JP2020109245A - Safety confirmation system, mechanical parking device, safety confirmation method and safety confirmation program - Google Patents

Abstract

To reassure a safety without giving excessive burden for unmanned confirmation for the user.SOLUTION: The mechanical parking device comprises a storage unit 81 for recording the detection information of each sensor, a first input controller 82 for activating an unmanned confirmation input device corresponding to an entrance hall at which a pallet to transport a vehicle to any entrance hall arrives when the pallet arrives and the entrance and exit door is opened fully for entry or exit, a disabling unit 83 for disabling a predetermined sensor for monitoring inside the entrance hall at which the pallet arrives when the entrance and exit door is opened fully, an activating unit 84 for activating the sensor when any one unmanned confirmation input device is disabled, a second input controller 85 for activating the unmanned confirmation input device corresponding to the sensor which detects an object when the sensor which detects the object is present in the activated sensors and an operation permission unit 86 for permitting a closing operation of the entrance and exit door in the state where all activated unmanned confirmation input devices are disabled.SELECTED DRAWING: Figure 7

Description

The present invention relates to a mechanical parking device, and particularly to a safety confirmation system, a safety confirmation method, and a safety confirmation program applied to a mechanical parking device.

For example, conventionally, in a mechanical parking apparatus having a plurality of pallets, when a user performs an operation of calling a desired pallet from an operation panel, the called pallet is moved to a position where it can be loaded and unloaded, and There is known a mechanical parking device in which, when a vehicle is moved to a position where it can be loaded and unloaded, the entrance door at that position is opened so that the vehicle can be loaded and unloaded. In such a mechanical parking apparatus, when the door in the open state is closed, unmanned confirmation is performed to ensure the safety of the passenger compartment.

For example, in Japanese Patent Application Laid-Open No. 2004-163242, after the vehicle has been stored in the pallet with the open/close gate being opened, as a first operation mode, two input operation units provided corresponding to the open door It is disclosed that the display unit is brought into a display state and the user is prompted to perform unattended confirmation in that area.

Further, in Patent Document 1, as a second operation mode, when an object is detected by a sensor arranged in the multi-level parking device during the period from the unmanned state determination to the opening/closing gate closing operation, it is associated with the sensor. It is disclosed that the display unit of the input operation unit is brought into a display state and the user is prompted to perform the unattended confirmation again.

JP, 2016-102343, A

However, in the multi-level parking device disclosed in Patent Document 1 described above, when a user such as a driver loads or unloads a vehicle, it may be detected by side sensors arranged on both sides of the pallet. There is. In such a case, as the second operation mode, the display unit of the input operation unit associated with the side sensor that has detected the object (user such as the driver) is set to the display state.
As described above, in the multi-level parking device disclosed in Patent Document 1, when an object such as a driver is detected by the side sensor when the driver performs work in the passenger compartment for entry and exit. As the second operation mode, both sides of the open/close gate in the open state and the input operation unit adjacent thereto are in the display state, so that the user inputs the display states in the first operation mode and the second operation mode, respectively. An input operation for unattended confirmation must be performed from the operation unit, which may impose excessive unattended confirmation on the user.

In addition, in order not to impose excessive unmanned confirmation on the user, only when the object is detected by the sensor after the first operation mode ends, the input corresponding to the sensor detecting the object as the second operation mode is performed. It is conceivable to put the operation unit in the display state. However, in this case, for example, when a person enters the multi-story parking apparatus in the first operation mode and then moves to a position not detected by any sensor and remains there, In some cases, it may not be possible to detect it, and it may not be possible to ensure sufficient safety.

The present invention has been made in view of such circumstances, and a safety confirmation system and a mechanical parking device capable of ensuring safety without imposing an excessive burden on a user for unattended confirmation. The purpose is to provide a safety confirmation method and a safety confirmation program.

A first aspect of the present invention, a plurality of passenger compartments at least one of entering and leaving the vehicle, a plurality of sensors for detecting an object in the passenger compartment, associated with each sensor, by each sensor A mechanical parking device including a plurality of input parts arranged outside the passenger compartment at a position where a person can visually recognize the presence or absence of an object in the surveillance area, and an entrance door provided at an entrance of the passenger compartment. A safety confirmation system applied to a storage unit for recording the detection information of each sensor, and a transportation means for transporting a vehicle to any of the passenger compartments, and the entrance door is used as a garage or a garage. The first input control unit for activating the input unit corresponding to the boarding/alighting room where the transport means has arrived, and the transport means, when the door is fully opened. If the invalidation unit that invalidates the predetermined sensor that monitors the arriving passenger compartment and any one of the input units that is validated by the first input control unit are invalidated, the invalidation unit is invalidated. When there is the sensor that detects the object by determining whether there is the sensor that detects the object based on the detection information of the activated sensor and the sensor that is activated A second input control unit that activates the input unit that is associated with the sensor that has detected an object, and that closes the door with all the enabled input units disabled. It is a safety confirmation system that includes a driving permission unit that permits movement.

According to the above-mentioned safety confirmation system, when the entrance door is fully opened, it is provided with an invalidation unit that invalidates a predetermined sensor that monitors the inside of the entry/exit compartment where the transport means has arrived. Even if the user enters the passenger compartment and is detected by the sensor provided in the passenger compartment, the detection information is not considered by the second input control unit. If any one of the input units activated by the first input control unit is invalidated, it can be considered that the user is outside the passenger compartment. Therefore, by activating the deactivated sensor by the activation unit, it is possible to monitor the entire passenger compartment by the sensor. As described above, according to the safety confirmation system of this aspect, it is possible to ensure safety without imposing an excessive burden on the user for unattended confirmation.

In the safety confirmation system, when at least one of the input units is validated by the second input control unit, the invalidation unit invalidates a predetermined sensor for monitoring the passenger compartment where the transport means arrives. The validating unit may validate the invalidated sensor when any one of the input units validated by the second input control unit is invalidated.

When at least one input unit is activated by the second input control unit, there is a possibility that a user may enter the passenger compartment in order to confirm the unattended passenger in the passenger compartment. According to the above-mentioned safety confirmation system, when the input unit is validated by the second input control unit, the predetermined sensor for monitoring the inside of the passenger compartment where the transport means arrives is invalidated, so that the user is unattended. It does not put an excessive burden on confirmation. Furthermore, when any one of the activated input units is deactivated, by activating the deactivated sensor, monitoring by all the sensors is restarted, so that safety can be ensured. it can.

In the safety confirmation system, the second input control unit is effective by the input unit and the first input control unit associated with the sensor that has detected the object, when the sensor has detected the object. It is also possible to validate the input unit that has been activated.

According to the safety confirmation system, when there is a sensor that has detected an object among the enabled sensors, not only the input section associated with the sensor that has detected the object but also the first input control section The input unit validated by is also validated. This makes it possible to perform the unattended confirmation more carefully.

The safety confirmation system further includes an unattended confirmation list in which the information of the validated input unit is accumulated, and the first input control unit stores the information of the input unit corresponding to the boarding/alighting room where the transport means arrives. Described in the unattended confirmation list, the second input control unit, every time an object is detected by the sensor, the information of the input unit associated with the sensor that has detected the object in the unattended confirmation list. In addition, the first input control unit and the second input control unit activate the input unit based on the information of the input unit described in the unattended confirmation list, and all the activated input units. The unattended confirmation list may be reset when the input unit is invalidated.

According to the safety confirmation system, when an object is detected by the activated sensor, the input unit corresponding to the sensor is added to the unattended confirmation list. With this, it is possible to increase the number of input units for inputting the end of unattended confirmation each time the sensor detects an object, and it is possible to expand the region for unattended confirmation. As a result, more careful unattended confirmation can be performed, and safety can be improved.

In the above safety confirmation system, the input unit may be invalidated when an unattended confirmation end is input and an object is not detected by the sensor corresponding to the input unit.

According to the above safety confirmation system, even if the user inputs the end of unattended confirmation to the activated input unit, if the object is detected by the sensor corresponding to the input unit, The input section will not be invalidated. As a result, the user can notice the abnormality in the passenger compartment and can remove the object (eg, luggage, person, animal, etc.) detected by the sensor in the passenger compartment.

The safety confirmation system further includes a notifying unit for notifying the user of the detection of the object when the object is detected by the sensor corresponding to the input unit for inputting the end of unattended confirmation. Good.

According to the safety confirmation system, when the user inputs the end of unattended confirmation to the activated input unit, if the object is detected by the sensor corresponding to the input unit, Since the user is notified that the object is detected by the sensor, the user can easily notice the abnormality in the passenger compartment and quickly remove the cause.

According to a second aspect of the present invention, a plurality of entry/exit rooms where at least one of entry and exit of the vehicle is performed, a plurality of sensors for detecting an object in the entry/exit room, and the sensors are associated with each other. A plurality of input portions arranged outside the passenger compartment at a position where a person can visually recognize the presence or absence of an object in the surveillance area, an entrance door provided at an entrance of the passenger compartment, and any one of the above. It is a mechanical parking device equipped with the safety confirmation system.

According to the above mechanical parking device, it is possible to ensure safety without imposing an excessive burden on the user for unattended confirmation.

In the above mechanical parking apparatus, the plurality of sensors monitor a partition sensor for monitoring a monitoring area provided at a boundary between the adjoining passenger compartments and a monitoring area provided near an entrance/exit of the passenger compartment. The invalidation unit may invalidate the partition sensor and the entrance/exit sensor located on both sides of the boarding/alighting room where the transport means arrives.

According to the above mechanical parking device, since the compartment sensors and the entrance/exit sensors located on both sides of the entry/exit room where the transportation means arrives are invalidated by the invalidation unit, the invalidated sensor is used when entering or exiting. It is possible to limit the number of sensors to which a person is likely to be detected. As a result, it is possible to minimize the number of invalidated sensors, and it is possible to achieve both the efficiency of unattended confirmation by a person and the safety of the passenger compartment.

The mechanical parking device may include an operation panel provided near an entrance of the passenger compartment, and at least one input unit may be provided on the operation panel.

According to the above mechanical parking apparatus, since the operation panel is provided with the function of the input section, it is not necessary to additionally install the input section near the operation panel. As a result, it is possible to reduce the number of input units installed and simplify the device configuration.

In the above mechanical parking device, the plurality of sensors include a rear sensor for monitoring a monitoring area provided on the back side of the transporting unit when viewed from the entrance/exit of the passenger compartment, and the unmanned area is monitored by the rear sensor. A mirror for visually confirming from the vicinity of the operation panel, and the second input control unit activates the input unit provided on the operation panel when an object is detected by the rear sensor. It may be done.

According to the above mechanical parking device, since the unmanned confirmation of the monitoring area by the rear sensor can be performed through the mirror, it is possible to save the trouble of confirming the rear portion by moving to the side or the passenger compartment of the mechanical parking facility. be able to.

A third aspect of the present invention is such that a plurality of passenger compartments in which at least one of entry and exit of vehicles is arranged along the width direction of a parked vehicle are adjacent to each other in the direction of entry of the vehicle. A tandem mechanical parking device arranged in a plurality, wherein a plurality of sensors for detecting an object in the passenger compartment and the sensors are associated with each other, and a person determines whether or not there is an object in a monitoring area by each sensor. It is a mechanical parking device provided with a plurality of input parts arranged in a visible position, an entrance door provided in an entrance of the boarding room, and the safety confirmation system in any one of the above.

According to the tandem mechanical parking device, it is possible to ensure safety without imposing an excessive burden on the user for unattended confirmation.

In the above mechanical parking device, the plurality of the sensors are a division sensor for monitoring a monitoring area provided at a boundary between the passenger compartments adjacent to each other in the width direction of the parked vehicle, and a maximum of the sensors with respect to the approach direction of the parked vehicle. An entrance/exit sensor for monitoring a monitoring area provided in the vicinity of the entrance/exit of the boarding/alighting room located in the front row, wherein the invalidation unit is arranged in the front row of the boarding/alighting room where the transport means arrives. In this case, the partition sensors and the entrance/exit sensors located on both sides of the passenger compartment where the transport means arrives are invalidated, and when the passenger compartment where the transport means arrives is arranged in other than the front row, the The compartment sensors located on both sides of the boarding/alighting room where the transportation means arrives, the compartment sensors located on both sides of the boarding/alighting room located on the passage of the vehicle when entering or leaving the boarding/alighting room, and the entrance/exit sensor. May be invalidated.

According to the above mechanical parking device, when the passenger compartment where the transport means arrives is arranged in the front row, the compartment sensors and the entrance/exit sensors located on both sides of the passenger compartment where the transport means arrives are disabled by the invalidation unit. When the boarding/alighting room where the transportation means arrives is invalidated and is arranged in a position other than the front row, the compartment sensors located on both sides of the boarding/alighting room where the transportation means arrives and when entering or exiting from the boarding/alighting room The compartment sensors located on both sides of the passenger compartment located on the passage of the vehicle and the entrance/exit sensors are invalidated by the invalidation unit. This makes it possible to limit the invalidated sensors to those that are likely to be detected by the user when entering or leaving the warehouse. As a result, it is possible to minimize the number of invalidated sensors, and it is possible to realize both the efficiency of unattended confirmation by a person and the security of the passenger compartment.

According to a fourth aspect of the present invention, a plurality of entry/exit rooms where at least one of entry and exit of a vehicle is performed, a plurality of sensors for detecting an object in the entry/exit room, and the sensors are associated with each other, and A mechanical parking device including a plurality of input parts arranged outside the passenger compartment at a position where a person can visually recognize the presence or absence of an object in the surveillance area, and an entrance door provided at an entrance of the passenger compartment. In the safety confirmation method applied to, the step of recording the detection information of each of the sensors, and the transport means for transporting the vehicle to any of the passenger compartments arrives, and the entrance/exit door is used for entering or exiting. In order to fully open the vehicle, the step of activating the input unit corresponding to the passenger compartment where the transport means has arrived, and the step of opening the passenger compartment where the transport means has arrived when the entrance door is fully opened. Deactivating the predetermined sensor to be monitored, and activating the deactivated sensor if any one of the activated inputs is deactivated, and The input unit that determines whether there is the sensor that has detected the object based on the detection information of the sensor that is present and, if there is the sensor that has detected the object, is associated with the sensor that has detected the object And a step of permitting a closing operation of the entrance/exit door in a state in which all the validated input parts are invalidated.

According to a fifth aspect of the present invention, a plurality of entry/exit rooms where at least one of entry and exit of a vehicle is performed, a plurality of sensors for detecting an object in the entry/exit room, and the sensors are associated with each other, and A mechanical parking device including a plurality of input parts arranged outside the passenger compartment at a position where a person can visually recognize the presence or absence of an object in the surveillance area, and an entrance door provided at an entrance of the passenger compartment. In the safety confirmation program applied to, the step of recording the detection information of each of the sensors, the transport means for transporting the vehicle to any of the passenger compartments arrives, and the entrance door enters or exits In order to fully open the vehicle, the step of activating the input unit corresponding to the passenger compartment where the transport means arrives, and the step of opening the passenger compartment where the transport means arrives when the entrance door is fully opened. Deactivating the predetermined sensor to be monitored, and activating the deactivated sensor if any one of the activated inputs is deactivated, and The input unit that determines whether there is the sensor that has detected the object based on the detection information of the sensor that is present and, if there is the sensor that has detected the object, is associated with the sensor that has detected the object Is a safety confirmation program for causing a computer to execute a step of validating and a step of permitting a closing operation of the entrance/exit door in a state where all the validated input units are invalidated.

According to the present invention, there is an effect that safety can be secured without imposing an excessive burden on a user for unattended confirmation.

It is an external view of the mechanical parking device which concerns on 1st Embodiment of this invention. FIG. 1 is an internal transparent perspective view as an example of a mechanical parking device according to a first embodiment of the present invention. It is a top view of a mechanical parking device for explaining an example of arrangement of an unmanned confirmation input device and various sensors concerning a 1st embodiment of the present invention. It is a figure which shows one structural example of the unmanned confirmation input device which concerns on 1st Embodiment of this invention. It is a figure which shows one structural example of the operating panel which concerns on 1st Embodiment of this invention. It is a hardware block diagram as an example of the control apparatus of the mechanical parking apparatus which concerns on 1st Embodiment of this invention. It is a functional block diagram showing a function with which a control device of a mechanical parking device concerning a 1st embodiment of the present invention is provided. It is the figure which showed an example of the 1st information in the case of supposing the arrangement of the sensor and the unmanned confirmation input device of the mechanical parking device shown in FIG. It is the figure which showed an example of the 2nd information in the case of supposing the sensor arrangement and the unmanned confirmation input device arrangement of the mechanical parking device shown in FIG. It is the figure which showed an example of the 3rd information at the time of supposing the sensor arrangement and arrangement of an unmanned confirmation input device of the mechanical parking device shown in FIG. It is the figure which showed an example of the sensor invalidation information in case the sensor arrangement|positioning of the mechanical parking apparatus and the arrangement|positioning of an unmanned confirmation input device shown in FIG. 12 are assumed. It is the figure which showed one example of arrangement|positioning of the sensor and unmanned confirmation input device in the mechanical parking apparatus which has eight passenger compartments. It is the flowchart which showed an example of the procedure of the warehousing process by the mechanical parking device which concerns on 1st Embodiment of this invention. It is the flowchart which showed an example of the procedure of the preparation mode performed by the warehousing process by the mechanical parking device which concerns on 1st Embodiment of this invention. It is the flowchart which showed an example of the procedure of the unattended confirmation mode performed by the warehousing process by the mechanical parking device which concerns on 1st Embodiment of this invention. FIG. 13 is a diagram showing an example of an unattended confirmation list in the case where the sensor arrangement and the unattended confirmation input device arrangement of the mechanical parking device shown in FIG. 12 are assumed. FIG. 13 is a diagram showing an example of an unattended confirmation list in the case where the sensor arrangement and the unattended confirmation input device arrangement of the mechanical parking device shown in FIG. 12 are assumed. It is a top view of a mechanical parking device for explaining an example of arrangement of an unmanned confirmation input device and various sensors concerning a 2nd embodiment of the present invention. It is the figure which showed an example of the 1st information in the case where the sensor arrangement|positioning of the mechanical parking apparatus and the arrangement|positioning of an unmanned confirmation input device shown in FIG. 18 are assumed. It is the figure which showed an example of the 2nd information at the time of supposing the sensor arrangement of a mechanical parking device and the arrangement|positioning of an unmanned confirmation input device shown in FIG. It is the figure which showed an example of the 3rd information at the time of supposing the sensor arrangement of a mechanical parking device and the arrangement|positioning of an unmanned confirmation input device shown in FIG. It is the figure which showed an example of the sensor invalidation information at the time of assuming the sensor arrangement|positioning of the mechanical parking apparatus and the arrangement|positioning of an unmanned confirmation input device shown in FIG.

[First Embodiment]
Hereinafter, a safety confirmation system, a mechanical parking device, a safety confirmation method, and a safety confirmation program according to the first embodiment of the present invention will be described with reference to the drawings. In the present embodiment, a single-row mechanical parking apparatus 1 in which the passenger compartments C1 to C3 of the mechanical parking apparatus 1 are arranged side by side in the width direction of the parked vehicle will be described as an example.

FIG. 1 is an external view as an example of a mechanical parking device 1 according to a first embodiment of the present invention, and FIG. 2 is an internal transparent perspective view as an example of a mechanical parking device 1 according to the present embodiment. As shown in FIGS. 1 and 2, a mechanical parking device 1 (hereinafter, simply referred to as “parking device 1”) is a single-row, two-stage ascending/descending transverse parking device, and two parking devices are provided on the ground floor. It is equipped with boarding/alighting rooms C1 and C3 and three hangars provided on the upper floor thereof, and the hangar in the central portion is landed as a boarding/alighting room C2. In FIG. 1, reference numeral W1 indicates the approach direction of the vehicle.

Hereinafter, when it is necessary to individually distinguish the passenger compartments C1, C2, and C3, the passenger compartments are referred to as passenger compartments C1, C2, and C3, and when they are not required to be distinguished, they are simply referred to as passenger compartment C. The same applies to other configurations.

The boarding/alighting room C may be an area in which both entry and exit may be possible, or may be an area in which either entry or exit is possible.
The entry/exit area C is an area that can function as an entry/exit area and a parking area. That is, the entry/exit compartment C functions as an entry/exit area when entering or exiting, and as a parking area when a pallet on which a vehicle is placed is stored. More specifically, the boarding/alighting room C functions as a boarding/alighting area in which a vehicle is loaded onto a carrier such as an empty pallet at the time of warehousing and the vehicle is evacuated from the pallet on which the vehicle is placed at the time of warehousing. Further, when the vehicle is stored, it functions as a parking area (storage) for storing the pallet on which the vehicle is placed.

In the boarding/alighting rooms C1 to C3, the boundary between the boarding/alighting rooms C1 and C2 and the boundary between the boarding/alighting rooms C2 and C3 that are adjacent to each other is a space, and partition sensors Se2 and Se3 (see FIGS. 2 and 3) to be described later are provided. ), but is not limited to this example, and may be partitioned by a partition door such as a fence, for example.

The parking device 1 shown in FIGS. 1 and 2 shows an example in which a hangar is provided on an upper floor above the entry floor where the entry/exit room C is provided. However, these structures are examples and the hangar is It may be provided below the entry floor.

The passenger compartments C are arranged in a line in the width direction of the parked vehicle. Although entrance doors D1 to D3 are provided on the entrance and exit sides of the respective passenger compartments C1 to C3, one door may be provided for a plurality of passenger compartments, for example, passenger compartments C1 to C3. The entrance door D is a door for entering and exiting the passenger compartment C, and is opened and closed when the vehicle enters or exits. The opening/closing of the door D is controlled by a controller 60 (see FIG. 6) described later. The entrance/exit doors D1 to D3 are provided for the purpose of blocking entry of people, and it is desirable that the entrance doors D1 to D3 have a height at which a person cannot easily get over the closed door, for example, a height of about 1.8 m to 2.0 m. It may be about 1.1 m to 1.8 m.
Further, the outer periphery of the parking device 1 is shielded by a shield such as a fence or a wall. This limits the intrusion of people into the parking device 1.

The parking device 1 is associated with a plurality of sensors Se that detect an object in the passenger compartment C and each sensor Se, and is arranged at a position where a person can visually recognize the presence or absence of the object in the monitoring area by each sensor Se. A plurality of unattended confirmation input devices (input units) M are provided. In addition, the parking device 1 includes an operation panel 50 for the user to perform various input operations for entering and leaving the warehouse and for inputting the end of unattended confirmation.

FIG. 3 is a plan view of a mechanical parking device for explaining an example of arrangement of the unmanned confirmation input device M and various sensors Se. As shown in FIG. 3, the sensor Se includes, for example, a plurality of partition sensors Se1 to Se4, entrance/exit sensors Se10 and Se11, a rear sensor Se12, and an overpass sensor Se15 (see FIG. 2). However, the overpass sensor Se15 can be omitted in the case of an entrance door whose height is such that a person cannot easily get over in the closed state.

The partition sensor Se1 is a pair of sensors for monitoring the monitoring area A1 at the outer end of the entry/exit room C1 located at one end, and Se1a is a light projecting unit and Se1b is a light receiving unit.
The partition sensor Se2 is a pair of sensors for monitoring the monitoring area A2 provided at the boundary between the two adjoining passenger compartments C1 and C2. Se2a is a light projecting unit and Se2b is a light receiving unit. is there.
The partition sensor Se3 is a pair of sensors for monitoring the monitoring area A3 provided at the boundary between the two passenger compartments C2 and C3 arranged adjacent to each other in the parallel direction. Se3a is a light projecting unit and Se3b is It is a light receiving part.
The partition sensor Se4 is a pair of sensors for monitoring the monitoring area A4 at the outer end of the passenger compartment C3 located at the other outer end in the parallel direction. Se4a is a light projecting unit and Se4b is a light receiving unit. ..
The partition sensors Se1 to Se4 do not necessarily have to be provided, and can be increased or decreased as appropriate depending on the structure of the parking device or the like. For example, when the monitored area A1 of the section sensor Se1 can be visually observed from the position of the operation panel 50, the section sensor Se1 can be omitted. Similarly, when the monitoring area A4 of the section sensor Se4 can be visually observed from the position of the operation panel 50, the section sensor Se4 can be omitted.

The entrance/exit sensors Se10 and Se11 are sensors for detecting entry and exit of an object into/from the passenger compartment C, and the entrance/exit sensor Se10 for monitoring a monitoring area A10 provided around the entrance/exit of the passenger compartment C. A pair of sensors, Se10a is a light projecting section, and Se10b is a light receiving section. The entrance/exit sensor Se11 is a pair of sensors for monitoring the monitoring area A11 provided around the entrance/exit outside the passenger compartment C, and Se11a is a light projecting unit and Se11b is a light receiving unit.

When the object is detected in the order of the entrance and exit sensors Se10 and Se11, the exit from the passenger compartment C is detected, and when the object is detected in the order of the entrance and exit sensors Se11 and Se10, the object is transferred to the passenger compartment. Intrusion is detected. It should be noted that the doorway sensors Se10 and Se11 need only be provided with one of them, and need not be provided with both. By providing either one of the entrance/exit sensors Se10 and Se11, it is possible to detect the movement of the object with respect to the passenger compartment C.

In addition, in this embodiment, although the entrance/exit sensors Se10 and Se11 are provided in common to all the passenger compartments C, instead of this, each entrance/exit of the passenger compartment C may be provided individually. In this way, by providing the entrance/exit sensors Se10 and Se11 for each entry/exit room C, it is possible to identify the entry/exit room C in which the object has moved.

The rear sensors Se12 are a pair of sensors for monitoring the monitoring area A12 provided on the far side of the passenger compartment C when viewed from the entrance/exit, and Se12a is a light projecting unit and Se12b is a light receiving unit.
As shown in FIG. 2, the overpass sensor Se15 is a pair of sensors for monitoring overpassing of the door D, Se15a is a light projecting unit, and Se15b is a light receiving unit. In FIG. 2, one crossover sensor Se15 is provided in common to all the entrance/exit doors D1 to D3, but instead of this, the crossover sensor Se15 may be provided for each entrance/exit door. By doing so, it becomes possible to identify the entrance door D over which the object has passed.

In the present embodiment, the various sensors Se are configured by a pair of sensors including a light projecting unit and a light receiving unit, and employ a sensor that detects an object when the light emitted from the light projecting unit is not received by the light receiving unit. However, the type of the sensor Se is not limited to this, and may be any configuration as long as it can detect the object in each monitoring section described above. For example, the sensor Se may be a human sensor, or may be configured to detect an object by image analysis. Further, the arrangement example of the above-described monitoring section is also an example, and the monitoring section may be increased or decreased as necessary.

The unmanned confirmation input device M is arranged at a position where a person can visually confirm the presence or absence of an object in each monitored area. In this embodiment, as shown in FIGS. 2 and 3, the unmanned confirmation input device M is provided on each of four columns provided at both ends of the door D. In other words, the plurality of unmanned confirmation input devices M1 to M4 are outside ends of the passenger compartments C1 and C3 located at the boundaries and ends of the adjoining passenger compartments C1, C2 and C2, C3, and near the doorways. Each is provided. The arrangement of the unmanned confirmation input device M shown in FIGS. 2 and 3 is an example, and the arrangement is not limited to this example. For example, the unmanned confirmation input device M may be provided inside the passenger compartment C. Further, the unmanned confirmation input device M may be provided both inside and outside the passenger compartment C. The number of unmanned confirmation input devices M installed is also an example, and may be increased or decreased as appropriate.

FIG. 4 shows a configuration example of the unmanned confirmation input device M. As shown in FIG. 4, the unmanned confirmation input device M includes an instruction lamp 31 and a push button 32. For example, when the unmanned confirmation input device M is activated, the instruction lamp 31 blinks. When the user who has performed the unmanned confirmation presses the push button 32, the unmanned confirmation end is input, and when a predetermined invalidation condition is satisfied, the unmanned confirmation input device M is invalidated and the indicator lamp 31 is turned on. Turn off the light.

The input of the end of unattended confirmation by the user is not limited to the push button 32, and may be configured by a barcode reader, an IC card (tag) reader, a ten-key pad, or the like. When a bar code reader or an IC card (tag) reader is adopted, a user holds a dedicated card key or the like held in advance over the card reader or the like. By entering, the completion of unattended confirmation is entered. As described above, by using a card reader or the like, the person who has performed the unmanned confirmation can be specified, and thus the safety can be further enhanced.

Activation and deactivation of the unmanned confirmation input device M is controlled by the control device 60 described later. The activation of the unmanned confirmation input device M means a state in which the input operation indicating the completion of the unmanned confirmation is not performed on the unmanned confirmation input device M, and the invalidation of the unmanned confirmation input device M means the unmanned confirmation input device M. A state in which an input operation indicating completion of unattended confirmation is performed and a predetermined invalidation condition is satisfied. In the present embodiment, the instruction lamp 31 of the unmanned confirmation input device M blinks to notify the user of the activation of the unmanned confirmation input device M, and the instruction lamp 31 of the unattended confirmation input device M is turned off. The invalidation of the unmanned confirmation input device M is notified to the user.

Note that the activation of the unmanned confirmation input device M is not limited to the above-described instruction lamp 31. For example, the unmanned confirmation input device M that requires input of unmanned confirmation by voice is notified to the user. Good. Further, the display mode of the above-mentioned instruction lamp 31 (blinking when activated and off when disabled) is an example, and it suffices if the display mode is made different between activation and deactivation.

An operation panel 50 is provided near any of the doors D. In the present embodiment, the operation panel 50 is provided on the pillar located at the outer end of the passenger compartment C3. In this embodiment, the operation panel 50 is provided with the function of the unmanned confirmation input device M4 provided on the same column. As a result, the device configuration can be simplified. In the present embodiment, an example in which only the function of the unmanned confirmation input device M4 is provided on the operation panel 50 is shown. However, for example, when unattended confirmation by visual inspection in another monitoring area is possible from the position of the operation panel 50. In addition, the function of the unmanned confirmation input device M corresponding to the monitoring area visible from the position of the operation panel 50 may be provided in the operation panel 50. By doing so, it becomes possible to reduce the number of unmanned confirmation input devices M installed.

FIG. 5 shows a configuration example of the operation panel 50. As shown in FIG. 5, the operation panel 50 includes a power key 51, an emergency stop button 52, and a touch panel 53. When the user operates the operation panel 50, it is possible to give an instruction to call an empty pallet at the time of warehousing and to call a unloading vehicle at the time of warehousing.
On the touch panel 53 of the operation panel 50, a numeric keypad for inputting a pallet number for calling a desired pallet, a pallet activation button for calling a pallet, and a final unattended confirmation button (input for inputting completion of unattended confirmation) Part), a door open button for opening the door, and a door close button for closing the door are displayed.

In the passenger compartments C1 to C3, a mirror 40 is installed for the user to visually confirm the monitored area A12 of the rear sensor Se12 from a position near the operation panel 50 or any unmanned confirmation input device M. In this embodiment, the case where the user can visually observe the monitoring area A12 from the vicinity of the operation panel 50 through the mirror 40 is illustrated.

Next, the control device 60 of the mechanical parking device according to the present embodiment will be described with reference to FIGS. 6 and 7. FIG. 6 is a hardware configuration diagram as an example of the control device 60 according to the present embodiment. As shown in FIG. 6, the control device 60 includes, for example, a CPU (central processing unit) 62, a ROM (Read Only Memory) 64, a RAM (Random Access Memory) 66, an HDD 68, a sensor communication unit 72, and an operation panel communication unit 74. The input device communication unit 76 and the like are provided as main components. The sensor communication unit 72 is connected to various sensors in a wired or wireless manner and transmits/receives information to/from the various sensors. Etc. The detection information of various sensors Se etc. is received. The operation panel communication unit 74 is a communication unit that is connected to the operation panel 50 by wire or wirelessly and exchanges information with the operation panel 50. The input device communication unit 76 is a communication unit that is connected to the unattended confirmation input device M by wire or wirelessly and that exchanges information with the unattended confirmation input device M. Further, these respective units are configured to be capable of exchanging information with each other via the bus 78.

Further, a series of processes for realizing various functions described later are recorded in the ROM 64 in the form of a program (for example, a safety confirmation program), and the CPU 62 reads this program into the RAM 66 to process/process information. By executing the arithmetic processing, various functions described below are realized. The program is installed in a ROM or other storage medium in advance, provided in a state of being stored in a computer-readable storage medium, or delivered 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.

Next, of the functions of the control device 60 of the mechanical parking apparatus according to the present embodiment, the safety confirmation function (safety confirmation system) will be described with reference to FIG. 7. FIG. 7 is a functional block diagram mainly showing functions related to safety confirmation among various functions provided in the control device 60.

As shown in FIG. 7, the control device 60 includes a motor control unit 80, a storage unit 81, a first input control unit 82, a nullification unit 83, a validation unit 84, a second input control unit 85, and a driving permission unit. 86 is provided as a main configuration.

The motor control unit 80 drives various pallets P1 to P5 and doors D1 to D3 by controlling various motors (not shown).

The memory|storage part 81 memorize|stores the sensor detection information T1 by the division sensors Se1-Se4, the entrance/exit sensor Se10, Se11, the back sensor Se12, and the overpass sensor Se15. For example, in the detection information T1 of the sensor of the storage unit 81, whether or not the sensor has detected an object is registered in association with the identification information of each sensor Se. For example, "1" is registered when an object is detected, and "0" is registered when an object is not detected. Further, instead of these pieces of information, the time when the object is detected may be registered. That is, as the detection information of the sensor, information that can determine the sensor that has detected the object may be stored.
Furthermore, the storage unit 81 stores the first information T2, the second information T3, the third information T4, the unattended confirmation list T5, and the like used by the first input control unit 82 and the second input control unit 85. ..

The first information T2 is information mainly used by the first input control unit 82 and the second input control unit 85, and the identification information of each sensor Se and the identification information of the unmanned confirmation input device M to be validated are associated with each other. Information.
FIG. 8 shows an example of the first information T2. FIG. 8 is, for example, as shown in FIG. 12, the mechanical parking apparatus 1 is created on the assumption that the mechanical parking apparatus 1 has eight passenger compartments C1 to C8 arranged side by side in the width direction of the parked vehicle. 1 information T2 is illustrated and shown. In this example, the operation panel 50 is arranged substantially in the center of the eight passenger compartments in the width direction, and the operation panel 50 has the function of the unmanned confirmation input device M5.

In the first information T2 shown in FIG. 8, the unmanned confirmation input devices M1 and M2 are associated with the partition sensor Se1, the unmanned confirmation input devices M1, M2, M3 are associated with the partition sensor Se2, and are associated with the partition sensor Se3. The unattended confirmation input devices M2, M3, M4 are associated with the partition sensor Se4, the unattended confirmation input devices M3, M4, M5 are associated with the partition sensor Se5, and the unattended confirmation input devices M4, M5, M6 are associated with the partition sensor Se5. The unattended confirmation input devices M5, M6, M7 are associated with Se6, the unattended confirmation input devices M6, M7, M8 are associated with the compartment sensor Se7, and the unattended confirmation input devices M7, M8, M9 are associated with the compartment sensor Se8. However, the unmanned confirmation input devices M8 and M9 are registered in association with the section sensor Se9.

As described above, for each of the compartment sensors Se1 to Se9, each unmanned confirmation input device M provided at a position corresponding to the monitoring compartment of the compartment sensor and the unmanned confirmation input devices on both sides of the unmanned confirmation input device M are provided. M is associated. That is, in the case of the section sensor Se3, the unmanned confirmation input device M3 provided at a position corresponding to the monitoring area of the section sensor Se3 and the unmanned confirmation input devices M2 and M4 provided on both sides thereof are associated with each other. Since there are only one unmanned confirmation input device M adjacent to the partition sensors Se1 and Se9 located at both ends, two unmanned confirmation input devices M1, M2 and M8, M9 are associated with each other.

Further, an unmanned confirmation input device M5 arranged at a position where the operation panel 50 is provided is registered in association with the rear sensor Se12. This is because the mirror 40 is installed so that the monitoring area A12 of the rear sensor Se12 can be visually recognized through the mirror 40 from the position near the operation panel 50. It should be noted that other unmanned confirmation input devices M will be associated depending on how the mirror 40 is installed.

Further, with respect to the entrance/exit sensors Se10 and Se11 and the overpass sensor Se15, for example, all unmanned confirmation input devices M1 to M9 are associated.
When the entrance/exit sensors Se10 and Se11 and the overpass sensor Se15 are provided for each entrance/exit door D, the unattended confirmation is arranged at both ends of the entrance/exit door D corresponding to each of the entrance/exit sensors Se10, Se11 and each overpass sensor Se15. The input device M may be associated and registered.

The second information T3 is information mainly used by the first input control unit 82, and is information in which the identification information of each passenger compartment C and the identification information of the unmanned confirmation input device M to be validated are associated with each other.
FIG. 9 shows an example of the second information T3. The second information T3 shown in FIG. 9 is created on the assumption of the mechanical parking apparatus shown in FIG. 12, like the above-mentioned first information T2. As shown in FIG. 9, the second information T3 includes unmanned confirmation input devices M1, M2, and M5 for the passenger compartment C1 and unmanned confirmation input devices M2, M3, and M5 for the passenger compartment C2, and the passenger compartment C3. In contrast, unmanned confirmation input devices M3, M4, M5, unmanned confirmation input devices M4, M5 for the passenger compartment C4, unmanned confirmation input devices M5, M6 for the passenger compartment C5, and passenger compartment C6 The unmanned confirmation input devices M5, M6, M7 are registered in association with the unmanned confirmation input devices M5, M7, M8 for the passenger compartment C7 and the unmanned confirmation input devices M5, M8, M9 for the passenger compartment C8. ing.
As described above, regarding the second information T3, two unmanned confirmation input devices M provided at positions corresponding to both sides of the passenger compartment C and the unattended confirmation input provided on the operation panel 50 for each passenger compartment C. The container M5 is registered.

The third information T4 is information used by the first input control unit 82 or the second input control unit 85 when the user inputs an end of unattended confirmation to the activated unattended confirmation input device M. Is. Specifically, the third information T4 is information in which each unmanned confirmation input device M and the identification information of each sensor Se are associated with each other.

FIG. 10 shows an example of the third information T4. The third information T4 shown in FIG. 10 is created on the assumption of the mechanical parking device shown in FIG. 12, like the above-mentioned first information T2. As shown in FIG. 10, in the third information T4, all the unmanned confirmation input devices M1 to M9 are associated with the entrance/exit sensors Se10 and Se11 and the overpass sensor Se15, respectively, and further, the unmanned confirmation input device M1. The partition sensor Se1 is associated with the unattended confirmation input device M2, the partition sensor Se2 is associated with the unattended confirmation input device M3, the partition sensor Se3 is associated with the unattended confirmation input device M4, and the partition sensor Se4 is associated with the unattended confirmation input device M4. , The compartment sensor Se5 and the rear sensor Se12 in association with the unmanned confirmation input device M5, the compartment sensor Se6 in association with the unmanned confirmation input device M6, and the compartment sensor Se7 in association with the unmanned confirmation input device M7. The compartment sensor Se8 is registered in association with the container M8, and the compartment sensor Se9 is registered in association with the unmanned confirmation input device M9.

The correspondence between the unmanned confirmation input device M and various sensors Se in the third information illustrated in FIG. 10 is an example, and considering the sensor Se installed in the area visible from the unmanned confirmation input device M, It can be changed as appropriate.

The unattended confirmation list T5 is information that is mainly managed by the first input control unit 82 and the second input control unit 85, and the identification information of the unattended confirmation input device M to be validated is described. The details will be described later.

When the pallet P called for loading or unloading arrives at any of the passenger compartments C and the entrance door D of the passenger compartment C is fully opened, the first input control unit 82 determines the pallet from the second information T3. The unmanned confirmation input device M associated with the passenger compartment C where P arrives is specified, and the information of the specified unmanned confirmation input device M is described in the unmanned confirmation list T5 of the storage unit 81, and also in the unmanned confirmation list T5. Based on this, the unmanned confirmation input device M is activated. For example, in FIG. 12, when the pallet arrives at the passenger compartment C4, the unattended confirmation input devices M4 and M5 associated with the passenger compartment C4 are specified from the second information T3, and these are included in the unattended confirmation list T5. While being described, the unattended confirmation input devices M4 and M5 are activated based on this unattended confirmation list T5.

In addition, when the user inputs the end of unattended confirmation to the activated unattended confirmation input device M, the first input control unit 82 causes the sensor Se associated with the unattended confirmation input device M to move to the third position. If an object is not detected by the specified sensor Se, which is specified based on the information T4, the unattended confirmation input device M to which the unattended confirmation end has been input is invalidated.

For example, in FIG. 12, when the unattended confirmation end is input to the unattended confirmation input device M2, the first input control unit 82 identifies the sensor Se corresponding to the unattended confirmation input device M2 based on the third information T4. .. As a result, the section sensor Se2, the entrance/exit sensor Se10, Se11, and the overpass sensor Se15 are specified. Subsequently, the first input control unit 82 determines whether or not an object is currently detected by these specified sensors Se, and if the object is not detected, the unmanned confirmation input device M2 is invalidated. To do. As a result, the instruction lamp 31 of the unmanned confirmation input device M2 is turned off, and the user is notified that the unmanned confirmation input device M is invalidated.

The invalidation unit 83 invalidates a predetermined sensor that monitors the passenger compartment where the pallet P has arrived when the door D is fully opened. For example, the invalidation unit 83 has the sensor invalidation information T6 in which the information of each passenger compartment and the information of the sensor to be invalidated are associated with each other, and the pallet P has arrived based on the sensor invalidation information T6. The sensor Se corresponding to the passenger compartment C is invalidated. The invalidation unit 83 invalidates a part of the sensors Se that may detect a user, luggage, or the like when the pallet P is loaded or unloaded.

For example, in the case where the pallet P that has arrived at the boarding/alighting room C4 in FIG. 12 is loaded or unloaded, the user has to enter the boarding/alighting room C4. Therefore, along with this movement, the partition sensors Se4, Se5, the entrance/exit sensor Se10, Se11, and the overpass sensor Se15 may detect an object. Therefore, the invalidation unit 83 invalidates the sensor Se that detects an object due to the movement of the user during such warehousing or warehousing.

FIG. 11 shows an example of the sensor invalidation information T6 used by the invalidation unit 83. The sensor invalidation information T6 shown in FIG. 11 is created on the assumption of the mechanical parking device shown in FIG. 12, like the above-mentioned first information T2 and the like. As shown in FIG. 11, the sensor invalidation information T6 includes the partition sensors Se1 and Se2 for the passenger compartment C1, the partition sensors Se2 and Se3 for the passenger compartment C2, and the partition sensor Se3 for the passenger compartment C3. Se4 is the compartment sensors Se4, Se5 for the passenger compartment C4, the compartment sensors Se5, Se6 for the passenger compartment C5, the compartment sensors Se6, Se7 for the passenger compartment C6, and the compartment sensor for the passenger compartment C7. Se7 and Se8 are registered as compartment sensors Se8 and Se9 for the passenger compartment C8. Further, entrance/exit sensors Se10 and Se11 and a boarding/exiting sensor Se15 are registered for each of the passenger compartments C1 to C8.

The sensor Se that is invalidated by the invalidation unit 83 is an example. The invalidation unit 83 may invalidate at least the partition sensor and the entrance/exit sensor arranged on both sides of the pallet P in which the warehousing or unloading is performed, and other sensors can be appropriately set in terms of ensuring safety. Is.

Here, “invalidation of the sensor” means that the object detection of the sensor itself is valid, and the detection result is also stored in the detection information T1 of the sensor in the storage unit 81. When the sensor detection information T1 is referred to by, it means that the detection result is not considered for the invalidated sensor. Specifically, the second input control unit 85 described later excludes the detection information of the sensor that is invalidated by the invalidation unit 83, and only the sensor that is not invalidated (in other words, enabled). It is determined whether or not there is a sensor that has detected the object based on the detection information of 1.

The validating unit 84 invalidates the unmanned confirmation input device M by inputting an end of unmanned confirmation to any one of the unmanned confirmation input devices M activated by the first input control unit 82. If so, all the sensors Se are validated. Thereby, for example, the sensor Se that has been invalidated by the invalidation unit 83 is validated and is included in the determination target by the second input control unit 85 described later.

The second input control unit 85 determines whether or not there is the sensor Se that has detected the object based on the detection information T1 of the activated sensor, and if there is the sensor Se that has detected the object, detects the object. The unattended confirmation input device M associated with the selected sensor Se is identified based on the first information, and the identified unattended confirmation input device M is added to the unattended confirmation list T5 of the storage unit 81. Then, the second input control unit 85 activates the unmanned confirmation input device M based on the unmanned confirmation list T5.

In addition, the second input control unit 85, after the unmanned confirmation input device M is activated by the first input control unit 82, at a predetermined timing (for example, every time the unmanned confirmation input device M is deactivated). The update processing of the unmanned confirmation input device M is performed based on the activated sensor detection information T1 accumulated in the storage unit 81. Thereby, for example, when the object is detected by the sensor Se different from the previous time, the unmanned confirmation input device M corresponding to the sensor Se is added to the unmanned confirmation list T5 of the storage unit 81, and is activated last time. The confirmation input device M and the unattended confirmation input device M added this time are validated, and the area of unattended confirmation by the user is expanded.

When the push button 32 of the activated unmanned confirmation input device M is pressed to input the unmanned confirmation end, the second input control unit 85 causes the sensor Se corresponding to the unmanned confirmation input device M to detect an object. Is detected, and if no object is detected, the unmanned confirmation input device M is invalidated. The conditions for invalidating the unmanned confirmation input device M are the same as the conditions for the first input control unit 82 described above. It should be noted that disabling the unattended confirmation input device M is different from the object detection by the sensor Se, and the unattended confirmation end device is input to the unattended confirmation input device M on the assumption that all the sensors Se are enabled. Based on the detection information of the sensor Se at that time, it is determined whether or not the unmanned confirmation input device M is invalidated.

The operation permitting unit 86 permits the closing operation of the entrance door D when all of the activated unmanned confirmation input devices M are invalidated in the state where any of the entrance doors D is fully opened.

Next, an example of a processing procedure of a warehousing process executed by the control device 60 of the mechanical parking device according to the present embodiment will be described with reference to FIGS. 13 to 15. 13 to 15 are flowcharts showing an example of the flow of the warehousing process according to this embodiment. In the following series of processes, the various sensors Se constantly detect an object, that is, the various sensors Se are always activated regardless of whether the power of the operation panel 50 is on or off, and the various sensors Se detect the objects. It is assumed that the detection result is accumulated in the storage unit 81. Further, it is assumed that all the sensors Se are enabled in the initial state.

First, when the user turns on the power of the operation panel 50 (SA1 in FIG. 13) and the pallet calling operation is performed by designating a desired pallet number (SA2), the motor control unit 80 causes the parking device to operate. The pallet P is driven, and an empty pallet designated by the user is called into a predetermined passenger compartment C. Then, when the designated empty pallet arrives at a predetermined passenger compartment C (SA3), the motor controller 80 causes the door D corresponding to the passenger compartment C where the empty pallet has arrived to be fully opened (SA4).

When the door D is fully opened, the first input control unit 82 identifies the unmanned confirmation input device M corresponding to the passenger compartment C where the pallet P arrives based on the second information T3, and identifies the unmanned confirmation. The input device M is registered in the unattended confirmation list T5 (SA5). Thus, for example, in FIG. 12, when the pallet P arrives at the passenger compartment C2, the unmanned confirmation input devices M2, M3, M5 are registered in the unmanned confirmation list T5 as shown in FIG.

Then, it shifts to a preparation mode (SA6).
FIG. 14 is a flowchart showing an example of the processing procedure performed in the preparation mode. As shown in FIG. 14, in the preparation mode, first, the first input control unit 82 activates the unmanned confirmation input device M based on the unmanned confirmation list T5 (SB1). Thereby, for example, the unmanned confirmation input devices M2, M3, and M5 are activated (see FIG. 16).

Subsequently, the invalidation unit 83 identifies the sensor Se corresponding to the passenger compartment C where the pallet P arrives based on the sensor invalidation information T6, and invalidates the identified sensor Se (SB2). Thus, for example, in FIG. 12, when the pallet P arrives at the entry/exit room C2, the partition sensors Se2, Se3, the entrance/exit sensors Se10, Se11, and the overpass sensor Se15 are invalidated (see FIG. 11 ).

On the other hand, when the entrance door D of the passenger compartment C where the pallet P arrives is fully opened, the user gets in the vehicle, stops the vehicle on the empty pallet that has arrived at the passenger compartment C, and exits the passenger compartment C. .. In this case, since the partition sensor, the entrance/exit sensor, and the crossing-over sensor related to the entry/exit room C where the pallet P arrives are invalidated, even if the partition sensor or the like detects the user by carrying out the warehousing work, The detection information of the sensor associated with the user's work will not be considered in the unattended confirmation mode described later.

A user who has exited the boarding/alighting room C after entering the garage visually confirms the unattended passenger in the boarding/alighting room from the vicinity of the activated unmanned confirmation input device M, and operates the unmanned confirmation input device M when the unattended person can be confirmed. .. In this way, when an unattended confirmation end input is made to any of the unattended confirmation input devices (SB3: YES), the first input control unit 82 causes the unattended confirmation end input to be made. The sensor Se associated with the container M is specified based on the third information T4 (see FIG. 10), and it is determined whether or not an object is detected by the specified sensor Se (SB4). As a result, when the specified sensor Se detects the object (SB4: NO), the object is in the passenger compartment. Therefore, the first input control unit 82 notifies the user that there is an object in the passenger compartment C without invalidating the unmanned confirmation input device M (step SB5: notification unit), and returns to step SB3. ..

For example, the unmanned confirmation in the passenger compartment may be prompted by lighting or blinking the indicator lamp 31 of the unmanned confirmation input device M in a manner different from the activation or deactivation. Further, for example, a display unit (not shown) may be provided in the unmanned confirmation input device M, and a message notifying that there is an object in the passenger compartment C may be displayed on the display unit. The notification method is not limited to this example, and the user may be notified of the presence of an object by, for example, playing a message by voice or sounding a buzzer.

Furthermore, the monitoring area of the sensor Se detecting the object may be notified to the user as well. For example, in FIG. 12, when a vehicle is stored in the pallet P of the passenger compartment C2 and an object is detected by the compartment sensor Se2, “There is an object in the area on the left side of the vehicle. Please display a message such as “please.” or notify by voice.

On the other hand, when no object is detected by the specified sensor Se in step SB4 (SB4: YES), the unmanned confirmation input device M for which the input of the unmanned confirmation end is input is invalidated (SB6). In this way, when any one of the activated unmanned confirmation input devices M is deactivated, the preparation mode is ended and the unmanned confirmation mode (step SA7 of the main process shown in FIG. 13) is entered. To do.

FIG. 15 is a flowchart showing an example of a processing procedure performed in the unattended confirmation mode. As shown in FIG. 15, in the unattended confirmation mode, first, the sensor Se that has been invalidated by the invalidation unit 83 is validated by the validation unit 84 (SC1). As a result, all the sensors Se are validated. That is, at this stage, since the user operates the unmanned confirmation input device M, it is premised that there is no person in the passenger compartment. Therefore, by activating all the sensors Se, it is possible to improve safety by double unmanned confirmation by the sensors and the person.

Then, the second input control unit 85 determines whether or not there is a sensor detecting an object based on the sensor detection information T1 stored in the storage unit 81. At this time, the detection information T1 of the sensor during the period when it is invalidated by the invalidation unit 83 is not considered. Accordingly, for example, in the period from when the door D is fully opened to when one of the unmanned confirmation input devices M is invalidated, the partition sensors Se2, Se3, the door sensors Se10, Se11, and the crossover sensor. The detection information of Se15 is excluded, and it is determined based on the detection information of the remaining sensors Se1, Se4 to Se9, and Se12 whether or not there is a sensor that has detected an object.
In this way, the sensor operation resulting from the user's work associated with warehousing is not considered as human detection, so the efficiency of unattended confirmation should be increased without imposing excessive unattended confirmation on the user. You can

In step SC2, if there is a sensor that has detected an object among the activated sensors (SC2: YES), an unattended confirmation input device M corresponding to the sensor that has detected the object is set based on the first information T2. The specified unattended confirmation input device M is additionally registered in the unattended confirmation list T5 of the storage unit 81 (SC4).

For example, in FIG. 12, when the pallet P has arrived at the passenger compartment C2 and an object is detected by the compartment sensor Se9, the unmanned confirmation input devices M8 and M9 corresponding to the compartment sensor Se9 are the first ones. It is specified based on the information T2. As a result, as shown in FIG. 17, the specified unmanned confirmation input devices M8 and M9 are additionally registered in the unmanned confirmation list T5 of the storage unit 81.
Then, the second input control unit 85 resets the detection information of the sensor in the storage unit 81 (SC5) and shifts to the above-described preparation mode. That is, the process returns to step SA6 of the main process.

As a result, in the preparation mode SA6, the unmanned confirmation input device M is activated based on the unmanned confirmation list T5 in step SB1 of FIG. Thereby, for example, in the above example, in addition to the unmanned confirmation input devices M2, M3, and M5, the unmanned confirmation input devices M8 and M9 are activated. Then, in the subsequent step SB2, the sensor Se corresponding to the passenger compartment C where the pallet arrives is invalidated. Then, the subsequent processing described above is performed.

On the other hand, in the unattended confirmation mode shown in FIG. 15, when it is determined in step SC2 that there is no sensor that has detected an object, it is determined whether or not all the activated unattended confirmation input devices M have been disabled. Judge (SC6). As a result, when all unattended confirmation input devices M are not invalidated, the process returns to step SC2. In this way, when all the unmanned confirmation input devices M are invalidated without the sensor detecting the object (step SC6: YES), the unmanned confirmation mode is ended, and the steps of the main processing shown in FIG. 13 are performed. Return to SA8.

In step SA8, driving of the entrance door D is permitted, and subsequently, a door closing instruction button is displayed on the touch panel of the operation panel 50. Accordingly, when the user presses the door closing instruction button (SA9), the motor control unit 80 closes the opened doorway door (SA10), and when the doorway door is completely closed, the user operates the operation panel 50. The power is turned off (SA11). The control device 60 ends the warehousing process when the power of the operation panel 50 is turned off by the user.

In addition, in the flow as an example described above, the case where the object is detected in the unattended confirmation mode (SA7) has been described, but whether or not the object is detected also when the drive of the door is permitted (SA8). If it is determined that the object is detected, the process may return to the preparation mode (SA6).

In the case of the unloading process, the pallet on which the vehicle is placed is called into a predetermined passenger compartment C, and the user enters the passenger compartment C where the pallet arrives and is placed on the pallet. The only difference is that the vehicle is exited from the passenger compartment C by getting in the existing vehicle, and other points are almost the same, so description thereof will be omitted.

As described above, according to the mechanical parking apparatus, the safety confirmation system therefor, the safety confirmation method, and the safety confirmation program according to the present embodiment, when the entrance/exit door D is fully opened, the pallet P arrives/dismounts. The invalidation unit 83 that invalidates a predetermined sensor that monitors the room is provided. As a result, even if the user enters the passenger compartment for entering or leaving and is detected by the sensor Se provided in the passenger compartment, the detection information is not considered by the second input control unit 85. Become. In addition, when any one of the unmanned confirmation input devices M activated by the first input control unit 82 is invalidated, it can be considered that the user is outside the passenger compartment C. Therefore, by activating the disabled sensor Se by the activating unit 84, it is possible to monitor the entire passenger compartment by the sensor Se. As described above, according to the present embodiment, it is possible to ensure safety without imposing an excessive burden on the user for unattended confirmation.

Furthermore, according to the present embodiment, when at least one unmanned confirmation input device M is activated by the second input control unit 85, a predetermined sensor for monitoring the passenger compartment where the pallet P arrives is again deactivated. (When the object is detected by any of the sensors Se in the unattended confirmation mode, for example, it is determined as “YES” in step SC2 of FIG. 15 and corresponds to step SB2 of FIG. 14 when returning to the preparation mode) , The user is not overly burdened with unattended verification. Furthermore, when any one of the activated unmanned confirmation input devices M is deactivated, the deactivated sensor Se is activated (SC1 in FIG. 15) to restart monitoring by all the sensors. Therefore, safety can be secured.

Furthermore, according to the present embodiment, when an object is detected by the activated sensor Se, the unmanned confirmation input device M corresponding to the sensor Se is added to the unmanned confirmation list T5. As a result, it is possible to increase the number of unmanned confirmation input devices M for inputting the end of unmanned confirmation each time the sensor Se detects an object, and it is possible to expand the region for unmanned confirmation. As a result, more careful unattended confirmation can be performed, and safety can be improved.

[Second Embodiment]
Next, a mechanical parking apparatus according to a second embodiment of the present invention and a safety confirmation system, a safety confirmation method, and a safety confirmation program applied to the mechanical parking apparatus will be described with reference to the drawings.
As shown in FIG. 18, the mechanical parking apparatus 1a according to the present embodiment has a unit row in which a plurality of passenger compartments C in which at least one of loading and unloading of vehicles is performed are arranged along the width direction of the parked vehicle. The vertical mechanical parking devices 1a are arranged so as to be adjacent to each other in the approaching direction of the vehicle.
Hereinafter, the same configurations as those of the above-described first embodiment are denoted by the same reference numerals, and different points will be mainly described.

FIG. 18 is a plan view of the mechanical parking apparatus 1a for explaining an arrangement example of various sensors included in the mechanical parking apparatus 1a according to the second embodiment of the present invention. As shown in FIG. 18, the mechanical parking apparatus 1a includes a front passenger compartment C1 to C8 and a rear passenger compartment C11 provided adjacent to the front passenger compartment C1 to C8 on the rear side in the approach direction of the parked vehicle. To C18.

Two entrance/exit compartments (for example, entrance/exit compartments C1 and C11) arranged side by side with respect to the approach direction of the vehicle share the entrance door D. That is, when parking in the rear passenger compartments C11 to C18, the user stops the vehicle on the pallet P of the rear passenger compartments C11 to C18 through the front passenger compartments C1 to C8 arranged side by side.

In such a tandem mechanical parking apparatus 1a, like the front side passenger compartments C1 to C8 described above, the rear passenger compartments C11 to C18 are also provided at the boundaries of the two adjacent passenger compartments. Section sensors Se22 to Se28 for monitoring the monitored area are provided. In addition, compartment sensors Se21 and Se29 for monitoring the monitoring areas at the outer ends are provided in the passenger compartments C11 and C18 located at both ends, respectively.

In addition, a back side front sensor Se30 is provided at the boundary between the front side passenger compartments C1 to C8 and the rear side passenger compartments C11 to C18. The back side front sensor Se30 and the rear side sensor Se12 detect the entry and exit of an object from the back side passenger compartments C11 to C18. For example, when an object is detected in the order of the rear front sensor Se30 and the rear sensor Se12, the movement from the rear passenger compartment to the front passenger compartment is detected, and the rear sensor Se12 and the rear front sensor Se30 are sequentially detected. When an object is detected, the entry from the front passenger compartment into the rear passenger compartment is detected. It should be noted that only one of the rear sensor Se12 and the rear-side front sensor Se30 needs to be provided, and both of them are not necessarily provided. By providing one of these, it is possible to detect the movement of the object between the front passenger compartment and the rear passenger compartment.

In the present embodiment, the back side front sensor Se30 is provided commonly to all the passenger compartments C11 to C18 arranged in the width direction, but instead of this, for each entrance of the rear passenger compartments C11 to C18. Each may be provided individually. As described above, by providing the back-side front sensor Se30 for each entry/exit room C, it is possible to identify the entry/exit room C in which the object has moved.

Further, a rear-side rear sensor Se32 is provided at the rear (rear side) in the vehicle entrance direction of the rear-side passenger compartments C11 to C18.

In such a mechanical parking apparatus 1a as well, the safety confirmation is performed at the time of entering and leaving the warehouse similarly to the first embodiment described above, but is referred to by the first input control unit 82 and the second input control unit 85. The first information, the second information referred to by the first input control unit 82, the third information referred to by the first input control unit 82 and the second input control unit 85, respectively, and the sensor invalidation referred to by the invalidation unit 83. The conversion information is different from that of the first embodiment described above. Further, in the sensor detection information T1 stored in the storage unit 81, the detection information of all the sensors Se arranged in the passenger compartment C is recorded.

FIG. 19 shows an example of the first information according to the present embodiment, FIG. 20 shows an example of the second information, FIG. 21 shows an example of the third information, and FIG. 22 shows an example of the sensor invalidation information.
As shown in FIG. 19, in the present embodiment, the first information includes unmanned confirmation input devices M1 and M2 in addition to the contents of the first information shown in FIG. 8 in association with the section sensor Se21. Unattended confirmation input devices M1, M2, M3 associated with the partition sensor Se22, unattended confirmation input devices M2, M3, M4 associated with the partition sensor Se23, unattended confirmation input devices M3, M4 associated with the partition sensor Se24. , M5 are associated with the partition sensor Se25, unattended confirmation input devices M4, M5, M6 are associated with the partition sensor Se26, and unattended confirmation input devices M5, M6, M7 are associated with the partition sensor Se27 and are unattended. The devices M6, M7, M8 are registered with the unmanned confirmation input devices M7, M8, M9 in association with the section sensor Se28, and the unmanned confirmation input devices M8, M9 are registered in association with the section sensor Se29.

Further, the unmanned confirmation input device M5 arranged at the position where the operation panel 50 is provided is associated with the rear rear sensor Se32. This is because the mirror 40a is installed so that the monitoring area of the rear rear sensor Se32 can be visually recognized from near the position where the operation panel 50 is arranged via the mirror 40a. It should be noted that other unmanned confirmation input devices M will be associated depending on how the mirror 40a is installed.

Further, with respect to the back side front sensor Se30, for example, all the unmanned confirmation input devices M1 to M9 are associated.

As for the second information, as shown in FIG. 20, unattended confirmation input devices M1, M2, M5 are provided for the passenger compartments C1, C11, and unattended confirmation input devices M2, M3, M5 are provided for the passenger compartments C2, C12. , Unmanned confirmation input devices M3, M4, M5 for the passenger compartments C3, C13, unattended confirmation input devices M4, M5 for the passenger compartments C4, C14, and unattended confirmation input device M5 for the passenger compartments C5, C15. , M6 are unattended confirmation input devices M5, M6, M7 for the passenger compartments C6, C16, unattended confirmation input devices M5, M7, M8 for the passenger compartments C7, C17, and passenger compartments C8, C18. The unmanned confirmation input devices M5, M8, and M9 are registered in association with each other.

As for the third information, as shown in FIG. 21, all the unmanned confirmation input devices M are associated with the entrance/exit sensors Se10, Se11 and the overpass sensor Se15, and further associated with the unmanned confirmation input device M1. Se1 and Se21 are associated with the unmanned confirmation input device M2, and compartment sensors Se2 and Se22 are associated with the unmanned confirmation input device M3, and compartment sensors Se3 and Se23 are associated with the unmanned confirmation input device M4, and the compartment sensor Se4, Se24 is associated with the unmanned confirmation input device M5, and the division sensors Se5, Se25, rear sensor Se12, rear side rear sensor Se32 are associated with the unmanned confirmation input device M6, and the division sensors Se6, Se26 are unmanned confirmation input device M7. The section sensors Se7 and Se27 are registered in association with, the section sensors Se8 and Se28 are registered in association with the unmanned confirmation input device M8, and the section sensors Se9 and Se29 are registered in association with the unmanned confirmation input device M9. This association is an example, and may be changed as appropriate in consideration of the sensor Se installed in the area visible from the unmanned confirmation input device.

As for the sensor invalidation information, as shown in FIG. 22, in addition to the contents of the sensor invalidation information T6 shown in FIG. 11, the partition sensors Se1, Se2, Se21, Se22 are added to the passenger compartment C12 for the passenger compartment C11. For the compartment sensors Se2, Se3, Se22, Se23, for the passenger compartment C13, the compartment sensors Se3, Se4, Se23, Se24, and for the passenger compartment C14, the compartment sensors Se4, Se5, Se24, Se25, passenger compartment. Compartment sensors Se5, Se6, Se25, Se26 for C15, compartment sensors Se6, Se7, Se26, Se27 for passenger compartment C16, compartment sensors Se7, Se8, Se27, Se28 for passenger compartment C17. Compartment sensors Se8, Se9, Se28, and Se29 are registered for the chamber C18. Further, entrance/exit sensors Se10, Se11, a rear sensor Se12, an overpass sensor Se15, and a rear front sensor Se30 are registered for each of the entry/exit rooms C11 to C18.

As described above, in the column-type mechanical parking apparatus 1a, with respect to the back side passenger compartments C11 to C18 that are not in the front row, the compartment sensors located on both sides of the passenger compartment C where the pallet P arrives (for example, the passenger compartment C1). For example, the compartment sensors Se21, Se22) and compartment sensors (eg, compartment sensors Se1, Se2) located on both sides of the passenger compartment C through which the user (vehicle) passes when entering or exiting the compartment C (passenger compartment C). The sensors Se10, Se11, the rear sensor Se12, the overpass sensor Se15, and the rear side front sensor Se30 are invalidated. As a result, even if an object is detected by the sensor due to the movement of the user accompanying the entry or exit, the detection information of the object is not taken into consideration by the second input control unit 85, and the addition of the unmanned confirmation input device M is effective. Can be avoided.

As described above, according to the mechanical parking apparatus and the safety confirmation system, the safety confirmation method, and the safety confirmation program according to the second embodiment of the present invention, the above-mentioned is also applied to the vertical mechanical parking apparatus 1a. As in the first embodiment, when the corresponding entrance/exit door D is fully opened, the predetermined sensor Se associated with the entry/exit room C where the pallet P arrives is invalidated, so that the entry/exit can be performed. It is possible to avoid the additional activation of the unmanned confirmation input device M due to the movement of the user. This makes it possible to reduce the burden of unattended confirmation on the user while ensuring safety.

Although the present invention has been described above with reference to the exemplary embodiments, the technical scope of the present invention is not limited to the scope described in the above exemplary embodiments. Various modifications and improvements can be added to the above-described embodiment without departing from the gist of the invention, and modes in which the modifications and improvements are added are also included in the technical scope of the present invention. Moreover, you may combine the said embodiment suitably.

Further, the flow of the warehousing process described in the above embodiment is also an example, and unnecessary steps may be deleted, new steps may be added, or the processing order may be changed without departing from the spirit of the present invention. Good.

For example, in the warehousing process described above, the user authentication process may be provided before the first unattended confirmation input device M is pressed. In this way, by providing the user authentication processing, for example, it is possible to confirm that the user has exited the boarding/alighting room C without fail, and a third party other than the user may input the end of unattended confirmation. It is possible to prevent it, and it becomes possible for the user to make an unattended confirmation.

In addition, the mechanical parking device 1, 1a according to the present invention is not limited to the above, and is a vertical circulation system, a multi-layer circulation system, a horizontal circulation system, an elevator system, a plane reciprocating system, a lifting type (pit type), a lifting traverse type ( It is possible to use various types of mechanical parking devices such as (pit type).

1, 1a: Mechanical parking device 31: Indicator lamp 32: Push button 40, 40a: Mirror 50: Operation panel 51: Power key 52: Emergency stop button 53: Touch panel 60: Control device 62: CPU
64: ROM
66: RAM
68: HDD
72: Sensor communication unit 74: Operation panel communication unit 76: Input device communication unit 78: Bus 80: Motor control unit 81: Storage unit 82: First input control unit 83: Invalidation unit 84: Activation unit 85: Second Input control unit 86: Operation permission unit A (A1 to A4, A10 to A12): Monitoring area C (C1 to C8, C11 to C18): Boarding room D (D1 to D3): Doorway door M (M1 to M9): Unattended confirmation input device P (P1 to P5): Pallet T1: Sensor detection information T2: First information T3: Second information T4: Third information T5: Unattended confirmation list T6: Sensor invalidation information Se: Sensors Se1 to Se9 , Se21 to Se29: Section sensors Se10, Se11: Entrance/exit sensor Se12: Rear sensor Se15: Overpass sensor Se30: Back side front sensor Se32: Back side rear sensor W1: Vehicle approach direction

Claims (14)

A plurality of entry/exit rooms where at least one of entry and exit of the vehicle is performed, a plurality of sensors for detecting an object in the entry/exit room, and the sensors are associated with each other, and the presence or absence of an object in a monitoring area by each sensor is checked. In a safety confirmation system applied to a mechanical parking device including a plurality of input units arranged at a position visible to a person and outside the passenger compartment, and an entrance door provided at an entrance of the passenger compartment. There
A storage unit that records the detection information of each of the sensors,
When a transport means for transporting a vehicle arrives at any of the passenger compartments and the entrance door is fully opened for warehousing or unloading, the input section corresponding to the passenger compartment at which the transport means arrives is displayed. A first input control unit to be activated,
An invalidation unit that invalidates the predetermined sensor that monitors the passenger compartment when the transport means arrives, when the door is fully opened.
An activation unit that activates the disabled sensor when any one of the input units activated by the first input control unit is deactivated;
It is determined whether or not there is the sensor that has detected the object based on the detection information of the enabled sensor, and if there is the sensor that has detected the object, it is associated with the sensor that has detected the object. A second input control unit for activating the input unit,
A safety confirmation system, comprising: an operation permission unit that permits the closing operation of the entrance door in a state in which all the activated input units are deactivated. When at least one of the input units is validated by the second input control unit, the invalidating unit invalidates a predetermined sensor that monitors the passenger compartment where the transport means arrives,
The safety according to claim 1, wherein the validating unit validates the disabled sensor when any one of the input units validated by the second input control unit is invalidated. Confirmation system. The second input control unit, when there is the sensor that has detected an object, the input unit that is associated with the sensor that has detected the object and the input unit that is validated by the first input control unit. The safety confirmation system according to claim 1 or 2, which validates. Equipped with an unattended confirmation list that stores the information of the activated input section,
The first input control unit describes, in the unattended confirmation list, information of the input unit corresponding to the boarding/alighting room at which the transport means arrives,
Every time an object is detected by the sensor, the second input control unit adds the information of the input unit associated with the sensor that has detected the object to the unattended confirmation list,
The first input control unit and the second input control unit activate the input unit based on the information of the input unit described in the unattended confirmation list, and all the input units that are activated. The safety confirmation system according to claim 3, wherein the unattended confirmation list is reset when is invalidated. The safety confirmation according to any one of claims 1 to 4, wherein the input unit is invalidated when an input for ending unattended confirmation is made and an object is not detected by the sensor corresponding to the input unit. system. The safety confirmation system according to claim 5, further comprising a notifying unit for notifying a user of the detection of the object when the object corresponding to the input unit for inputting the end of unattended confirmation is detected by the sensor. .. A plurality of passenger compartments where at least one of entering and leaving the vehicle is carried out;
A plurality of sensors for detecting an object in the passenger compartment,
Corresponding to each of the sensors, a plurality of input units arranged outside the boarding room at a position where a person can visually recognize the presence or absence of an object in the monitoring area by each of the sensors,
An entrance door provided at the entrance of the passenger compartment,
A mechanical parking apparatus comprising the safety confirmation system according to claim 1. A plurality of said sensors,
A partition sensor for monitoring a monitoring area provided at the boundary between the adjoining passenger compartments,
An entrance/exit sensor for monitoring a monitoring area provided near the entrance/exit of the passenger compartment,
8. The mechanical parking apparatus according to claim 7, wherein the invalidation unit invalidates the compartment sensor and the entrance/exit sensor located on both sides of the entry/exit room where the transport means arrives. An operation panel provided near the entrance of the passenger compartment,
The mechanical parking apparatus according to claim 7, wherein at least one of the input units is provided on an operation panel. The plurality of sensors include a rear sensor for monitoring a monitoring area provided on the back side of the transporting unit as viewed from the entrance of the passenger compartment,
A mirror for visually confirming an unmanned person in the monitoring area by the rear sensor from the vicinity of the operation panel,
The mechanical parking apparatus according to claim 9, wherein the second input control unit enables the input unit provided on the operation panel when an object is detected by the rear sensor. A column-type machine in which a plurality of unit rooms in which a plurality of entry/exit rooms for storing and/or exiting a vehicle are arranged along the width direction of a parked vehicle are arranged so as to be adjacent to each other in the approach direction of the vehicle. Type parking device,
A plurality of sensors for detecting an object in the passenger compartment,
Corresponding to each of the sensors, a plurality of input units arranged outside the boarding room at a position where a person can visually recognize the presence or absence of an object in the monitoring area by each of the sensors,
An entrance door provided at the entrance of the passenger compartment,
A mechanical parking apparatus comprising the safety confirmation system according to claim 1. A plurality of said sensors,
A partition sensor for monitoring a monitoring area provided at the boundary of the passenger compartment adjacent to the width direction of the parked vehicle,
An entrance/exit sensor for monitoring a monitoring area provided near the entrance/exit of the passenger compartment located in the front row with respect to the approach direction of the parked vehicle,
The invalidation unit,
When the boarding/alighting room where the carrying means arrives is arranged in the front row, the partition sensors and the entrance/exit sensors located on both sides of the boarding/alighting room where the carrying means arrives are invalidated,
When the boarding/alighting room where the carrying means arrives is arranged in a place other than the front row, the compartment sensors located on both sides of the boarding/alighting room where the carrying means arrives, and the loading/unloading to/from the boarding/alighting room The mechanical parking apparatus according to claim 11, wherein the compartment sensor and the entrance/exit sensor located on both sides of the passenger compartment through which the user passes are invalidated. A plurality of entry/exit rooms where at least one of entry and exit of the vehicle is performed, a plurality of sensors for detecting an object in the entry/exit room, and the sensors are associated with each other, and the presence or absence of an object in the monitoring area by each sensor With a safety confirmation method applied to a mechanical parking device including a plurality of input parts arranged at a position visible to a person and outside the passenger compartment, and an entrance door provided at an entrance of the passenger compartment. There
Recording the detection information of each sensor,
When a transport means for transporting a vehicle arrives at any of the passenger compartments and the entrance door is fully opened for entry or exit, the input means corresponding to the passenger compartment at which the transport means arrives is effective. And the process of
Disabling a predetermined sensor for monitoring the inside of the passenger compartment where the transport means arrives when the door is fully opened;
Activating the deactivated sensor when any one of the activated inputs is deactivated,
It is determined whether or not there is the sensor that has detected the object based on the detection information of the enabled sensor, and if there is the sensor that has detected the object, it is associated with the sensor that has detected the object. Activating the input section,
And a step of permitting a closing operation of the entrance/exit door in a state in which all the validated input parts are invalidated. A plurality of entry/exit rooms where at least one of entry and exit of the vehicle is performed, a plurality of sensors for detecting an object in the entry/exit room, and the presence or absence of an object in a monitoring area associated with each of the sensors. In a safety confirmation program applied to a mechanical parking device including a plurality of input parts arranged at a position visible to a person and outside the passenger compartment, and an entrance door provided at an entrance of the passenger compartment. There
Recording the detection information of each said sensor,
When a transport means for transporting a vehicle arrives at any of the passenger compartments and the entrance door is fully opened for entry or exit, the input means corresponding to the passenger compartment at which the transport means arrives is effective. And the step of
Disabling a predetermined sensor that monitors the passenger compartment where the transport means arrives when the door is fully opened;
Activating the deactivated sensor when any one of the activated inputs is deactivated;
It is determined whether or not there is the sensor that has detected the object based on the detection information of the enabled sensor, and if there is the sensor that has detected the object, it is associated with the sensor that has detected the object. Activating the input section,
A safety confirmation program for causing a computer to execute a step of permitting a closing operation of the entrance/exit door in a state in which all the validated input units are invalidated.

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