the configuration of the mechanical parking lot 100. As shown in FIG. FIG. 8 omits and displays some elements which are not important in the explanation. Each block of control device 30 shown in FIG. 8 can be realized by hardware as an element such as a CPU (Central Processing Unit) of a computer or by a mechanical device, and software can be realized by a computer program or the like. However, here, the functional block realized by those cooperation is drawn. Therefore, it is understood by those skilled in the art who have been mentioned in the present specification that these functional blocks can be realized in various forms by a combination of hardware and software.

  Control device 30 includes a control unit 32 and a determination unit 40. The control unit 32 includes an operation result acquisition unit 32 d, a door control unit 32 g, and a transfer control unit 32 h. The operation result acquisition unit 32 d acquires the operation result from the operation panel 28. The door control unit 32 g controls the opening operation and the closing operation of the door 18 so as to open and close the entrance 16. The transfer control unit 32 h controls the transfer mechanism 37 to transfer the vehicle 20 between the pallet arrangement unit 52 of the passenger compartment 12 and the storage rack 14.

  Next, another configuration of the mechanical parking lot 100 according to the embodiment will be described with reference to FIG. In the mechanical parking lot 100, the transfer mechanism 37 is a mechanism that transfers the pallet 36 carrying the vehicle 20 between the passenger compartment 12 and the storage rack 14 and stores or unloads it. The transfer mechanism 37 includes a first transfer device 38, a second transfer device 39, a plurality of (for example, two or four) masts 90, a lift frame 88, and a lifting device 94. A plurality of second transfer devices 39 are provided. The storage shelves 14 on the first to third floors each include a plurality of (for example, 10) parking spaces. The plurality of parking spaces have five rows in the transfer direction (X-axis direction in the drawing) in plan view, and two rows of matrix in the cross direction (Z-axis direction in the drawing) substantially orthogonal to the transfer direction. Arranged in The parking space is one parking area (one unit of parking) in the storage shelf in which the vehicle 20 can be parked with the pallet. Each of the first to third floor storage shelves 14 includes a frame 80 that defines the floor of the storage shelf. The second transfer device 39 is fixed to each frame 80.

  Each mast 90 functions as a support provided at a corner of the hoistway 96 having a substantially rectangular cross section. The lift frame 88 is formed in a substantially rectangular shape in a plan view, and is supported by the plurality of masts 90 so as to be able to move up and down. A first transfer device 38 is mounted on the top of the lift frame 88. The lifting device 94 lifts the lift frame 88 along the hoistway 96. A pallet is mounted on the top of the first transfer device 38. The first transfer device 38 is configured to move the pallet in the transfer direction. The pallets 36 are all flat members. The upper surface of the pallet 36 on which the vehicle 20 is mounted, that is, the mounting surface of the vehicle 20 is substantially rectangular. The pallet 36 has a uniform size.

(Incoming operation)
Next, an example of the warehousing operation of the mechanical parking lot 100 configured as described above will be described. FIG. 9 is a flowchart showing an example of the warehousing operation of the mechanical parking lot 100 according to the embodiment. FIG. 9 shows a process S100 from transferring the vehicle 20 entering the passenger compartment 12 to the storage rack 14 after the driver or clerk depresses the storage button (not shown) of the operation panel 28.

  When the process starts, the control unit 32 acquires the operation result of the operation panel 28 via the operation result acquisition unit 32d, and determines whether the storage button is pressed (step S102). When the storage button is not pressed (N in step S102), the control unit 32 returns the process to the beginning of step S102 and repeats step S102.

  When the storage button is pressed (Y in step S102), the control unit 32 controls the door 18 to open (perform the opening operation) the door 18 of the entrance 16 of the passenger compartment 12 (step S104). When the door 18 is opened, the driver causes the vehicle 20 to enter the passenger compartment 12 and stops on the pallet 36 of the pallet arrangement unit 52 (step S106). When the vehicle 20 is made to enter, the driver leaves the passenger compartment 12. When the drivers leave, the driver or the attendant operates the close button (not shown) from the operation panel 28. The close button is an operation button for starting an operation of closing the door 18 and transferring the pallet 36 on which the vehicle 20 is loaded to the storage rack 14. This series of operations is initiated by depressing the close button.

  When the door 18 is opened, the control unit 32 acquires the operation result of the operation panel 28 via the operation result acquisition unit 32d, and determines whether the close button is pressed (step S108). When the close button is not pressed (N in step S108), the control unit 32 returns the process to the beginning of step S108 and repeats step S108.

  When the close button is pressed (Y in step S108), the first determination unit 41 acquires the detection result 1 from the first detector 44 (step S110). When the detection result 1 is acquired, the first determination unit 41 determines whether the detection result 1 is abnormal (step S112). That is, the first determination unit 41 determines whether the first detector 44 has detected an object. In this step, the determination units 41b and 41c of the first determination unit 41 perform abnormality determination on the detection results of the detectors 44b and 44c of the first detector 44. The first determination unit 41 determines that the detection result 1 is abnormal if any one of the determination units 41 b and 41 c is determined to be abnormal. On the other hand, when both of the determination units 41 b and 41 c do not determine that the detection result is abnormal, the first determination unit 41 determines that the detection result 1 is not abnormal. The first determination unit 41 performs abnormality determination in the determination area 44p excluding the pallet arrangement unit 52 in the passenger compartment 12 at the time of the warehousing operation (see FIG. 6).

  When the detection result 1 is abnormal (Y in step S112), the control unit 32 restricts the operation of the mechanical parking lot 100 (step S118). In this example, the closing operation of the door 18 and the transfer operation of the transfer mechanism 37 are prohibited. If these operations have already been activated, the operations are stopped.

  After restricting the operation of the mechanical parking lot 100, the control unit 32 presents (informs) an alarm to notify the driver or the attendant, that is, the abnormal state to the outside (120). The alarm may be presented by outputting sound, light, images, etc. When an alarm is presented, the control unit 32 returns the process to the beginning of step S108 and repeats the processes of steps S108 to S120. During this time, the door 18 and the transfer mechanism 37 continue to be in a non-operational state.

  If the detection result 1 is not abnormal (N in step S112), the second determination unit 42 acquires the detection result 2 from the second detector 48 (step S114). When the detection result 2 is acquired, the second determination unit 42 determines whether the detection result 2 is abnormal (step S116). That is, the second determination unit 42 determines whether the second detector 48 has detected an object. In this step, the second determination unit 42 performs abnormality determination on the detection result of the second detector 48.

  If the detection result 2 is abnormal (Y in step S116), the control unit 32 shifts the process to step S118. The process of returning to step S118, S120 and step S108 is as described above. That is, steps S118 and S120 are performed when any of the detection result 1 and the detection result 2 is abnormal.

  When the detection result 2 is not abnormal (N in step S116), the control unit 32 closes the door 18 and controls the door 18 and the transfer mechanism 37 so as to transfer the vehicle 20 (steps S122 and S124). After transferring the vehicle 20, the control unit 32 ends the process S100. The process S100 is merely an example, and other steps may be added, some steps may be deleted, and the order of the steps may be changed.

(Delivery operation)
Next, an example of the leaving operation of the mechanical parking lot 100 will be described. FIG. 10 is a flowchart showing an example of the delivery operation of the mechanical parking lot 100 according to the embodiment. In FIG. 10, after the driver or clerk depresses the delivery button (not shown) of the operation panel 28, the vehicle 20 is transferred from the storage rack 14 to the passenger compartment 12 and the door 18 of the doorway 16 is opened to move the vehicle 20. The process S140 from leaving to closing the door 18 is shown.

  When the process starts, the control unit 32 acquires the operation result of the operation panel 28 via the operation result acquisition unit 32d, and determines whether the delivery button is pressed (step S142). When the delivery button is not pressed (N in step S142), the control unit 32 returns the process to the beginning of step S142 and repeats step S142.

  When the delivery button is pressed (Y in step S142), the control unit 32 controls the transfer mechanism 37 to transfer the pallet 36 carrying the vehicle 20 from the storage rack 14 to the pallet arrangement unit 52 (step S144) . After transferring the vehicle 20, the control unit 32 controls the door 18 so as to open the door 18 of the entrance 16 of the passenger compartment 12 (step S146).

  When the door 18 is opened, the driver withdraws the vehicle 20 from the passenger compartment 12 (step S148). When the vehicle 20 leaves, the driver or the attendant operates the close button (not shown) from the operation panel 28. The close button in this case is an operation button for closing the door 18. The closing operation of the door 18 is started by depressing the close button.

  When the door 18 is opened, the control unit 32 acquires the operation result of the operation panel 28 via the operation result acquisition unit 32d, and determines whether the close button is pressed (step S150). If the close button is not pressed (N in step S150), the control unit 32 returns the process to the beginning of step S150 and repeats step S150.

  When the close button is pressed (Y in step S150), the first determination unit 41 acquires the detection result 1 from the first detector 44 (step S152). When the detection result 1 is acquired, the first determination unit 41 determines whether the detection result 1 is abnormal (step S154). That is, the first determination unit 41 determines whether the first detector 44 has detected an object. In this step, the determination units 41b and 41c of the first determination unit 41 perform abnormality determination on the detection results of the detectors 44b and 44c of the first detector 44. The first determination unit 41 determines that the first determination unit 41 is abnormal if any of the determination units 41 b and 41 c is determined to be abnormal. On the other hand, when both of the determination units 41 b and 41 c do not determine that the detection result is abnormal, the first determination unit 41 determines that the detection result 1 is not abnormal. The first determination unit 41 performs abnormality determination in the determination area 44 q including the pallet arrangement unit 52 in the passenger compartment 12 at the time of the delivery operation (see FIG. 7).

  When the detection result 1 is abnormal (Y in step S154), the control unit 32 restricts the operation of the mechanical parking lot 100 (step S160). In this example, the closing operation of the door 18 and the operation of the transfer mechanism 37 are prohibited. If these operations have already been activated, the operations are stopped.

  After restricting the operation of the mechanical parking lot 100, the control unit 32 presents an alarm to notify the driver or the attendant of the abnormal state (S162). The alarm may be presented by outputting sound, light, images, etc. When an alarm is presented, the control unit 32 returns the process to the beginning of step S150 and repeats the processes of steps S150 to S162. During this time, the door 18 and the transfer mechanism 37 continue to be in a non-operational state.

  If the detection result 1 is not abnormal (N in step S154), the second determination unit 42 acquires the detection result 2 from the second detector 48 (step S156). When the detection result 2 is acquired, the second determination unit 42 determines whether the detection result 2 is abnormal (step S158). That is, the second determination unit 42 determines whether the second detector 48 has detected an object. In this step, the second determination unit 42 performs abnormality determination on the detection result of the second detector 48.

  If the detection result 2 is abnormal (Y in step S158), the control unit 32 shifts the process to step S160. The process of returning to step S160 to S162 and step S150 is as described above. That is, steps S160 to S162 are executed when any of the detection result 1 and the detection result 2 is abnormal.

  If the detection result 2 is not abnormal (N in step S158), the control unit 32 controls the door 18 so as to close the door 18 (perform a closing operation) (step S164). When the door 18 is closed, the control unit 32 ends the process S140. The process S140 is merely an example, and other steps may be added, some steps may be deleted, and the order of the steps may be changed.

  Next, the operation and effects of the mechanical parking lot 100 of the embodiment configured as described above will be described.

  The mechanical parking lot 100 of the embodiment is a mechanical parking lot for transferring and storing the vehicle 20 that has entered the passenger compartment 12. The mechanical parking lot 100 emits light to the inside of the passenger compartment 12 according to the reflected light thereof. A first detector 44 that detects the presence, a determination unit 40 that determines whether the interior of the passenger compartment 12 is abnormal according to the detection result of the first detector 44, and the mechanical parking lot 100 The control unit 32 controls the operation of the mechanical parking lot 100 when the determination unit 40 determines that the operation is abnormal. According to this configuration, since the first detector 44 that detects the presence of an object according to the reflected light of the projected light is provided, the ability to detect a person inside the passenger compartment 12 is improved to improve safety. It becomes possible.

  Furthermore, the mechanical parking lot 100 according to the embodiment includes the second detector 48 that detects the movement of the heat radiation source 48 b in the passenger compartment 12 to detect the presence of an object, and the determination unit 40 According to the detection result of the second detector 48 in addition to the detection result of the first detector 44, the abnormality determination is performed. According to this configuration, since the second detector 48 having a different detection principle is provided in addition to the first detector 44, the ability to detect a person in the passenger compartment 12 can be further improved to improve safety. become.

  In the mechanical parking lot 100 according to the embodiment, a pallet arranging unit 52 in which a pallet 36 for mounting the vehicle 20 is arranged is provided in the passenger compartment 12, and the first determination unit 41 is provided in the passenger compartment 12. When the first detector 44 detects the presence of an object in the area excluding the pallet placement unit 52 and the space above it, it is determined that an abnormality is present. On the other hand, in the pallet arranging section 52 and the space above it, even if the first detector 44 detects the presence of an object, the first judging section 41 determines that there is no abnormality. According to this configuration, even when the vehicle 20 is disposed on the pallet 36, the possibility of being determined to be abnormal due to the presence of the vehicle 20 is reduced, and the reliability of the determination can be enhanced.

  In the mechanical parking lot 100 according to the embodiment, the second determination unit 42 determines that the second detector 48 is abnormal if the second detector 48 detects the presence of an object in the area including at least the pallet arrangement unit 52 in the passenger compartment 12. Do. According to this configuration, since the second detector 48 detects the presence of the object in the area including the pallet arranging unit 52, it is possible to reduce the detection omission.

  In the mechanical parking lot 100 of the embodiment, the passenger compartment 12 is substantially rectangular in plan view, and the first detector 44 is separated diagonally of the passenger compartment 12 when the passenger compartment 12 is viewed in plan. It includes a pair of detectors arranged. According to this configuration, since the presence of the object is detected by the pair of detectors disposed apart from each other in the diagonal direction, it is possible to reduce the detection leak as compared with the case of detection by one detector. In this configuration, it is possible to reduce the dead angle of the first detector 44 when the vehicle 20 is disposed on the pallet 36.

  In the mechanical parking lot 100 of the embodiment, the first detector 44 is arranged to project light from the floor surface of the passenger compartment 12 at a predetermined height. According to this configuration, the height of the light can be set so as to detect a person who is in a low position such as a child who is squatting. In this configuration, it is possible to further improve the ability to detect a person in the passenger compartment 12 to enhance safety.

  In mechanical parking lot 100 according to the embodiment, at the time of storage, determination unit 40 detects the presence of an object in the area excluding pallet arrangement unit 52 in passenger compartment 12 and the space above it. In the case where the first detector 44 detects the presence of an object in the area including the pallet arrangement portion 52 in the passenger compartment 12 and the space above it, it is determined that the state is abnormal. According to this configuration, the detection range by the first detector 44 can be switched between the time of storage and the time of storage. In this configuration, it is possible to reduce the erroneous determination in the state where the vehicle 20 is disposed on the pallet 36 and to reduce the detection leak in the state where the vehicle 20 is not present.

  The above has been described based on several embodiments of the present invention. It is to be understood by those skilled in the art that these embodiments are exemplifications, and that various modifications and alterations are possible within the scope of the claims of the present invention, and such variations and modifications are also within the scope of the claims of the present invention. It is understood. Accordingly, the descriptions and drawings herein are to be considered as illustrative and not restrictive.

  Hereinafter, modified examples will be described. In the drawings and the description of the modification, the same components or members as those of the embodiment are denoted by the same reference numerals. Descriptions overlapping with the embodiment will be omitted as appropriate, and configurations different from the embodiment will be mainly described.

(First modification)
Although the embodiment describes the example in which the mechanical parking lot is a pallet parking lot using pallets, the present invention is not limited to this. The mechanical parking lot may be, for example, a parking lot that does not use a pallet such as a slat conveyor type, or may be a method of delivering a vehicle to an elevator or a storage shelf by passing of comb teeth.

(2nd modification)
In the embodiment, an example has been described in which the first determination unit 41 performs the abnormality determination in the determination area 44p excluding the pallet arrangement unit 52 in the passenger compartment 12 at the time of storage, but the present invention is not limited thereto. The first determination unit 41 may perform abnormality determination in the determination area 44 q including the pallet arrangement unit 52. For example, the erroneous determination can be reduced by performing the abnormality determination based on the difference from the previous state.

(Third modification)
In the embodiment, an example in which one second detector 48 is provided on the ceiling 12 c of the passenger compartment 12 has been described, but the present invention is not limited to this. The second detector 48 may include a plurality of detectors, and may be provided, for example, on the wall 12 w other than the ceiling 12 c.

(4th modification)
Although the embodiment described the example in which the passenger room for loading and unloading the vehicle is shared, the present invention is not limited to this. For example, a loading and unloading room for storage and a loading and unloading room for unloading may be provided separately. In addition, although the example in which the entrance and the exit of the passenger compartment are shared as the entrance has been described, the present invention is not limited thereto. The inlet and the outlet may be provided separately.

(5th modification)
Although the embodiment has described an example in which both the first detector 44 and the second detector 48 are provided, the present invention is not limited to this. Only the first detector 44 may be provided, and the second detector may not be provided. In this case, only the first determination unit 41 is provided in the determination unit 40. Then, when an object is detected by the first detector 44, it is determined as abnormal, and the control unit 32 restricts the operation of the mechanical parking lot 100. On the other hand, when an object is not detected by the first detector 44, it is determined that there is no abnormality, and the control unit 32 controls the door 18 to close and transport the vehicle 20.

(Sixth modification)
Although the embodiment has described the example using the first detector 44 having the light projector for projecting the output light 44e and the light receiver for receiving the reflected light 44f, the present invention is not limited to this. For example, the first detector 44 may be provided with only the light receiving unit. In this case, it is possible to use a light projecting device having a light projecting function possessed by the user as the light projecting unit. Even in such a case, if the user projects light using a light projecting device in the vicinity of the first detector 44, substantially the same effect as that of the embodiment can be obtained. However, in this case, in order to obtain the distance to the object, it is necessary to input the frequency of the light projected from the light projecting device to the first determination unit 41.

(Seventh modified example)
In the embodiment, the determination unit 40 is provided, and the determination unit 40 determines whether or not the inside of the passenger compartment 12 is abnormal according to the detection results of the first detector 44 and the second detector 48, and the determination Although the example which determines whether the operation | movement of the mechanical parking lot 100 is restricted based on a result was demonstrated, it is not limited to this. For example, without the determination unit 40, the machine directly from the detection result of the first detector 44 or the second detector 48 without passing through the step of determining whether or not the inside of the passenger compartment 12 is abnormal. It may be determined whether to restrict the operation of the parking lot 100.

  Each of the above-described modifications produces the same operation and effect as the embodiment.

  The outline of one aspect of the present invention is as follows. The mechanical parking lot 100 according to an embodiment of the present invention is a mechanical parking lot for transferring and storing the vehicle 20 that has entered the passenger compartment 12 and is responsive to the reflected light of the light projected into the passenger compartment 12. A first detector 44 for detecting the presence of the object 44j, and a control unit 32 for controlling operation of the mechanical parking lot 100 when the presence of the object 44j is detected by the first detector 44; And. According to this aspect, since the presence of an object is detected using reflected light of light, the ability to detect a person remaining in the passenger compartment 12 is improved, and the safety in the passenger compartment 12 is improved. be able to.

  When the first detector 44 does not detect the presence of the object 44 j, the control unit 32 may control so as not to restrict the operation of the mechanical parking lot 100. In this case, since the operation of the parking lot is not restricted unless the presence of an object is detected, the smooth operation of the parking lot can be ensured.

  The second detector 48 is provided with a second detector 48 for detecting the presence of the object 44 j in response to the electromagnetic wave emitted from the heat radiation source 48 b in the passenger compartment 12, and the control unit 32 detects the presence of the object 44 j by the second detector 48. If detected, control may be performed to limit the operation of the mechanical parking lot 100. In this case, since the second different detector 48 is provided in addition to the first detector 44, the ability to detect a person remaining in the passenger compartment 12 can be improved.

  The control unit 32 does not restrict the operation of the mechanical parking lot 100 when the first detector 44 does not detect the presence of the object 44 j and the second detector 48 does not detect the presence of the object 44 j. You may control. In this case, if the presence of the object is not detected, the operation of the parking lot is not limited, and the smooth operation of the parking lot can be ensured.

  The second detector 48 may detect infrared rays as electromagnetic waves, and detect the presence of the object 44 j based on the infrared rays. In this case, since infrared rays are used, the presence of an object can be detected based on the principle of thermal radiation.

  The second detector 48 may detect the movement of the thermal radiation source 48b in response to the electromagnetic wave to detect the presence of the object 44j. In this case, the movement of the object can be detected based on the principle of thermal radiation.

  A pallet arranging unit 52 in which pallets 36 for mounting the vehicle 20 are arranged is provided in the passenger compartment 12. The control unit 32 controls the object by the first detector 44 in the pallet arranging unit 52 in the passenger compartment 12. If the presence of 44 j is detected, control may be performed so as not to restrict the operation of the mechanical parking lot 100. In this case, since the possibility of the operation of the parking lot being restricted by the vehicle 20 placed on the pallet arrangement unit 52 is reduced, the smooth operation of the parking lot can be secured.

  When the first detector 44 detects the presence of the object 44 j in the space above the pallet arrangement unit 52 in the passenger compartment 12, the control unit 32 controls so as not to restrict the operation of the mechanical parking lot 100. You may In this case, since the possibility of the operation of the parking lot being limited by the state of the pallet arrangement portion 52 and the space above it is reduced, the smooth operation of the parking lot can be secured.

  The control unit 32 restricts the operation of the mechanical parking lot 100 when the first detector 44 detects the presence of the object 44 j in the area excluding the pallet arrangement unit 52 in the passenger compartment 12 and the space above it. It may be controlled to In this case, the operation of the parking lot is restricted according to the state of the area excluding the pallet arrangement portion 52 and the space above it, and therefore the safety in the passenger compartment 12 can be improved.

  The control unit 32 restricts the operation of the mechanical parking lot 100 when the first detector 44 detects the presence of the object 44 j in the pallet arrangement unit 52 in the passenger compartment 12 and the space above it at the time of storage. Instead of limiting the operation of the mechanical parking lot 100 when the first detector 44 detects the presence of the object 44 j in the pallet arrangement portion 52 in the passenger compartment 12 and the space thereabove when leaving the machine It may be controlled to In this case, there is a low possibility that the operation of the parking lot will be restricted depending on the state of the pallet arranging part 52 and the space above it at the time of loading, and the parking lot according to the state of the space above the pallet arranging part 52 and it Therefore, the safety in the passenger compartment 12 can be improved.

  The second detector 48 detects the presence of the object 44 j in accordance with the electromagnetic wave emitted from the heat radiation source 48 b in the passenger compartment 12. The control unit 32 controls the pallet arrangement part 52 in the passenger compartment 12 If the second detector 48 detects the presence of the object 44 j, control may be performed to limit the operation of the mechanical parking lot 100. In this case, the operation of the parking lot is limited according to the state of the electromagnetic wave from the generation source 48b on the pallet arrangement unit 52, so detection leak can be reduced.

  The control unit 32 further includes a determination unit 40 that determines whether or not the inside of the passenger compartment 12 is abnormal according to the detection result of the first detector 44, and the control unit 32 is mechanical according to the determination result of the determination unit 40. The operation of the parking lot may be controlled. In this case, since the operation of the parking lot is controlled according to the determination result of the determination unit 40, the operation of the parking lot can be controlled based on more advanced determination conditions.

  When the first detector 44 detects the presence of the object 44 j, the determination unit 40 determines that the interior of the passenger compartment 12 is abnormal, and the controller 32 determines that the interior of the passenger compartment 12 is abnormal. If so, the operation of the mechanical parking lot 100 may be controlled to be limited. In this case, since the first detector 44 is used, the detection capability of the object is enhanced, and the operation of the parking lot is controlled according to the determination result of the determination unit 40. Therefore, the determination condition can be advanced. It is possible to improve the reliability of the operation of the parking lot.

  The first detector 44 may emit light into the passenger compartment 12 and detect the presence of the object 44 j according to the reflected light. In this case, since the reflected light of the light projected by the first detector 44 is used, the characteristics such as the light amount of the reflected light are stabilized, and the reliability of detection of the object can be improved.

  The boarding room 12 is substantially rectangular in plan view, and the first detector 44 has a pair of detectors 44b and 44c which are arranged on the diagonal of the boarding room 12 when the boarding room 12 is viewed in plan. May be included. In this case, since the presence of an object is detected by a pair of detectors arranged diagonally, it is possible to reduce detection leakage as compared with the case of detection by one detector.

  The first detector 44 may be disposed to project light at a predetermined height from the floor surface of the passenger compartment 12. In this case, the ability to detect the person remaining in the passenger compartment 12 can be improved.

  The control unit 32 further includes a door 18 that can be opened and closed in the vicinity of the wall surface of the passenger compartment 12, and the control unit 32 prohibits the closing operation of the door 18 when the presence of the object 44j is detected by the first detector 44. The operation of the mechanical parking lot 100 may be limited. In this case, since the closing operation of the door 18 is prohibited, a person remaining in the passenger compartment 12 can easily exit.

  When the presence of the object 44 j is detected by the first detector 44, the control unit 32 may restrict the operation of the mechanical parking lot 100 and may notify an abnormal state to the outside. In this case, since the abnormal state is notified to the outside, a person in charge at a parking lot, a driver, etc. can easily recognize the abnormal state.

  12 · · · cabin, 14 · · storage rack, 18 · · · door · 20 · · · vehicle · 30 · · · control unit · · · · control unit 36 · · · · · · · · · · judgment unit, 44 · · first Detector 44e. Output light 44f. Reflected light 44j. Object 48. Second detector 48b. Source 52. Pallet placement unit 100 Mechanical parking place.

Claims (18)

A mechanical parking lot that transports and stores vehicles that have entered a passenger compartment,
A first detector that detects the presence of an object in accordance with the reflected light of the light projected into the passenger compartment;
A control unit configured to control operation of the mechanical parking lot when the presence of an object is detected by the first detector;
Mechanical parking lot characterized by having.   The mechanical parking lot according to claim 1, wherein the control unit controls the operation of the mechanical parking lot not to be restricted when the presence of an object is not detected by the first detector. A second detector for detecting the presence of an object in response to an electromagnetic wave emitted from a heat radiation source in the passenger compartment;
The mechanical parking lot according to claim 1 or 2, wherein the control unit controls to limit the operation of the mechanical parking lot when the presence of an object is detected by the second detector. Parking lot.   The control unit controls the operation of the mechanical parking lot not to be limited when the first detector does not detect the presence of the object and the second detector does not detect the presence of the object. The mechanical parking lot according to claim 3 characterized by.   The mechanical parking lot according to claim 3 or 4, wherein the second detector detects an infrared ray as the electromagnetic wave, and detects the presence of an object based on the infrared ray.   The mechanical type according to any one of claims 3 to 5, wherein the second detector detects the movement of the heat radiation source according to the electromagnetic wave to detect the presence of an object. Parking Lot. In the passenger compartment, there is provided a pallet arranging portion on which a pallet for mounting a vehicle is arranged;
The control unit controls the operation of the mechanical parking lot not to be restricted when the presence of an object is detected by the first detector in the pallet arrangement unit in the passenger compartment. The mechanical parking lot according to any one of Items 1 to 6.   The control unit controls not to restrict the operation of the mechanical parking lot when the first detector detects the presence of an object in a space above the pallet arrangement unit in the passenger compartment. The mechanical parking lot of Claim 7 characterized by the above-mentioned.   The control unit is configured to limit the operation of the mechanical parking lot when the first detector detects the presence of an object in the area excluding the pallet arrangement unit in the passenger compartment and the space above the pallet arrangement unit. The mechanical parking lot according to claim 8, characterized in that it controls. The control unit
At the time of storage, when the presence of an object is detected by the first detector in the space above the pallet arrangement portion in the passenger compartment, the operation of the mechanical parking lot is not limited.
At the time of leaving, when the presence of an object is detected by the first detector in the space above the pallet arrangement portion in the passenger compartment, control is performed to limit the operation of the mechanical parking lot. The mechanical parking lot according to any one of claims 7 to 9. A second detector for detecting the presence of an object in response to an electromagnetic wave emitted from a heat radiation source in the passenger compartment;
The control unit controls the operation of the mechanical parking lot to be restricted when the second detector detects the presence of an object in the pallet arrangement unit in the passenger compartment. The mechanical parking lot of any one of claim | item 7-10. The apparatus further comprises a determination unit that determines whether or not the inside of the passenger compartment is abnormal according to the detection result of the first detector.
The said control part controls operation | movement of a mechanical parking lot according to the determination result of the said determination part, The mechanical parking lot of any one of Claim 1 to 11 characterized by the above-mentioned. The determination unit determines that the inside of the passenger compartment is abnormal when the first detector detects the presence of an object,
The mechanical parking lot according to claim 12, wherein the control unit controls operation of the mechanical parking lot to be limited when it is determined that the inside of the passenger compartment is abnormal.   The mechanical parking lot according to any one of claims 1 to 13, wherein the first detector emits light into the passenger compartment and detects the presence of an object according to the reflected light. The passenger compartment is substantially rectangular in plan view,
The mechanical parking lot according to claim 14, wherein the first detector includes a pair of detectors which are disposed apart on a diagonal of the passenger compartment when the passenger compartment is viewed in plan. .   The mechanical parking lot according to claim 14 or 15, wherein the first detector is disposed to project light at a predetermined height from a floor surface of the passenger compartment. It further has a door that can be opened and closed in the vicinity of the wall surface of the passenger compartment,
The control unit restricts the operation of the mechanical parking lot by prohibiting the closing operation of the door when the presence of an object is detected by the first detector. The mechanical parking lot of any one of 16.   18. The control unit according to claim 1, wherein when the presence of an object is detected by the first detector, the control unit restricts the operation of the mechanical parking lot and reports an abnormal state to the outside. Mechanical parking lot according to any one of the above.

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