JP2021101066A - Mechanical parking lot system, parking lot control device, and parking lot control method - Google Patents

Abstract

To provide a mechanical parking lot system, a parking lot control device and a parking lot control method capable of safely operating a turning device of a vehicle installed in a mechanical parking lot.SOLUTION: A mechanical parking lot system comprises: a carrier that carries a vehicle in a mechanical parking lot; a turning device that turns the carrier; a foreign object detection sensor that is installed on an outer edge of the carrier; and a parking lot control device that is communicably connected to the carrier, the turning device, and the foreign object detection sensor. The foreign object detection sensor has a detection unit configured to detect a foreign object in a movement area moved by a turning operation of the turning device. The parking lot control device has an operation control unit that reduces or stops a turning speed of the carrier by the turning device when the foreign object detection sensor detects a foreign object in the movement area during a turning operation of the carrier by the turning device.SELECTED DRAWING: Figure 1

Description

The present invention relates to a mechanical parking system, a parking lot control device, and a parking lot control method.

Some of the mechanical parking lots that are currently in widespread use are equipped with a swivel device that loads and turns vehicles in the entry / exit area near the entry / exit door inside the building. By using this turning device, the direction of the vehicle can be changed so that the warehousing operation can be smoothly executed in the parking lot. In addition, the direction of the vehicle to be discharged from the parking lot can be automatically adjusted to the departure direction of the vehicle to improve the convenience of the user.

Japanese Patent No. 6258743

When a vehicle is loaded on the turning device and turned, if there is a foreign substance such as a person or luggage in the moving area of the turning device, the foreign substance may come into contact with the turning device or the vehicle, resulting in injury or injury. Damage may occur.

In order to avoid this, a camera device is fixedly installed on the wall or floor of the warehousing / delivery area, and by analyzing the imaging information taken by the camera device, the inside of the moving area of the swivel device is monitored and foreign matter is observed. There is a technology to detect. However, since the part to be monitored in the moving area of the swivel device changes every moment depending on the operation of the swivel device, there is a problem that foreign matter may not be detected due to the occurrence of blind spots or the like even if the above-mentioned technology is used. was there.

The present invention has been made in view of the above circumstances, and is a mechanical parking system, a parking lot control device, and a parking lot capable of safely operating a turning device of a vehicle installed in a mechanical parking lot. The purpose is to provide a control method.

In the mechanical parking system of the present invention for achieving the above object, a carrier for loading a vehicle and transporting the inside of the mechanical parking lot, a swivel device for turning the carrier, and a foreign object installed on the outer edge of the carrier. A detection sensor, the carrier, the swivel device, and a parking lot control device communicatively connected to the foreign matter detection sensor are provided, and the foreign matter detection sensor detects foreign matter in a moving area that is moved by the swivel operation of the swivel device. The parking lot control device has a detection unit for detecting, and when a foreign matter in the moving area is detected by the foreign matter detection sensor during the turning operation of the carrier by the swivel device, the carrier by the swivel device. It is characterized by having an operation control unit for reducing or stopping the turning speed of the vehicle.

Further, the parking lot control device of the present invention is installed on the outer edge of the carrier, a carrier that loads a vehicle and conveys the inside of the mechanical parking lot, a swivel device that swivels the carrier, and a swivel operation by the swivel device. The foreign matter detection sensor that detects foreign matter in the moving area of the moving carrier is connected to the carrier, the swivel device, and the foreign matter detection sensor by communication, and the foreign matter is detected during the swivel operation of the carrier by the swivel device. It is characterized by having an operation control unit that reduces or stops the turning speed of the carrier by the turning device when the sensor detects a foreign matter in the moving area.

Further, the parking lot control method of the present invention includes a carrier that loads a vehicle and conveys the inside of a mechanical parking lot, a swivel device that swivels the carrier, and a swivel operation that is installed on the outer edge of the carrier and is swiveled by the swivel device. A foreign matter detection sensor that detects a foreign matter in the moving area of the moving carrier and a parking lot control device that is communicatively connected to the carrier, the swivel device, and the foreign matter detection sensor are used to swivel the carrier by the swivel device. When the foreign matter detection sensor detects a foreign matter in the moving area, the swivel device slows down or stops the swivel speed of the carrier.

According to the mechanical parking system, the parking lot control device, and the parking lot control method of the present invention, the turning device of the vehicle installed in the mechanical parking lot can be safely operated.

It is an overall view which shows the structure of the mechanical parking system by one Embodiment. It is a flowchart which shows the operation of the parking lot control device used for the mechanical parking lot system by one Embodiment.

<Configuration of mechanical parking system according to one embodiment>
The configuration of the mechanical parking system according to the embodiment of the present invention will be described with reference to FIG. The mechanical parking system 1 according to the present embodiment is loaded with a swivel device 4 installed near the entrance / exit door 3 in the mechanical parking lot 2 such as elevator parking, and a vehicle is loaded and transported in the mechanical parking lot 2. A pallet 5 which is a carrier, a plurality of foreign matter detection sensors 6-1 to 6-6 installed on the outer edge of the pallet 5, a swivel device 4, a drive mechanism (not shown) for driving the operation of the pallet 5, and It is provided with a parking lot control device 7 which is communicatively connected to the foreign matter detection sensors 6-1 to 6-6.

The swivel device 4 has a drive unit 41 that swivels in a predetermined direction (for example, clockwise) with the center of gravity P as a fulcrum in a state where the pallet 5 is placed. In FIG. 1, the pallet moving area A in which the pallet 5 moves by the turning operation of the turning device 4 is shown by a chain line.

By turning the pallet 5 with the turning device 4, the orientation of the pallet 5 can be changed so that the warehousing operation of the vehicle can be smoothly executed in the mechanical parking lot 2. In addition, the direction of the vehicle to be discharged from the mechanical parking lot 2 can be automatically adjusted to the departure direction of the vehicle to improve the convenience of the user.

The foreign matter detection sensors 6-1 to 6-6 are composed of a camera device, an optical sensor, or the like, and detect foreign matter in the predetermined monitoring areas B1 to B6, respectively. The foreign matter detection sensors 6-1 to 6-6 are installed so that the area obtained by adding the monitoring areas B1 to B6 includes the pallet moving area A.

The parking lot control device 7 includes a monitoring area storage unit 71, an operation information acquisition unit 72, an operation control unit 73, a sensor information acquisition unit 74, a foreign matter determination unit 75 in the moving area, and an operation command generation unit 76. Have.

The monitoring area storage unit 71 stores the position information of the pallet moving area A and the monitoring areas B1 to B6 of the foreign matter detection sensors 6-1 to 6-6. The operation information acquisition unit 72 acquires information on the warehousing instruction operation and the warehousing instruction operation performed by the user of the mechanical parking lot 2 on the operation panel (not shown) of the mechanical parking lot 2.

The operation control unit 73 is a mechanical parking system including the drive mechanism of the drive unit 41 and the pallet 5 based on the operation information acquired by the operation information acquisition unit 72 and the command generated by the operation command generation unit 76 described later. Control the operation of each device in the parking lot 2. The sensor information acquisition unit 74 acquires the foreign matter detection information by the foreign matter detection sensors 6-1 to 6-6.

The foreign matter determination unit 75 in the moving area is based on the position information of each area stored in the monitoring area storage unit 71, the operation information acquired by the operation information acquisition unit 72, and the information acquired by the sensor information acquisition unit 74. , It is determined whether or not there is a foreign substance in the pallet moving area A.

When the operation command generation unit 76 determines that there is a foreign matter in the pallet moving area A by the foreign matter determination unit 75 in the moving area during the turning operation of the pallet 5 by the swivel device 4, the foreign matter is on the pallet 5 or the pallet 5. Calculate the estimated time until the vehicle touches. Then, when the calculated estimated time is equal to or less than the preset first threshold value and exceeds the second threshold value shorter than the first threshold value, a deceleration command for the turning speed is generated, and when the estimated time is equal to or less than the second threshold value. Generates a stop command for turning operation.

<Operation of the mechanical parking system according to one embodiment>
Next, the operation of the mechanical parking system according to the present embodiment will be described with reference to the flowchart of FIG. Vehicle X using the mechanical parking lot 2 enters through the entry / exit door 3 and stops at the pallet 5 on the swivel device 4 (“YES” in S1), and the warehousing instruction operation performed by the user on the operation panel. When the information is acquired by the operation information acquisition unit 72 (“YES” in S2), the foreign matter detection process by the foreign matter detection sensors 6-1 to 6-6 is controlled by the operation control unit 73 of the parking lot control device 7. Is started (S2).

The detection information by the foreign matter detection sensors 6-1 to 6-6 is transmitted to the parking lot control device 7 and acquired by the sensor information acquisition unit 74. Then, if the foreign matter determination unit 75 in the moving area determines that there is no foreign matter in the pallet moving area A (“NO” in S4), the motion control unit 73 drives the driving unit 41 of the swivel device 4 to determine the predetermined value. The turning operation of the pallet 5 is started in a predetermined direction at a speed (S5).

When a foreign matter is detected by any of the foreign matter detection sensors 6-1 to 6-6 during the turning operation of the pallet (“NO” in S6), the detection information including the position information of the foreign matter is transmitted to the parking lot control device 7. Is transmitted to and acquired by the sensor information acquisition unit 74. Then, based on the position information of the foreign matter acquired by the sensor information acquisition unit 74 and the position information of the pallet moving area A stored in the monitoring area storage unit 71, the foreign matter determination unit 75 in the moving area determines the foreign matter. Is in the pallet moving area A or not (S7).

By this process, for example, a user who has descended from the vehicle X into the pallet moving area A or a dropped luggage during the turning operation of the pallet 5 is detected as a foreign substance.

When the foreign matter determination unit 75 in the moving area determines that the foreign matter is in the pallet moving area A (“YES” in S7), the operation command generation unit 76 provides the position information of the foreign matter and the motion control unit 73. The estimated time until the pallet 5 comes into contact with the foreign matter is calculated based on the turning operation state of the pallet 5 (moving angle and moving speed of the pallet 5).

Here, when the calculated estimated time is equal to or less than the preset first threshold value and exceeds the second threshold value shorter than the first threshold value (“YES” in S8 → “NO” in S9), The operation command generation unit 76 generates a deceleration command for the turning speed. The generated deceleration command is sent to the operation control unit 73, and the speed of the turning operation by the drive unit 41 is decelerated (S10).

When the calculated estimated time is equal to or less than the second threshold value (“YES” in S8 → “YES” in S9), the operation command generation unit 76 generates a stop command for the turning operation. The generated stop command is sent to the operation control unit 73, and the turning operation by the drive unit 41 is stopped (S11).

In the above-mentioned process, when the turning operation is completed without detecting a foreign substance in the pallet moving area A during the turning operation of the pallet 5 (“NO” in S7 → “YES” in S6), the inside of the pallet moving area A When a foreign matter is detected, but the turning operation is completed before the time until contact becomes less than the first threshold (“YES” in S7 → “NO” in S8 → “YES” in S6), or the pallet When a foreign object is detected in the moving area A and the time until contact becomes equal to or less than the first threshold value and the turning speed is reduced, but the turning operation is completed before the turning speed becomes equal to or less than the second threshold value (“YES” in S7 → S8). “YES” → “NO” in S9 → “YES” in S10 → S6), the process is completed. When the turning operation is completed, the pallet 5 loaded with the vehicle X is transported to the parking space to be parked.

Further, when the information of the warehousing instruction operation performed by the user on the operation panel is acquired by the operation information acquisition unit 72 and the pallet 5 loaded with the vehicle X to be warehousing stops on the turning device 4, the above is also described. The processes of steps S3 to S11 are executed.

According to the above embodiment, when operating the swivel device of the mechanical parking system, the foreign matter in the moving area of the swivel pallet is accurately detected, and the time until the pallet comes into contact with the detected foreign matter is predetermined. If it is equal to or less than the set first threshold value and exceeds the second threshold value shorter than the first threshold value, the turning speed is decelerated, and if it is equal to or less than the second threshold value, the turning operation is stopped stepwise. By changing the operating state to, it is possible to operate safely and prevent stopping due to erroneous detection of foreign matter.

In the above-described embodiment, the foreign matter in the pallet moving area A is detected by any of the foreign matter detection sensors 6-1 to 6-6, and the calculated estimated time is equal to or less than the preset first threshold value and is the first. When the second threshold value shorter than the first threshold value is exceeded, the motion control unit 73 may decelerate so that the shorter the calculated estimated time, the slower the turning speed of the turning device 4.

1 Mechanical parking system 2 Mechanical parking 3 Entrance / exit door 4 Swivel device 5 Pallet 6-1 to 6-6 Foreign matter detection sensor 7 Parking lot control device 41 Drive unit 71 Monitoring area storage unit 72 Operation information acquisition unit 73 Operation Control unit 74 Sensor information acquisition unit 75 Foreign matter determination unit in the moving area 76 Operation command generation unit

Claims (5)

A carrier that loads a vehicle and transports it in a mechanical parking lot, a swivel device that swivels the carrier, a foreign matter detection sensor installed on the outer edge of the carrier, the carrier, the swivel device, and the foreign body detection sensor. Equipped with a parking lot control device connected by communication
The foreign matter detection sensor is
It has a detection unit that detects foreign matter in the moving area that moves by the turning operation of the turning device.
The parking lot control device is
It has an operation control unit that reduces or stops the turning speed of the carrier by the turning device when the foreign matter detection sensor detects a foreign matter in the moving area during the turning operation of the carrier by the turning device. A mechanical parking system that features this. When the foreign matter detection sensor detects a foreign matter in the moving area, the operation control unit of the parking lot control device calculates an estimated time until the carrier or the vehicle on the carrier comes into contact with the foreign matter. When the calculated estimated time is equal to or less than the preset first threshold value and exceeds the second threshold value shorter than the first threshold value, the turning speed by the turning device is decelerated and the calculated estimated time is reduced to the second threshold value or less. The mechanical parking system according to claim 1, wherein in some cases, the turning operation of the turning device is stopped. In the operation control unit of the parking lot control device, the foreign matter in the moving area is detected by the foreign matter detection sensor, and the calculated estimated time is equal to or less than a preset first threshold value and shorter than the first threshold value. The mechanical parking lot according to claim 2, wherein when the second threshold value is exceeded, the turning speed of the turning device is reduced so that the shorter the calculated estimated time is, the slower the turning speed is. system. A carrier that loads a vehicle and transports it in a mechanical parking lot, a swivel device that swivels the carrier, and a foreign object in the moving area of the carrier that is installed on the outer edge of the carrier and moves by the swivel operation of the swivel device. The foreign matter detection sensor to be detected is communicatively connected to the carrier, the swivel device, and the foreign matter detection sensor.
It has an operation control unit that reduces or stops the turning speed of the carrier by the turning device when the foreign matter detection sensor detects a foreign matter in the moving area during the turning operation of the carrier by the turning device. A parking lot control device characterized by the fact that. A carrier that loads a vehicle and transports it in a mechanical parking lot, a swivel device that swivels the carrier, and a foreign object in the moving area of the carrier that is installed on the outer edge of the carrier and moves by a swivel operation by the swivel device. The foreign matter detection sensor to detect, the carrier, the swivel device, and the parking lot control device communicatively connected to the foreign matter detection sensor
When a foreign matter in the moving area is detected by the foreign matter detection sensor during the swivel operation of the carrier by the swivel device, the swivel speed of the carrier is reduced or stopped by the swivel device. Parking lot control method.

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