JP2019148128A - Mechanical storage device - Google Patents

Abstract

To prevent a situation in which a stored object collides against a structure on a storage shelf side when the stored object is transferred from a transport device to the storage shelf.SOLUTION: A mechanical parking device 1 comprises a transport carriage 4 that travels on a travel lane 18 and transports a vehicle 2, a plurality of storage shelves 3 having different lengths in one direction, a measuring unit 17 for measuring the total length of the vehicle 2, a decision unit for deciding a storage shelf 3 for storing the vehicle 2 based on the total length of the vehicle 2, a setting unit that sets an appropriate range of the position in one direction of the vehicle 2 in the transport carriage 4 in accordance with the storage shelf 3 decided by the decision unit, a detection unit 15 provided on the transport carriage 4 for detecting the vehicle 2 mounted on the transport carriage 4, a determination unit that determines a position in one direction of the vehicle 2 based on a detection result of the detection unit 15, and a drive control unit for stopping the transfer of the vehicle 2 from the transport carriage 4 to the storage shelf 3 when the position of the vehicle in one direction obtained by the determination unit is not within the appropriate range.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a mechanical storage device.

  Some mechanical parking devices include a transport device that travels in a travel lane extending in a predetermined direction and transports the vehicle, and a plurality of storage shelves that are provided along the travel lane and store the vehicle. In such a mechanical parking device, when the vehicle is stored, the transport device travels on a travel lane with the vehicle mounted. And the conveyance apparatus which drive | works a driving | running lane stops in the area | region adjacent to the storage shelf which is a storage destination, and transfers a vehicle between a conveyance apparatus and a storage shelf in the stopped state.

  In such a mechanical parking device in which the transport device mounted with the vehicle travels and stops, the vehicle mounted on the transport device may move unintentionally during transport. Since various problems occur when the mounted vehicle moves unintentionally, it is considered to prevent or detect unintended movement of the vehicle (for example, Patent Document 1).

  Patent Document 1 is an apparatus in which a pallet is placed on a carriage and a vehicle to be transported is placed on the pallet, on the front and rear parts of the carriage, respectively, There is described a device that is provided with a position detector that detects the distance as a stop position of the vehicle and decelerates and stops the carriage when a shift in the position of the vehicle beyond the range of the monitoring area is detected.

JP-A-8-28085

  By the way, in a mechanical parking device that stores a plurality of types of vehicles having different lengths in the front-rear direction of the vehicle (hereinafter referred to as “full length”), a plurality of types of storage shelves with different volumes are provided, and storage corresponding to the total length is appropriately performed. The vehicle is stored on the shelf. Such a transport device that transports a plurality of types of vehicles having different overall lengths is designed to have a maximum length within an allowable range so that any vehicle can be transported.

  Therefore, when a vehicle having a total length shorter than the maximum length within the allowable range is transported, surplus space is generated on the transport device, and the vehicle may move to the surplus space during transport. When the vehicle is transferred from the transfer device to the storage shelf while moving to the surplus space, the storage shelf has a volume corresponding to the total length of the vehicle. There is a possibility of collision with the vehicle.

  Although the apparatus of Patent Document 1 detects a shift in the position of the vehicle, it does not consider transferring the vehicle from the transfer device to the storage shelf, so depending on the setting of the range of the monitoring area, the storage shelf side The structure and the vehicle may collide.

  This invention is made in view of such a situation, Comprising: When transferring a stored article from a conveying apparatus to a storage shelf, the situation where a stored article collides with the structure of the storage shelf side. It is an object of the present invention to provide a mechanical storage device that can be prevented.

In order to solve the above problems, the mechanical storage device of the present invention employs the following means.
A mechanical storage device according to an aspect of the present invention travels in a traveling lane extending in one direction and transports a mounted object to be stored, and is arranged side by side along the traveling lane. A plurality of storage shelves that are different in length in one direction, and a measurement unit that measures the length in one direction of the storage object before being mounted on the transfer device. And a determination unit that determines the storage shelf for storing the storage object among a plurality of the storage shelves based on the length in one direction of the storage object measured by the measurement unit, and the determination A setting unit that sets an appropriate range of the one-way position of the storage object in the transfer device according to the storage shelf determined by a unit, and is provided in the transfer device and mounted on the transfer device A detector for detecting the object to be stored; Based on the detection result of the detection unit, the setting unit sets the determination unit that determines the position of the storage object in the one direction and the position of the storage object obtained by the determination unit. A drive control unit for stopping the transfer of the object to be stored from the transfer device to the storage shelf.

  In the above configuration, when the position in one direction of the storage object is not within an appropriate range according to the length in one direction of the storage shelf in which the storage object is stored, the drive control unit moves the storage shelf from the storage device. The containment has not been transferred. Thereby, it can prevent that a to-be-contained object is conveyed from a conveying apparatus to a storage shelf in the state where the edge part of one direction of a to-be-contained object is not located in an appropriate range. Therefore, it is possible to prevent a situation in which the storage object collides against the structure on the storage shelf side when the storage object is transferred. The structure on the storage shelf side includes, for example, a wall portion or a column portion that partitions one direction of the storage space for storing the objects to be stored.

  Further, based on the unidirectional length of the storage object measured by the measuring unit, the storage shelf for storing the storage object is determined from the plurality of storage shelves having different unidirectional lengths, and the storage shelf is determined. The appropriate range is set according to the storage shelf. As a result, in the mechanical storage device having a plurality of storage shelves with different lengths in one direction, the stored object is transferred to the structure on the storage shelf side when transferring the stored object in any storage shelf. Can be prevented from colliding.

  Further, the position of the storage object is determined based on the detection result of the detection unit provided in the transport device. As described above, the detection unit is provided only in the transport device, thereby preventing collision with the walls of the plurality of storage shelves. Therefore, in order to prevent a collision with the wall part of a some storage shelf, compared with the structure which provides a detection part in a some storage shelf, cost can be reduced.

  Further, the position of the storage object is determined based on the detection result of the detection unit provided in the transport device. Thereby, the position of the stored object can be determined even when the stored object is transported. Therefore, it is possible to detect an unintended movement of the storage object during transportation.

  In the mechanical storage device according to one aspect of the present invention, the detection unit includes a first sensor that is provided in an end region in the transfer direction of the transport device and that transmits ultrasonic waves or light in a predetermined direction. It may be.

  In the said structure, the to-be-contained object is detected by the 1st sensor provided in the edge part area | region in the transfer direction of a conveying apparatus. That is, in the transfer device, the object to be stored is detected at a position close to the storage shelf. As a result, the object to be stored can be detected with more certainty, so that the object to be stored can be prevented from colliding with the structure on the storage shelf side more reliably. In addition, for example, even a stored object having a complicated structure at one end in one direction can be reliably detected to prevent the stored object from colliding with the structure on the storage shelf side. it can.

  Further, in the mechanical storage device according to one aspect of the present invention, the detection unit includes a second sensor that is provided in a central region in the transfer direction of the transport device and that transmits ultrasonic waves or light in a predetermined direction. May be.

  In the said structure, the to-be-contained object is detected by the 2nd sensor provided in the center area | region in the transfer direction of a conveying apparatus. Thereby, the to-be-contained object mounted in the center area | region of a conveying apparatus can be detected before the transfer to a storage shelf is started. That is, it can be determined that the position in one direction of the storage object is not within the proper range in a state where the storage object has not moved greatly in the transfer direction on the transport device. Therefore, since the restoration work can be performed with the object to be stored shifted in only one direction, the restoration work can be performed more easily than when the object to be stored is shifted in one direction and the transfer direction. It can be carried out.

  ADVANTAGE OF THE INVENTION According to this invention, when transferring a to-be-stored object from a conveying apparatus to a storage shelf, the situation where a to-be-stored object collides with the structure by the side of a storage shelf can be prevented.

It is the top view which showed the outline of the mechanical parking apparatus which concerns on one Embodiment of this invention, Comprising: The case where the vehicle was located in the appropriate position on the conveyance trolley | bogie is shown. It is the top view which showed the outline of the mechanical parking apparatus which concerns on one Embodiment of this invention, Comprising: The case where the vehicle was located in the position which is not appropriate on the conveyance trolley | bogie is shown. It is the figure which looked at the conveyance trolley | bogie and storage shelf of the mechanical parking apparatus of FIG. 1 from the vehicle back. It is the figure which looked at the mechanical parking apparatus of FIG. 2 from the vehicle side. It is a block diagram of the mechanical parking apparatus of FIG. It is a flowchart which shows the control which the control part of the mechanical parking apparatus of FIG. 1 performs. It is a flowchart which shows the control which the control part of the mechanical parking apparatus of FIG. 1 performs.

  An embodiment of a mechanical storage device according to the present invention will be described below with reference to the drawings. In the following description, the front-rear direction means the front-rear direction of the vehicle 2, and the left-right direction means the left-right direction with the vehicle facing forward.

In the present embodiment, an example in which the mechanical storage device according to the present invention is applied to a mechanical parking device 1 that stores a vehicle (a storage object) 2 will be described.
A mechanical parking device (mechanical storage device) 1 according to the present embodiment has a plurality of parking floors as shown in FIG. 1 and the like. 2 and a lift (not shown) for raising and lowering the vehicle 2 between the passenger compartment 6 and each parking floor. Further, as shown in FIG. 1, each parking floor has a traveling lane 18 extending in one direction, a plurality of storage shelves 3 arranged along the traveling lane 18 on both sides of the traveling lane 18, and traveling lanes. A transport carriage (transport device) 4 that travels 18 and transports the vehicle 2 is provided. That is, the mechanical parking device 1 according to the present embodiment is a so-called plane reciprocating parking device. In the figure, for the sake of illustration, only the storage shelf 3 arranged on one side of the traveling lane 18 is shown, and the illustration of the storage shelf 3 arranged on the other side is omitted.
Moreover, the mechanical parking apparatus 1 is provided with the control apparatus 5 which controls various apparatuses (refer FIG. 5).

The mechanical parking apparatus 1 according to the present embodiment includes a plurality of storage shelves 3 having different lengths in one direction (that is, the front-rear direction of the vehicle 2). In other words, a plurality of storage shelves 3 having different volumes are provided. In the present embodiment, as an example, an example in which the mechanical parking apparatus 1 includes three types of storage shelves 3 having different lengths in one direction will be described. Specifically, the mechanical parking apparatus 1 includes a small storage shelf 3a, a medium storage shelf 3b that is longer in one direction than the small storage shelf 3a, and a length in one direction than the medium storage shelf 3b. A large storage shelf 3c. When the length in one direction of the small storage shelf 3a is A1, the length in one direction of the medium storage shelf 3b is length A2, and the length in one direction of the large storage shelf 3c is length A3, The relationship between the lengths is A1 <A2 <A3.
The maximum total length of the vehicle 2 that each storage shelf 3 allows storage is slightly shorter than the length in one direction of each storage shelf 3. That is, the maximum total length of the vehicle 2 that can be stored in the small storage shelf 3a (hereinafter, the maximum total length of the vehicle 2 that can be stored in each storage shelf 3 is referred to as “allowable total length”) is slightly shorter than A1. a1. Similarly, the allowable total length of the medium-sized storage shelf 3b is a2 that is slightly shorter than A2, and the allowable total length of the large-sized storage shelf 3c is a3 that is slightly shorter than A3.

  A stop space 19 for stopping the vehicle 2 is provided in the passenger compartment 6. The stop space 19 is provided with a slat conveyor 20 that traverses the vehicle 2 and a measurement unit 17 that measures the length of the vehicle 2 in the front-rear direction (one direction). The stop space 19 is provided with a guide portion (not shown) for guiding the stop position, and the guide portion stops the vehicle 2 so that the front end portion of the vehicle 2 to be stopped is at a predetermined position.

  The slat conveyor 20 has a configuration in which the slats 16 are continuously provided over the entire circumferential direction of the conveyor, and is embedded so that the surface of the slats 16 is flush with the ground of the stop space 19. The slat conveyor 20 includes a first slat conveyor on which the front wheels of the vehicle 2 are placed, and a second slat conveyor on which the rear wheels of the vehicle 2 are placed. Each slat conveyor is arranged such that the front wheel or the rear wheel of the vehicle 2 stopped at a predetermined position in the stop space 19 is placed. The slat conveyor 20 is driven by a driving device (not shown), so that the conveyor rotates and traverses the vehicle 2 placed on the slats 16 (that is, moves in the vehicle width direction).

  The measuring unit 17 is constituted by three photoelectric sensors arranged behind the second slat conveyor and in the approximate center in the vehicle width direction of the stop space 19. The three photoelectric sensors are arranged side by side in the vehicle front-rear direction. The three photoelectric sensors are a small photoelectric sensor 17a, a medium photoelectric sensor 17b, and a large photoelectric sensor 17c in order from the front side (that is, the second slat conveyor side). Each photoelectric sensor is embedded in the ground and projects detection light upward.

The small photoelectric sensor 17a, the medium photoelectric sensor 17b, and the large photoelectric sensor 17c are each disposed at a position separated by a predetermined distance from a predetermined position where the front end portion of the vehicle 2 stopping in the stop space 19 is located.
Specifically, the small photoelectric sensor 17a is disposed at a distance that is a predetermined distance from the predetermined position where the front end portion is located, a1 that is the allowable total length of the small storage shelf 3a. Further, the middle-sized photoelectric sensor 17b is disposed at a distance separated from the predetermined position where the front end portion is located by a2 which is the allowable total length of the middle-sized storage shelf 3b. Further, the large photoelectric sensor 17c is arranged at a distance separated from the predetermined position where the front end is located by a3 which is the allowable total length of the large storage shelf 3c.
As described above, the length of the vehicle 2 in the front-rear direction (hereinafter referred to as “full length”) can be measured depending on which of the three photoelectric sensors having different separation distances from the predetermined position has detected the object.

  The lift reciprocates between the floor where the passenger compartment 6 is present and each parking floor. Moreover, the lift has a slat conveyor and delivers the stop space 19 and the vehicle 2. Since the structure of the slat conveyor provided in the lift is substantially the same as the structure of the slat conveyor provided in the stop space 19, detailed description thereof will be omitted.

  The slat conveyor 20 of the stop space 19 and the slat conveyor of the lift are arranged so as to be continuous in the vehicle width direction in a state where the lift exists in an adjacent region of the stop space 19 in the vehicle width direction. The slat conveyor 20 of the stop space 19 and the slat conveyor of the lift can be connected. In the connected state, each slat conveyor is driven to rotate in the same direction and the vehicle 2 is traversed. The vehicle 2 is transferred between the two.

  The traveling lane 18 is provided on each parking floor and extends in the horizontal direction and linearly in one direction. The traveling lane 18 is configured such that the transport cart 4 can travel.

  The transport carriage 4 can travel along the travel lane 18 and can be stopped on the travel lane 18 so as to be aligned with the storage shelves 3. Further, the transport carriage 4 transports the mounted vehicle 2 from the lift to the storage shelf 3 and transports the mounted vehicle 2 from the storage shelf 3 to the lift. Even if the transport cart 4 is a vehicle 2 having a total length of an allowable total length a3 that is the maximum allowable total length so that the vehicle 2 can be transported to a plurality of storage shelves 3 having different lengths in one direction. Designed to be transportable. In addition, the transport carriage 4 transports the vehicle 2 such that the front-rear direction of the vehicle 2 and the extending direction of the travel lane 18 (that is, one direction) are substantially the same direction.

The transport carriage 4 is supported by the mechanical parking device 1 so as to be able to travel on the travel lane 18, and is supported by the main body 7, and the front wheel of the vehicle 2 is placed thereon. The first slat conveyor 8a, the second slat conveyor 8b supported by the main body 7 and on which the rear wheel of the vehicle 2 is placed, and the driving device for driving the first slat conveyor 8a and the second slat conveyor 8b (Not shown) and a clutch mechanism (not shown) that transmits the driving force of the driving device to the slat conveyor provided in the storage shelf 3 by being connected to the transmission unit.
Since the structure of the 1st slat conveyor 8a and the 2nd slat conveyor 8b provided in the conveyance trolley 4 is substantially the same as the structure of the slat conveyor 20 provided in the stop space 19, the detailed description is abbreviate | omitted.

  The slat conveyor of the lift and the slat conveyor of the transport cart 4 are arranged so as to be continuous in the vehicle width direction in a state where the transport cart 4 exists in an adjacent region in the vehicle width direction of the lift. The slat conveyor of the lift and the slat conveyor of the transport carriage 4 can be connected, and in the connected state, each slat conveyor is driven to rotate in the same direction, and the vehicle 2 is traversed. The vehicle 2 is transferred between them.

  In this manner, the vehicle 2 that has entered the passenger compartment 6 is mounted on the transport carriage 4 via the stop space 19 and the lift. As described above, the vehicle 2 entering the passenger compartment 6 is stopped in the stop space 19 so that the front end is at a predetermined position. Further, the vehicle 2 is transferred from the stop space 19 to the lift by traversal using the slat conveyor 20. Further, the transfer of the vehicle 2 from the lift to the transport carriage 4 is also performed by traversal using the slat conveyor 20. Thus, in the stop space 19, the vehicle 2 stopped so that the front end is at a predetermined position is not moved in the front-rear direction until it is mounted on the transport carriage 4. Therefore, the front end of the vehicle 2 mounted on the transport cart 4 is a predetermined position in the front-rear direction position of the transport cart 4.

  Various sensors are provided on the transport carriage 4. Specifically, as shown in FIG. 4, the transport cart 4 includes a first vehicle body touch sensor 11 provided on a front wall 9 erected from one end portion of the transport cart 4 in one direction, and a one-way transport cart 4. The second vehicle body touch sensor 12 provided on the rear wall 10 erected from the other end, the front wheel touch sensor 13 provided at both ends of the first slat conveyor 8a, and the one direction of the second slat conveyor 8b. It includes a rear wheel touch sensor 14 provided at both ends, and a detection unit 15 including a plurality of ultrasonic sensors embedded in the main body part 7 behind the second slat conveyor 8b.

  The first vehicle body touch sensor 11 and the second vehicle body touch sensor 12 are provided at a height position where a bumper of the vehicle 2 mounted on the transport carriage 4 is provided. The first vehicle body touch sensor 11 and the second vehicle body touch sensor 12 detect the vehicle 2 when the vehicle 2 comes into contact therewith. Thus, by providing touch sensors at both ends in one direction, it is possible to reliably detect the protrusion of the vehicle 2 in one direction from the transport carriage 4.

  The front wheel touch sensor 13 and the rear wheel touch sensor 14 detect the vehicle 2 when the tires of the vehicle 2 come into contact with each other. Thus, by providing touch sensors at both ends of each slat conveyor in one direction, it is possible to reliably detect the protrusion of the tire of the vehicle 2 in one direction from the slat conveyor.

  The ultrasonic sensor is a sensor that detects an object existing in a predetermined direction by transmitting an ultrasonic wave in a predetermined direction by a transmitter (not shown). In the present embodiment, the ultrasonic sensor embedded in the transport carriage 4 transmits an ultrasonic wave upward, so that the vehicle 2 mounted on the transport carriage 4 is located at a position where the ultrasonic wave is shielded. If it is, the vehicle 2 is detected.

A plurality of ultrasonic sensors are provided on the transport carriage 4. Specifically, three sets of detection units 15 configured by three ultrasonic sensors arranged in the vehicle longitudinal direction are provided side by side in the vehicle width direction. That is, nine ultrasonic sensors are provided.
Specifically, a plurality of detection units 15 are provided along both end edges in the vehicle width direction, and one is provided at the approximate center in the vehicle width direction (see also FIG. 3). Hereinafter, the detection unit 15 provided along both edges in the vehicle width direction will be described as an end detection unit (first sensor) 35, and the detection unit 15 provided in the approximate center in the vehicle width direction will be referred to as a center detection unit ( The second sensor 36 will be described.

  The end detection unit 35 is constituted by three ultrasonic sensors provided along the side edge of the main body unit 7 behind the second slat conveyor 8b. As described above, the three ultrasonic sensors are arranged side by side in the vehicle longitudinal direction. The three ultrasonic sensors are, in order from the front side (that is, the second slat conveyor 8b side), a small ultrasonic sensor 35a, a medium ultrasonic sensor 35b, and a large ultrasonic sensor 35c.

  The small-sized ultrasonic sensor 35a, the medium-sized ultrasonic sensor 35b, and the large-sized ultrasonic sensor 35c are each separated from the predetermined position where the front end portion of the vehicle 2 mounted on the transport carriage 4 is positioned by a predetermined distance. Be placed. Specifically, the small ultrasonic sensor 35a is disposed at a distance separated from a predetermined position where the front end portion is located by a1 which is an allowable total length of the small storage shelf 3a. Further, the medium-size ultrasonic sensor 35b is disposed at a distance separated from the predetermined position where the front end portion is located by a2 which is the allowable total length of the medium-size storage shelf 3b. Further, the large ultrasonic sensor 35c is arranged at a distance separated from the predetermined position where the front end is located by a3 which is the allowable total length of the large storage shelf 3c.

  The center detection part 36 is comprised by three ultrasonic sensors provided in the approximate center of the vehicle width direction of the main-body part 7 behind the 2 slat conveyor 8. FIG. Since the structure of the center detection part 36 is the same as that of the edge part detection part 35 except for an arrangement | positioning location, the detailed description is abbreviate | omitted. That is, the center detection unit 36 includes a small-sized ultrasonic sensor 36a, a medium-sized ultrasonic sensor 36b, and a large-sized ultrasonic sensor 36c arranged in order from the front side (that is, the second slat conveyor 8b side). ing. Since the distance from each predetermined position of each ultrasonic sensor is the same as that of the end detection unit 35, the description thereof is omitted.

As described above, the mechanical parking apparatus 1 includes a plurality of storage shelves 3 having different lengths in one direction (that is, the front-rear direction of the vehicle 2), but the structure of each storage shelf 3 is basically the same. It is.
Each storage shelf 3 includes a main body 21 that is fixed to the mechanical parking device 1, a first slat conveyor 22 that is supported by the main body 21 and on which the front wheels of the vehicle 2 are placed, and a main body A second slat conveyor 23 that is supported with respect to the section 21 and on which the rear wheel of the vehicle 2 is placed, and a transmission section (not shown) that can be connected to a clutch mechanism provided in the transport carriage 4. Have.

  Since the structure of the slat conveyor provided in each storage shelf 3 is substantially the same as the structure of the slat conveyor 20 provided in the stop space 19, detailed description thereof is omitted. The storage shelf 3 is not provided with a drive device for driving the slat conveyor. The slat conveyor provided in the storage shelf 3 is driven by the driving force of the driving device of the transport carriage 4 that is transmitted via the transmission unit.

The difference in the length in one direction between the small storage shelf 3a, the medium storage shelf 3b, and the large storage shelf 3c depends on the length in one direction of the main body 21 on the rear side of the second slat conveyor 23. Brought about. That is, all the storage shelves 3 have substantially the same configuration except for the main body 21 behind the second slat conveyor 23.
In addition, between the adjacent storage shelves 3, a column portion 40 that is a part of a structure constituting the mechanical parking device 1 is provided.

  The slat conveyor of the transport cart 4 and the slat conveyor of the storage shelf 3 are arranged so as to be continuous in the vehicle width direction in a state where the transport cart 4 exists in the adjacent region of the storage shelf 3 in the vehicle width direction. The slat conveyor of the transport cart 4 and the slat conveyor of the storage shelf 3 can be connected, and each slat conveyor is driven to rotate in the same direction by driving a drive device provided in the transport cart 4 in the connected state. To do. As a result, the vehicle 2 is moved between the transport cart 4 and the storage shelf 3 by moving the vehicle 2 in a traverse direction.

  The control device 5 includes, for example, a central processing unit (CPU), a random access memory (RAM), a read only memory (ROM), and a computer-readable storage medium. A series of processes for realizing various functions is stored in a storage medium or the like in the form of a program as an example, and the CPU reads the program into a RAM or the like to execute information processing / arithmetic processing. As a result, various functions are realized. The program is preinstalled in a ROM or other storage medium, provided in a state stored in a computer-readable storage medium, or distributed via wired or wireless communication means. Etc. may be applied. The computer-readable storage medium is a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like.

  As shown in FIG. 5, the control device 5 includes a determination unit 31 that determines a storage shelf 3 that stores the vehicle 2 based on the total length of the vehicle 2 measured by the measurement unit 17, and a storage shelf that is determined by the determination unit 31. 3, a setting unit 32 that sets an appropriate range of the position in one direction of the vehicle 2 mounted on the transport carriage 4, and a determination unit that determines the position in one direction of the vehicle 2 based on the detection result of the detection unit 15. 33 and drive control for stopping the transfer of the vehicle 2 from the transport carriage 4 to the storage shelf 3 when the one-way position of the vehicle 2 obtained by the determination section 33 is not within the appropriate range set by the setting section 32 Part 34.

Next, the control performed by the control device 5 will be described based on the flowcharts of FIGS. 6 and 7.
First, in S <b> 1, it is confirmed that the vehicle 2 has entered the passenger compartment 6 and stopped in the stop space 19 in the passenger compartment 6. When the vehicle 2 stops in the stop space 19, the control device 5 proceeds to S2. In S <b> 2, the control device 5 acquires detection information of the small photoelectric sensor 17 a, the medium photoelectric sensor 17 b, and the large photoelectric sensor 17 c in order to measure the total length of the vehicle 2 by the measuring unit 17.

  When acquiring the detection information, the control device 5 proceeds to S3 and derives the total length of the vehicle 2 from the state of each photoelectric sensor. Specifically, when all of the small photoelectric sensor 17a, the medium photoelectric sensor 17b, and the large photoelectric sensor 17c are in the off state, the process proceeds to S4, and the vehicle 2 is determined to be a small car. When only the small photoelectric sensor 17a is in an on state and the medium photoelectric sensor 17b and the large photoelectric sensor 17c are in an off state, the process proceeds to S5, and the vehicle 2 is determined to be a medium vehicle. When the small photoelectric sensor 17a and the medium photoelectric sensor 17b are in the on state and only the large photoelectric sensor 17c is in the off state, the process proceeds to S6 and the vehicle 2 is determined to be a large vehicle. When all of the small photoelectric sensor 17a, the medium photoelectric sensor 17b, and the large photoelectric sensor 17c are in the on state, the process proceeds to S7, and the vehicle 2 is determined to be a nonstandard vehicle. If the detection result pattern is other than the above, the process proceeds to S8, and it is determined that the system is abnormal.

  When the process proceeds to S4 and the vehicle 2 is determined to be a small vehicle, the process proceeds to S5 and the vehicle 2 is determined to be a medium-sized vehicle, or the process proceeds to S6 and the vehicle 2 is determined to be a large vehicle, the control device 5 proceeds to S9. In S <b> 9, the determination unit 31 selects the storage shelf 3 corresponding to the vehicle type (vehicle type based on the classification according to the total length of the vehicle 2), and determines to store the vehicle 2 in the selected storage shelf 3. The vehicle 2 is transported to the transport cart 4 by a lift or the like (S10).

  When the vehicle 2 is transported to the transport cart 4, the control device 5 causes the transport cart 4 to travel toward the storage shelf 3 (S11). And while detecting the vehicle 2 by the center detection part 36 provided in the conveyance trolley | bogie 4, the position of the front-back direction of the vehicle 2 is judged based on a detection result (S12). When determining the position of the vehicle 2 in the front-rear direction, the control device 5 proceeds to S13.

  In S13, the control device 5 sets the appropriate range in the front-rear direction of the vehicle 2 according to the storage shelf 3 determined by the determination unit 31 by the setting unit 32, and the position in the front-rear direction of the vehicle 2 is within the appropriate range. It is determined whether or not it is located. Specifically, in the present embodiment, it is determined whether or not the detection result of the center detection unit 36 matches the detection result detected by the measurement unit 17 in S2. That is, if the detection result detected by the measurement unit 17 in S2 is, for example, that all of the small photoelectric sensor 17a, the middle photoelectric sensor 17b, and the large photoelectric sensor 17c are in the off state, the central detection unit 36 When the detection result is that all of the small ultrasonic sensor 36a, the medium ultrasonic sensor 36b, and the large ultrasonic sensor 36c are in the off state, it is determined that the detection results match. If it is determined in S13 that they match, it is determined that the position of the vehicle 2 in the front-rear direction is within the appropriate range, and the transport carriage 4 is run to transport the vehicle 2 to the storage shelf 3 (S14).

  When the transport carriage 4 arrives at the target storage shelf 3, the vehicle 2 is traversed by the slat conveyor provided on the transport carriage 4 (S 15), the end detection unit 35 detects the vehicle 2, and the detection result Based on the above, the position of the vehicle 2 in the front-rear direction is determined (S16). When determining the position of the vehicle 2 in the front-rear direction, the control device 5 proceeds to S17.

  In S17, the control device 5 sets the appropriate range in the front-rear direction of the vehicle 2 according to the storage shelf 3 determined by the determination unit 31 by the setting unit 32, and the position of the vehicle 2 in the front-rear direction is within the appropriate range. It is determined whether or not it is located. Specifically, in this embodiment, it is determined whether or not the detection result of the end detection unit 35 matches the detection result detected by the measurement unit 17 in S2. That is, if the detection result detected by the measurement unit 17 in S2 is, for example, that all of the small photoelectric sensor 17a, the medium photoelectric sensor 17b, and the large photoelectric sensor 17c are in the off state, the end detection unit 35 is detected. If the small ultrasonic sensor 35a, the medium ultrasonic sensor 35b, and the large ultrasonic sensor 35c are all in the OFF state, it is determined that the detection results match. If it is determined in S17 that the detection results match, it is determined that the position of the vehicle 2 in the front-rear direction is within the appropriate range, and the vehicle 2 is transported to a fixed position and stored in the storage shelf 3 (S18). When the vehicle 2 is stored in the storage shelf 3, the control device 5 ends the process.

  After S3, the process proceeds to S7, where it is determined that the vehicle 2 is a nonstandard vehicle, or the process proceeds to S8, where it is determined that the system is abnormal, the control device 5 proceeds to S21. In S21, the vehicle 2 is traversed to a fixed position. That is, the vehicle 2 is removed from the slat conveyor provided in the stop space. When the vehicle 2 is traversed to a fixed position in S21, the control device 5 ends the process.

  In S13, when it determines with the detection result of the center detection part 36 not being in agreement with the detection result which the measurement part 17 detected in S2, it progresses to S19 and determines that the vehicle 2 moved on the conveyance trolley 4. If it is determined that the vehicle 2 has moved on the transport carriage 4, the vehicle 2 is transported to the storage shelf 3 (S20), and the vehicle 2 is transported transversely to a fixed position (S21). When the vehicle 2 is traversed to a fixed position in S21, the control device 5 ends the process.

  In S17, when it is determined that the detection result of the end detection unit 35 does not match the detection result detected by the measurement unit 17 in S2, the process proceeds to S22 and it is determined that the vehicle 2 has moved on the transport carriage 4. . When it is determined that the vehicle 2 has moved on the transport carriage 4, the traverse transport to the storage shelf 3 is emergency stopped (S23), and the vehicle 2 is traversed to a fixed position (S21). When the vehicle 2 is traversed to a fixed position in S21, the control device 5 ends the process.

Next, the effect | action in the mechanical parking apparatus 1 which concerns on this embodiment is demonstrated using FIG.1 and FIG.2.
As shown in FIG. 1B and FIG. 2B, the total length of the vehicle 2 stopped in the stop space 19 in the passenger compartment 6 is measured. In FIG. 1, the small photoelectric sensor 17a detects the vehicle 2, and the medium photoelectric sensor 17b and the large photoelectric sensor 17c do not detect the vehicle 2, so that the total length of the vehicle 2 is the total length of the medium vehicle. Is done. When the total length of the vehicle 2 is measured, the storage shelf 3 for storing the vehicle 2 is determined according to the total length. In FIG. 1, since it is measured that it is the full length of a medium size vehicle, storing in the medium size storage shelf 3b is determined. When the storage shelf 3 is determined, the vehicle 2 is mounted on the transfer device through a lift or the like. The transport device travels on the travel lane 18 with the vehicle 2 mounted thereon, and stops in an adjacent region of the medium-sized storage shelf 3b.

  At this time (or during traveling), as shown in FIG. 1A, when the detection result by the center detection unit 36 matches the detection result performed in the stop space 19 (that is, only the small ultrasonic sensor 36a). When the vehicle 2 is detected and the medium-size ultrasonic sensor 36b and the large-size ultrasonic sensor 36c are not detecting the vehicle 2), it can be determined that the vehicle 2 is not moving on the transport carriage 4. That is, it can be determined that the position of the vehicle 2 in the front-rear direction is within an appropriate range. Therefore, even if it transfers to the storage shelf 3 from the conveyance trolley | bogie 4, the vehicle 2 and the pillar part 40 do not collide, and the vehicle 2 can be appropriately stored in the storage shelf 3 as shown in FIG.

  When the vehicle is stopped in the adjacent area of the medium-sized storage shelf 3b (or during traveling), the detection results by the center detection unit 36 and the end detection unit 35 are obtained in the stop space 19 as shown in FIG. When the detection results do not coincide with each other (that is, when the small ultrasonic sensors 35a and 36a and the medium ultrasonic sensors 35b and 36b have detected the vehicle 2 as shown in FIG. 2). It can be determined that the vehicle 2 has moved on the transport carriage 4. That is, it can be determined that the position in the front-rear direction of the vehicle 2 is not within the proper range due to the movement. If the position of the vehicle 2 in the front-rear direction is not within an appropriate range based on the length of the storage shelf 3 in one direction, the vehicle 2 and the column portion 40 In this case, the transfer is stopped.

  According to this embodiment, there exist the following effects.

  In the present embodiment, when the position in one direction of the vehicle 2 is not in an appropriate range corresponding to the length in one direction of the storage shelf 3 in which the objects to be stored are stored, the drive control unit 34 causes the transport cart 4 to move. The transportation of the vehicle 2 from the storage shelf 3 to the storage shelf 3 is stopped. Thereby, it can prevent that the vehicle 2 is transferred from the conveyance trolley | bogie 4 to the storage shelf 3 in the state in which the edge part of the one direction of the vehicle 2 is not located in an appropriate range. Therefore, when the vehicle 2 is transferred, a situation in which the vehicle 2 collides against the structure on the storage shelf 3 side can be prevented. The structure on the storage shelf 3 side includes, for example, a wall portion and a column portion 40 that partition one direction of a storage space for storing a storage object.

  Further, based on the length in one direction of the vehicle 2 measured by the measuring unit 17, the storage shelf 3 for storing the vehicle 2 is determined from the plurality of storage shelves 3 having different lengths in one direction. An appropriate range is set according to the storage shelf 3. Thereby, in the mechanical parking apparatus 1 provided with a plurality of storage shelves 3 having different lengths in one direction, when the vehicle 2 is transferred in any storage shelf 3, the structure on the storage shelf 3 side is A situation in which the vehicle 2 collides can be prevented.

  Further, the position of the vehicle 2 is determined based on the detection result of the detection unit 15 provided in the transport carriage 4. In this way, by providing the detection unit 15 only on the transport carriage 4, collision with the wall portions of the plurality of storage shelves 3 is prevented. Therefore, in order to prevent the collision with the walls of the plurality of storage shelves 3, the cost can be reduced as compared with the configuration in which the detection units 15 are provided in the plurality of storage shelves 3.

  Further, the position of the vehicle 2 is determined based on the detection result of the detection unit 15 provided in the transport carriage 4. Thereby, the position of the vehicle 2 can be determined even when the vehicle 2 is transported. Therefore, unintentional movement of the vehicle 2 during transportation can be detected.

  In the present embodiment, the vehicle 2 is detected by the end detection unit 35 provided at the end in the transfer direction (that is, the vehicle width direction) of the transport carriage 4. That is, the vehicle 2 is detected at a position close to the storage shelf 3 in the transport cart 4. Thereby, since the vehicle 2 can be detected more reliably, it is possible to prevent the vehicle 2 from colliding with the structure on the storage shelf 3 side more reliably. In addition, for example, in the case of the vehicle 2 having a complicated structure in the front part and the rear part, the vehicle 2 may not be detected only by the detection unit 15 provided in the central region. By providing the end detection part 35 in the part, the vehicle 2 can be reliably detected, and the situation in which the vehicle 2 collides with the structure on the storage shelf 3 side can be prevented.

  In the present embodiment, the vehicle 2 is detected by the center detection unit 36 provided in the center region in the transfer direction of the transport carriage 4. Thereby, the vehicle 2 mounted in the central region of the transport cart 4 can be detected before the transfer to the storage shelf 3 is started. That is, it can be determined that the position in one direction of the vehicle 2 is not within the appropriate range in a state where the vehicle 2 has not moved significantly in the transfer direction on the transport device. Therefore, since the recovery operation can be performed with the vehicle 2 shifted in only one direction, the recovery operation can be performed more easily than when the recovery operation is performed with the vehicle 2 shifted in one direction and the transfer direction. Can do.

In addition, this invention is not limited to the invention concerning the said embodiment, In the range which does not deviate from the summary, it can change suitably.
For example, in the above embodiment, the example in which the present invention is applied to the mechanical parking apparatus 1 has been described, but the present invention is not limited to this. The present invention can be applied to any apparatus that transfers the objects to be stored between the transport cart 4 and the storage shelf 3 using a slat conveyor, and may be applied to, for example, an automatic warehouse.

  Moreover, although the said embodiment demonstrated the example which provides both the center detection part 36 and the edge part detection part 35 in the conveyance trolley 4, this invention is not limited to this. Only one of the center detection unit 36 or the end detection unit 35 may be provided in the transport carriage 4. Thus, even if it is the structure which provided only the one detection part 15, the vehicle 2 is transferred from the conveyance trolley 4 to the storage shelf 3 in the state where the edge part of one direction of the vehicle 2 is not located in an appropriate range. Can be prevented.

1 Mechanical parking device (mechanical storage device)
2 Vehicle (containment)
3 Storage Shelf 3a Small Storage Shelf 3b Medium Storage Shelf 3c Large Storage Shelf 4 Conveyor Cart (Conveyor)
5 Control device (control unit)
6 Entry / exit room 11 First touch sensor 12 Second touch sensor 13 Front wheel touch sensor 14 Rear wheel touch sensor 15 Detection unit 17 Measurement unit 17a Small photoelectric sensor 17b Medium photoelectric sensor 17c Large photoelectric sensor 18 Traveling lane 19 Stop space 20 Slat conveyor 31 Determination unit 32 Setting unit 33 Determination unit 34 Drive control unit 35 End detection unit (first sensor)
35a Ultrasonic sensor for small size 35b Ultrasonic sensor for medium size 35c Ultrasonic sensor for large size 36 Center detector (second sensor)
36a Ultrasonic sensor for small size 36b Ultrasonic sensor for medium size 36c Ultrasonic sensor for large size 40 Column

Claims (3)

A transport device that travels in a traveling lane extending in one direction and transports the stored objects;
A plurality of storage shelves arranged along the travel lane, storing the objects to be stored transferred by the transfer device, and having different lengths in the one direction,
A measuring unit that measures the length in one direction of the object to be stored before being mounted on the transfer device;
A determination unit that determines the storage shelf for storing the storage product from a plurality of the storage shelves, based on the length of the storage object measured by the measurement unit;
In accordance with the storage shelf determined by the determination unit, a setting unit that sets an appropriate range of the one-way position of the storage object in the transport device;
A detection unit that is provided in the transfer device and detects the storage object mounted on the transfer device;
Based on the detection result of the detection unit, a determination unit that determines the position of the storage object in the one direction;
If the position of the stored object obtained by the determination unit is not within the proper range set by the setting unit, the transfer of the stored object from the transfer device to the storage shelf is stopped. A mechanical storage device.   2. The mechanical storage device according to claim 1, wherein the detection unit includes a first sensor that is provided in an end region in a transfer direction of the transport device and that transmits ultrasonic waves or light in a predetermined direction. 3. The mechanical storage device according to claim 1, wherein the detection unit includes a second sensor that is provided in a central region in a transfer direction of the transport device and that transmits ultrasonic waves or light in a predetermined direction. .

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