JP2020002553A - State monitoring device and state monitoring method - Google Patents

Abstract

To provide a state monitoring device and a state monitoring method which can be applied to an existing mechanical parking device without changing a lifting mechanism of a pallet (carrier) and can detect an abnormality in the lifting mechanism including the inclination of the pallet.SOLUTION: A state monitoring device 20 includes a first photoelectric sensor 22A, a second photoelectric sensor 22B, and a monitoring controller 30. The first photoelectric sensor 22A and the second photoelectric sensor 22B are fixed to stationary positions outside the lifting range of a pallet 12, respectively, and are positioned at intervals in the longitudinal direction (or the width direction) of the pallet 12 so as to detect the pallet 12 whose attitude (for example, horizontal) is held at the same time. The monitoring controller 30 calculates a first time difference Δt1 of detection signals 25 of the first photoelectric sensor 22A and the second photoelectric sensor 22B when the pallet 12 is moved up and down, and outputs an abnormal signal when the first time difference Δt1 exceeds a first threshold K1.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a state monitoring device and a state monitoring method for a mechanical parking device in which a pallet (carriage) on which a vehicle is mounted moves up and down.

Mechanical parking devices, for example, two-tiered parking devices, can be broadly classified into a ground type in which a parking space is provided only on the ground and a pit type in which parking spaces are provided on the ground and underground. In both the ground type and the pit type, when entering or leaving a vehicle, the vehicle must be placed directly on the pallet located at the entry / exit height (hereinafter, FL), or the vehicle can be exited from the pallet at the entry / exit height. Done in
In the two-stage parking device, the pallet is moved up or down or into the parking space to provide two or more parking spaces in the same installation space and park the vehicle.
Such a two-stage parking device is disclosed, for example, in Patent Document 1.

In the mechanical parking device described above, when a pallet on which a vehicle is mounted is suspended and lifted by a plurality of string members (for example, wire ropes and chains), the pallet posture ( (For example, horizontal), the pallet may be tilted. When the pallet is tilted, the vehicle (for example, a passenger car) on the pallet is tilted. If the pallet continues to ascend and descend, the vehicle and the device may be damaged.
Therefore, means for detecting the inclination of the pallet (carriage) has been proposed (for example, Patent Documents 2 and 3).

  In the “method of diagnosing the inclination of a carrier and the mechanical parking device” of Patent Literature 2, when a reference value of the inclination of the carrier is set, the load acting on a plurality of cords by landing the carrier on a predetermined floor is appropriate. The time difference detected by each of the sensors that the value has been reached is set as a reference value. Next, at the time of diagnosis of the degree of inclination of the transporter, the time difference in which the respective sensors detect that the load acting on the plurality of cords has reached an appropriate value by landing the transporter on a predetermined floor is detected as a diagnostic value. . Further, the diagnosis value is compared with the reference value, and it is diagnosed from the difference whether or not the inclination degree of the transporter does not exceed the allowable value.

  In the “mechanical three-dimensional parking device” of Patent Document 3, the parking device includes a pallet on which a vehicle is mounted, a pallet drive motor that moves the pallet up and down and / or traverses, and a tilt that detects the tilt of the pallet that can be raised and lowered. It includes a sensor, an overall control unit, a transmitter and a receiver. When the inclination of any of the pallets detected by the inclination sensor is larger than a predetermined value, the integrated control unit stops the operation of the pallet drive motor and stops the movement of the pallet.

JP 2003-105997 A Japanese Patent No. 6313680 JP 2007-126835 A

In the device of Patent Document 2 described above, when the transporter is hung on a plurality of cords, a plurality of load sensors are required for each transporter. In addition, in order to attach the load sensor, it is necessary to remove at least a part of the plurality of cords.
On the other hand, in the device of Patent Document 3, an inclination sensor and a transmitter are required for each pallet. Further, in order to attach the inclination sensor and the transmitter to the pallet, it is necessary to exchange or modify a plurality of pallets.

Therefore, in the conventional means described above, when the mechanical parking device has a plurality of pallets, the required number of load sensors or inclination sensors and transmitters increases, and the manufacturing cost becomes excessive.
In addition, when the present invention is applied to an existing mechanical parking device, replacement or remodeling of a cord or a pallet is required, and the remodeling period becomes long.

  The present invention has been made to solve the above problems. That is, the object of the present invention can be applied to an existing mechanical parking device without changing the pallet (carriage) elevating mechanism, and can detect an abnormality of the elevating mechanism including the tilt of the pallet. It is an object to provide an apparatus and a state monitoring method.

According to the present invention, there is provided a state monitoring device for a mechanical parking device that raises and lowers the pallet while holding a posture of a pallet on which a vehicle is mounted,
A first photoelectric sensor and a second photoelectric sensor which are fixed to a stationary point outside the range of lifting and lowering of the pallet and are spaced apart in the length direction or the width direction of the pallet so as to simultaneously detect the pallet in which the posture is held; A photoelectric sensor;
A monitor controller that calculates a first time difference between detection signals of the first photoelectric sensor and the second photoelectric sensor when the pallet is moved up and down, and outputs an abnormal signal when the first time difference exceeds a first threshold value; A condition monitoring device comprising:

Further, according to the present invention, there is provided a method of monitoring the state of a mechanical parking device which raises and lowers the pallet while holding the posture of the pallet on which a vehicle is mounted,
A first photoelectric sensor and a second photoelectric sensor are separated from each other in the length direction or the width direction of the pallet so as to simultaneously detect the pallet in which the posture is held, at a stationary point outside the elevation range of the pallet. Fixed,
A state monitoring method for calculating a first time difference between detection signals of the first photoelectric sensor and the second photoelectric sensor when the pallet is moved up and down, and outputting an abnormal signal when the first time difference exceeds a first threshold value; Provided.

  According to the present invention, the first photoelectric sensor and the second photoelectric sensor are fixed to a stationary portion outside the pallet lifting range, and the monitoring controller can be installed outside the mechanical parking device. No change is required, and it can be easily applied to existing mechanical parking devices.

Further, the first photoelectric sensor and the second photoelectric sensor are located at intervals in the length direction or the width direction of the pallet so as to simultaneously detect the pallet in which the posture is held.
With this configuration, when the pallet moves up and down while maintaining the posture (for example, horizontal), the first time difference between the detection signals of the first photoelectric sensor and the second photoelectric sensor is small (almost no), but the pallet is inclined. As it moves up and down, the first time difference of the detection signal increases.
Therefore, if the first time difference between the detection signals of the first photoelectric sensor and the second photoelectric sensor exceeds the threshold value when the pallet is raised and lowered, the monitoring controller outputs an abnormal signal indicating that the pallet is in an abnormal posture, and the pallet tilts. Can be detected.

It is a front view of the mechanical parking device of a 1st embodiment provided with a condition monitoring device by the present invention. FIG. 2 is a right side view of FIG. 1. 1 is an overall flowchart of a state monitoring method according to the present invention. It is an explanatory view of a state monitoring method according to the present invention. It is a schematic diagram of a mechanical parking device of a second embodiment provided with a state monitoring device according to the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, the same reference numerals are given to the common parts in the respective drawings, and the duplicate description will be omitted.

FIG. 1 is a front view of a mechanical parking device 100 of a first embodiment including a state monitoring device 20 according to the present invention, and FIG. 2 is a right side view of FIG.
In this example, the mechanical parking device 100 is a two-stage parking device 10 of a three-level ascending and descending traverse type, and three stages (1F, 2F, 3F) of parking spaces are provided in the same installation space. . Hereinafter, the two-stage parking device 10 is simply referred to as “device 10”.

In this example, two pallets 12a located at 1F out of three stages can traverse horizontally in the left-right direction in the figure, and two pallets 12b located at 2F can traverse and ascend and descend. The three pallets 12c located can only be moved up and down.
Accordingly, in this example, the number of vehicles 1 accommodated is one, two spaces on the first floor, two on the second floor, and three on the third floor, so that a total space of seven vehicles is needed because the space required for lifting and lowering the pallet 12 is required.
Hereinafter, when the pallets 12a to 12c are not particularly distinguished, they are simply referred to as “pallets 12”.

  The entry / exit height FL at which the vehicle 1 enters / exits the vehicle is provided with three entry / exit portions A, B, and C in this example. The total width of the pallets 12 is preferably the same, but may be different. In addition, each of the loading / unloading units A, B, and C is configured so that three pallets 12 are located adjacent to each other with a necessary gap (for example, 40 mm or less).

  In FIG. 2, two pallets 12a on the first floor have wheels 13a at both ends in the length direction, and traverse horizontally by a horizontal driving device (not shown) along two horizontal rails 14a provided on the first floor. The vehicle 1 is directly moved in and out of any of the entrance / exit sections A, B, and C. Hereinafter, the entry and exit means entry and exit.

  The two pallets 12b located on 2F are suspended by the traversing frame 15. The traversing frame 15 has wheels 13b at both ends in the longitudinal direction, and traverses horizontally by a horizontal driving device (not shown) along two horizontal rails 14b provided on 2F. Then, the pallet 12b is lowered to one of the loading / unloading sections A, B, and C on the first floor, and the vehicle 1 is loaded and unloaded at the loading / unloading sections A, B, and C.

The three pallets 12c located at 3F are suspended by the main body frame 2 of the two-stage parking device 10. Then, the pallet 12c is lowered to one of the entrance / exit units A, B, and C on the first floor, and the vehicle 1 is entered / exited at the entrance / exit units A, B, and C.
Note that the traversing frame 15 is not provided on the 3F of the present embodiment, but the traversing frame 15 may be provided so as to enable traversing.

The two-stage parking device 10 of FIG. 2 further includes a lifting drive device 16.
The lifting / lowering drive device 16 raises and lowers one end 17a (the lower end in this example) of a flexible string-like body 17 extending vertically at a position where it does not interfere with the vehicle 1, and winding or unwinding the string-like body 17. And a suspension drive unit 18 for driving the suspension.
In this example, the string 17 is a chain (or wire) and the suspension drive 18 is a chain drive (or winch).

One end 17a of the string-like body 17 is fixed to the pallet 12, and the other end 17b is connected to a string-like endless ring 19 that rotates by meshing with a plurality of sprockets (or pulleys). The string-like endless ring 21 is formed of a chain or a wire. When the suspension driving device 18 is a chain driving device, a counter balance (not shown) is provided on the other end 17b of the string-like body 17 or the string-like endless ring 19, and the sprocket meshing with the chain is rotated by the chain driving device.
The form of the lifting drive device 16 is not limited to this, and the winch may be used as the suspension drive device 18, and the other end 17 b of the cord-like body 17 may be wound around the winch drum to rotate the drum.

The suspension driving device 18 for 2F is fixed to the traversing frame 15 and traverses horizontally with the traversing frame 15.
The suspension driving device 18 for 3F is fixed to the main body frame 2, and the three pallets 12 are independently lifted and lowered from the main body frame 2.

  Further, in this example, one end 17a of the four cords 17 (chain or wire) is fixed to a total of four places before and after the pallet 12 in consideration of the load balance. It moves up and down while holding it horizontally. Further, by connecting the sprockets facing each other in the width direction of the pallet 12 with a rotating shaft, the four sprockets are operated in synchronization.

With the above-described configuration, the two-stage parking device 10 raises and lowers the pallet 12 between the loading / unloading units A, B, and C and the parking spaces of 2F and 3F while maintaining the posture of the pallet 12 on which the vehicle 1 is mounted. can do.
Here, the “posture of the pallet 12” means horizontal in this example, but may not be strictly horizontal but may have, for example, a gradient for draining water.

Further, the mechanical parking device 100 of the present invention is not limited to the above-described two-stage parking device 10 but may be another two-stage parking device 10.
For example, the number of parking spaces may be any number as long as it is two or more. Further, the number of units accommodated in the same stage is not limited to three, but may be any number as long as it is two or more. Further, the present invention is not limited to the two-stage parking device 10 of the ground type, and may be a pit type.

1 and 2, the state monitoring device 20 includes a first photoelectric sensor 22A, a second photoelectric sensor 22B, and a monitoring controller 30.
Hereinafter, when the first photoelectric sensor 22A and the second photoelectric sensor 22B are not distinguished, they are simply referred to as “photoelectric sensor 22”.

  In FIG. 1, two pairs of photoelectric sensors 22 (a first photoelectric sensor 22A and a second photoelectric sensor 22B) are located at stationary portions (for example, columns or beams of the main body frame 2) outside the lifting range of the pallet 12 on the 2F and 3F, respectively. Fixed to. The number of photoelectric sensors 22 is two in this example, but may be one or three or more.

In this figure, each pair of photoelectric sensors 22 (first photoelectric sensor 22A and second photoelectric sensor 22B) has a light projector 24a and a light receiver 24b. The light projector 24a and the light receiver 24b project and receive the detection light 23 that passes horizontally through the vertical range of the pallet 12 (in this example, the entire width of the device 10).
Further, in this example, the two pairs of the first photoelectric sensor 22A and the second photoelectric sensor 22B are mounted at positions where the respective detection lights 23 are close to the lower end of the pallet 12 at the fixed position.
The “fixed position” is a stop position of the pallet 12 when the pallet 12 is stored in the parking space on the second floor or the third floor when the vehicle is stored. Further, the “close position” means a close position as long as the fixed position pallet 12 does not block the detection light 23 therebelow.

With this configuration, since the pallet 12 at the fixed position does not block the detection light 23 of the photoelectric sensor 22 thereunder, it can be confirmed that the pallet 12 holds a predetermined posture (for example, horizontal) at the fixed position.
Further, when the pallet 12 descends from the home position, the detection light 23 of the first photoelectric sensor 22A and the detection light 23 of the second photoelectric sensor 22B are shielded immediately after the descending start, so that the posture of the pallet 12 immediately after the descending start can be monitored.

In addition, the photoelectric sensor 22 (the first photoelectric sensor 22A and the second photoelectric sensor 22B) may be attached to an arbitrary position below the lower end of the pallet 12 at a fixed position.
With this configuration, the posture of the pallet 12 can be monitored at an arbitrary position while the pallet 12 is descending. For example, during the lowering of the pallet, the pallet 12 partially approaches the fixed portion (the frame, the elevating guide, etc.), so that the inclination of the pallet 12 due to contact or interference can be monitored.

Each of the photoelectric sensors 22 is preferably a transmission type laser sensor, and the detection light 23 is preferably a laser beam. The light projector 24a may be, for example, a red LED. With this configuration, malfunctions due to disturbances such as sunlight and illumination can be significantly reduced.
Further, each of the photoelectric sensors 22 preferably has a detection distance (for example, 30 to 70 m) larger than the entire width of the device 10. With this configuration, the postures of the plurality of pallets 12 ascending and descending at the plurality of loading / unloading units (A, B, and C in this example) are monitored by each pair of photoelectric sensors 22 (the first photoelectric sensor 22A and the second photoelectric sensor 22B). can do.
Further, it is preferable that the size of the minimum detection object by the photoelectric sensor 22 is smaller than the overall height of the pallet 12 (for example, a diameter of 15 to 30 mm). With this configuration, the vertical position of the pallet 12 can be detected within an error range equal to or smaller than the size of the minimum detection object.

2, the first photoelectric sensor 22A is located on the front side (left side in the figure) of the device 10, and the second photoelectric sensor 22B is located on the back side (right side in the figure) of the device 10.
Further, the first photoelectric sensor 22A and the second photoelectric sensor 22B are spaced apart in the longitudinal direction of the pallet 12 so as to simultaneously detect the pallet 12 whose posture is held.

In FIG. 2, each of the photoelectric sensors 22 is mounted outside the vehicle 1 on the pallet 12 in the longitudinal direction and at a position where the detection light 23 is blocked by the pallet 12.
That is, the distance between the first photoelectric sensor 22A and the second photoelectric sensor 22B in the length direction of the pallet 12 is set to be longer than the entire length of the vehicle 1 placed on the pallet 12, and the vehicle itself detects the light when the pallet 12 is moved up and down. 23 is not shaded.
With the above-described configuration, the detection light 23 of the photoelectric sensor 22 can be blocked by a part of the pallet 12 without being affected by the vehicle 1 regardless of the presence or absence of the vehicle 1 when the pallet 12 is moved up and down.

Further, it is preferable that the entire height of the pallet 12 at the portion where the detection light 23 is shielded is set to be equal between the first photoelectric sensor 22A and the second photoelectric sensor 22B.
With this configuration, it is possible to prevent the occurrence of an error of a first time difference Δt1 of the detection signal 25 to be described later when the pallet 12 is raised and lowered.
Note that this configuration is not indispensable, and the entire height of the pallet 12 at the portion that blocks the detection light 23 may be different between the first photoelectric sensor 22A and the second photoelectric sensor 22B.

The posture of the pallet 12 means horizontal in this example. However, the pallet 12 may have a gradual slope (e.g., 0.5 to 2 degrees for drainage) rather than a strict level.
That is, when the pallet 12 has a gradient in the length direction, the first photoelectric sensor 22A and the second photoelectric sensor 22B have a height difference (for example, 20 to 40 mm) corresponding to the gradient of the pallet 12. Good.
With this configuration, even when the pallet 12 is not horizontal but has a gentle gradient, the pallet 12 whose posture is held by the first photoelectric sensor 22A and the second photoelectric sensor 22B can be simultaneously detected.

In FIG. 1, the monitoring controller 30 is, for example, a computer (PC) and is installed outside the device 10. The monitoring controller 30 may be used alone or may be integrated with an overall control device (not shown) of the device 10.
The monitoring controller 30 detects a first time difference Δt1 of the detection signal 25 of each pair of the photoelectric sensors 22 when the pallet 12 is moved up and down, and when the first time difference Δt1 exceeds the first threshold K1, an abnormal signal (for example, an abnormal posture) Signal). The first threshold value K1 is set to a length that does not hinder the operation of the apparatus 10, for example, the posture (for example, horizontal) of the pallet 12 is substantially maintained, for example, 1 to 2 seconds, preferably 1.5 seconds. Good.

  When the pallet 12 is moved up and down, the monitoring controller 30 further monitors elapsed times ta and tb from the start of the pallet 12 with respect to the first photoelectric sensor 22A and the second photoelectric sensor 22B.

  When detecting only one detection signal 25 of the first photoelectric sensor 22A or the second photoelectric sensor 22B, the monitoring controller 30 detects the detection time (for example, ta2) of the detected detection signal 25 and the other elapsed time (not detected). For example, a time difference from tb) is calculated as a first time difference Δt1.

  Further, the monitoring controller 30 calculates a second time difference Δt2 between the scheduled detection times Ea and Eb and the elapsed times ta and tb by the first photoelectric sensor 22A or the second photoelectric sensor 22B, respectively, and calculates one of the second time differences Δt2 or If both of them exceed the second threshold value K2, an abnormal speed signal is output. The second threshold value K2 is set to a length that does not hinder the lifting and lowering of the pallet 12, for example, 3 to 5 seconds, and preferably 4 seconds.

The “scheduled detection times Ea, Eb” mean a scheduled time from the start of the vertical movement of the pallet 12 to the detection of the detection signal 25 by the first photoelectric sensor 22A and the second photoelectric sensor 22B.
The elevation speed of the pallet 12 is known in advance, and the scheduled detection times Ea and Eb until the pallet 12 passes the position of each photoelectric sensor 22 are also known in advance.
It is preferable that the scheduled detection times Ea and Eb are preset for each photoelectric sensor of each stage with respect to when the pallets 12 are raised and lowered, and are stored in the storage device of the monitoring controller 30.

  Table 1 shows examples of the estimated detection times Ea and Eb when the third pallet of FIGS. 1 and 2 is raised and lowered. In this case, the scheduled detection times Ea and Eb are the same for the first photoelectric sensor 22A and the second photoelectric sensor 22B, but may be different.

  FIG. 3 is an overall flowchart of the state monitoring method according to the present invention. In this figure, the state monitoring method of the present invention includes steps S1 to S10.

FIG. 4 is an explanatory diagram of a state monitoring method according to the present invention. In this figure, (A) is a schematic diagram corresponding to FIG. 2, and (B) is an explanatory diagram of a detection signal 25 of the first photoelectric sensor 22A and the second photoelectric sensor 22B.
Hereinafter, the state monitoring method of the present invention will be described with reference to FIGS.

In FIG. 3, when the general control device of the apparatus 10 outputs a "elevation start command", the corresponding pallet 12 starts elevating by the elevating drive device 16 (step S1), and at the same time, the timer count of the elapsed time ta, tb is counted. Start (step S2).
In FIG. 4, the monitoring controller 30 counts the passage of time simultaneously with the “elevation start command” and detects the detection signals 25 of the two pairs of photoelectric sensors 22 (the first photoelectric sensor 22A and the second photoelectric sensor 22B). I do. Hereinafter, the elapsed time ta is the elapsed time of the first photoelectric sensor 22A, and the elapsed time tb is the elapsed time of the second photoelectric sensor 22B.

  FIG. 4A shows a state where the pallet 12 on the 3F (third stage) is lowered. In this drawing, X1, X2, and X3 indicate a fixed position, an intermediate position, and a loading / unloading position of the pallet 12 on the third floor, respectively. Y2 indicates a state where the pallet 12 is inclined at the intermediate position.

  After the start of the vertical movement, the elapsed times ta and tb from the start of the vertical movement are monitored for the first photoelectric sensor 22A and the second photoelectric sensor 22B, respectively. In step S3, a second time difference Δt2 between the estimated detection times Ea and Eb (see Table 1) of detection by the first photoelectric sensor 22A or the second photoelectric sensor 22B and the elapsed times ta and tb is calculated.

  Next, the second time difference Δt2 is constantly compared with the second threshold value K2 (step S4). When both the second time difference Δt2 does not exceed the second threshold value K2 in step S4 (YES), one or both of the first photoelectric sensor 22A and the second photoelectric sensor 22B detect the pallet 12 in step S5 (YES). Steps S3 to S5 are repeated until).

  FIG. 4B schematically shows detection signals 25 of the two pairs of the first photoelectric sensor 22A and the second photoelectric sensor 22B. In this figure, the detection signal 25 is turned on when the detection light 23 is blocked by the pallet 12, and is turned off when the detection light 23 is not blocked. Note that ON and OFF may be reversed.

  In the example of Table 1, when the pallet 12 of the 3F (third stage) descends while maintaining the posture, the first photoelectric sensor 22A and the second photoelectric sensor 22B of the 3F immediately start descending (about 2 seconds later), respectively. The detection signal 25 is output (Step S5). Next, after about 28 seconds, the first photoelectric sensor 22A and the second photoelectric sensor 22B of the 2F output the detection signal 25, respectively.

In this case, in step S6, the first time difference Δt1 between the detection signals 25 of the first photoelectric sensor 22A and the second photoelectric sensor 22B is calculated. In FIG. 4B, the first time difference Δt1 is the time difference between the detection times ta1 and tb1 of the first photoelectric sensor 22A and the second photoelectric sensor 22B in 3F, and the time difference between the first photoelectric sensor 22A and the second photoelectric sensor 22B in 2F. This is the time difference between the detection times ta2 and tb2.
Note that, in this example, the first time difference Δt1 is based on the rising time of the detection signal 25 (the time when the detection signal 25 changes from OFF to ON), but may be used as the falling time (the time when the detection signal 25 changes from ON to OFF). .

Next, in step S7, the first time difference Δt1 is compared with the first threshold value K1, and if Δt1 <K1 is satisfied (YES), the output command for the elevation is continued (step S8), and the elevation is completed.
Therefore, when the pallet 12 on the 3F (third stage) descends while maintaining the posture, the first time difference Δt1 between the 3F and 2F is less than or equal to the first threshold K1 (for example, 1 to 2 seconds), and the abnormal signal is No output.

On the other hand, when the pallet 12 on the 3F descends with the inclination like Y2 after the attitude starts to descend, the first time difference between the detection times ta1 and tb1 of the first photoelectric sensor 22A and the second photoelectric sensor 22B on the 3F in step S7. Δt1 may exceed the first threshold K1 (NO).
In this case, in the state monitoring method according to the present invention, the output command for the elevation is stopped in step S9, and an abnormal signal is issued (output) in step S10. That is, for example, the operation of the device 10 is stopped, and the “posture abnormal signal” is output. Further, it is preferable that an alarm is issued by this posture abnormal signal.
The same applies when the signal passes through the photoelectric sensor 22 on the 3F and the first time difference Δt1 between the detection times ta2 and tb2 of the first photoelectric sensor 22A and the second photoelectric sensor 22B on the 2F exceeds the first threshold K1.

In step S6, when detecting only one detection signal 25 of the first photoelectric sensor 22A or the second photoelectric sensor 22B, the detection time (for example, ta1) of the detected detection signal 25 and the other elapsed time that is not detected (for example, tb) ) Is calculated as a first time difference Δt1. The other steps S7 to S10 in this case are the same.
In this case, the elevation speed of the front or rear side of the pallet 12 corresponding to the sensor that is not detected may be lower than normal.

  In the above-described step S4, the second time difference Δt2 is constantly compared with the second threshold value K2, and if one or both of the second time differences Δt2 exceeds the second threshold value K2 (NO), the elevation command is stopped in step S9. Then, an abnormal signal is issued (output) in step S10. That is, for example, the operation of the device 10 is stopped, and the “speed abnormality signal” is output. Further, it is preferable that an alarm be issued by the abnormal speed signal.

  It should be noted that the method of the present invention is not limited to when the pallet 12 on the third floor is lowered, but may be when the pallet 12 is raised. In this example, the pallet 12 on the second floor may be moved up and down.

  Furthermore, the mechanical parking device 100 of the present invention is not limited to the two-stage parking device, and the mechanical parking device 100 in which the transporter (for example, the pallet 12) on which the vehicle 1 is mounted moves up and down while maintaining the posture (for example, horizontal). Should be fine. For example, the mechanical parking device 100 may be an elevator parking, a tower parking, or the like.

FIG. 5 is a schematic diagram of a mechanical parking device 100 of the second embodiment including the state monitoring device 20 according to the present invention.
In this example, the mechanical parking device 100 is an elevator parking (elevator parking device).
In this figure, the mechanical parking device 100 includes a cage 6, a lifting drive device 7, and a lifting control device 8.
The cage 6 is suspended by a plurality of suspension ropes 5 and moves up and down the hoistway 9. The suspension rope 5 is a wire rope or a chain. The hoistway 9 corresponds to the above-described hoisting range.
The lifting drive device 7 drives the suspension rope 5 up and down. The elevation control device 8 controls the elevation drive device 7. The lifting drive 7 corresponds to the lifting drive 16 described above.

In FIG. 5, the first photoelectric sensor 22A and the second photoelectric sensor 22B are located at an interval in the length direction and the width direction of the pallet 12. In this example, the lower end of the cage 6 may be detected by the photoelectric sensor 22 instead of the pallet 12.
With this configuration, it is possible to detect both the inclination in the length direction and the inclination in the width direction of the pallet 12 (or the cage 6). Note that detection in both the length direction and the width direction is not essential, and only one may be detected.

  As described above, according to the embodiment of the present invention, the photoelectric sensor 22 is fixed to a stationary portion outside the range of lifting and lowering the pallet 12, and the monitoring controller 30 can be installed outside the mechanical parking device 100. Therefore, there is no need to change the elevating mechanism of the pallet 12 (carriage), and the present invention can be easily applied to the existing mechanical parking device 100.

  In addition, since the posture of the pallet 12 that moves up and down in the plurality of loading / unloading units A, B, and C can be monitored by one or more pairs of photoelectric sensors 22, even if the pallets 12 are provided, the photoelectric sensor 22 can be monitored. The required number can be reduced, and the manufacturing cost can be reduced.

In addition, each pair of photoelectric sensors 22 is located at an interval in the length direction or the width direction of the pallet 12 so as to simultaneously detect the pallet 12 whose posture is held.
With this configuration, when the pallet 12 moves up and down while maintaining the posture (for example, horizontal), the first time difference Δt1 between the detection signals 25 of the photoelectric sensors 22 of each pair is small (almost no). On the other hand, when the pallet 12 moves up and down with inclination, the first time difference Δt1 of the detection signal 25 of each pair of photoelectric sensors 22 increases.
Therefore, when the first time difference Δt1 of the detection signal 25 of the pair of photoelectric sensors 22 exceeds the threshold value when the pallet 12 is moved up and down, the monitoring controller 30 outputs an abnormal signal as an abnormal posture of the pallet 12 and Abnormality of the lifting / lowering mechanism including the inclination of the vertical axis can be detected.

Further, in the state monitoring method according to the present invention, when the pallet 12 is raised and lowered, the elapsed times ta and tb from the start of lifting and lowering to the detection of the detection signal 25 are respectively monitored.
Thereby, when only one detection signal 25 of the first photoelectric sensor 22A or the second photoelectric sensor 22B is detected, it is possible to detect a speed abnormality in which the vertical speed of the front side or the rear side of the pallet 12 is lower than normal. Can be.

  Further, in the state monitoring method according to the present invention, a second time difference Δt2 between the scheduled detection times Ea and Eb and the elapsed times ta and tb is calculated. Thus, an abnormal signal can be output when one or both of the second time differences Δt2 exceeds the second threshold value K2.

  It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that various changes can be made without departing from the spirit of the present invention.

A, B, C entry / exit section, Ea, Eb estimated detection time, FL entry / exit height,
K1 first threshold, K2 second threshold, ta, tb elapsed time,
ta1, tb1, ta2, tb2 detection time,
Δt1 first time difference, Δt2 second time difference, 1 vehicle, 2 body frame,
5 hanging rope, 6 cage, 7 lifting drive device, 8 lifting control device, 9 hoistway,
10 double-stage parking device (device), 12, 12a, 12b, 12c pallet,
13a, 13b wheels, 14a, 14b horizontal rails, 15 traverse frames,
16 lifting drive device, 17 string-like body (chain or wire), 17a one end (lower end),
17b other end, 18 hanging drive (chain drive or winch),
19 string endless ring (chain or wire), 20 condition monitoring device,
22 photoelectric sensor, 22A first photoelectric sensor, 22B second photoelectric sensor,
23 detection light, 24a light emitter, 24b light receiver, 25 detection signal,
30 monitoring controller, 100 mechanical parking device

Claims (8)

A state monitoring device of a mechanical parking device that raises and lowers the pallet while holding a posture of a pallet on which a vehicle is mounted,
A first photoelectric sensor and a second photoelectric sensor which are fixed to a stationary point outside the range of lifting and lowering of the pallet and are spaced apart in the length direction or the width direction of the pallet so as to simultaneously detect the pallet in which the posture is held; A photoelectric sensor;
A monitor controller that calculates a first time difference between detection signals of the first photoelectric sensor and the second photoelectric sensor when the pallet is moved up and down, and outputs an abnormal signal when the first time difference exceeds a first threshold value; A condition monitoring device comprising:   2. The state monitoring device according to claim 1, wherein each of the first photoelectric sensor and the second photoelectric sensor includes a light projector and a light receiver that project and receive detection light that passes horizontally through the elevation range. 3.   The said 1st photoelectric sensor and the said 2nd photoelectric sensor are each attached to the position which is the longitudinal direction outside of the said vehicle mounted on the said pallet, and the position where the detection light is shielded by the said pallet. Condition monitoring device.   2. The state monitor according to claim 1, wherein each of the first photoelectric sensor and the second photoelectric sensor is mounted at a position where the detection light is close to a lower end of the pallet at a fixed position or at a position below the lower end. apparatus. The pallet has a gradient for drainage in the length direction,
The state monitoring device according to claim 1, wherein the first photoelectric sensor and the second photoelectric sensor have a height difference corresponding to the gradient. A method for monitoring the state of a mechanical parking device that raises and lowers the pallet while holding the posture of a pallet on which a vehicle is mounted,
A first photoelectric sensor and a second photoelectric sensor are separated from each other in the length direction or the width direction of the pallet so as to simultaneously detect the pallet in which the posture is held, at a stationary point outside the elevation range of the pallet. Fixed,
A state monitoring method, comprising: calculating a first time difference between detection signals of the first photoelectric sensor and the second photoelectric sensor when the pallet is moved up and down, and outputting an abnormal signal when the first time difference exceeds a first threshold value. During the elevating of the pallet, the elapsed time from the start of elevating is monitored for the first photoelectric sensor and the second photoelectric sensor, respectively,
The state monitor according to claim 6, wherein when detecting only one detection signal of the first photoelectric sensor or the second photoelectric sensor, a time difference between the detection signal and the other elapsed time is calculated as the first time difference. Method. During the elevating of the pallet, the elapsed time from the start of elevating is monitored for the first photoelectric sensor and the second photoelectric sensor, respectively,
A second time difference between the scheduled detection time of the detection by the first photoelectric sensor or the second photoelectric sensor and the elapsed time is calculated, and when one or both of the second time differences exceeds a second threshold, the abnormality is detected. The method according to claim 6, wherein the method outputs a signal.

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