JP2021102870A - Mechanical parking apparatus - Google Patents

Abstract

To provide a mechanical parking apparatus enabling more integrated and effective service and increased safety.SOLUTION: A mechanical parking apparatus is provided with an internal camera 8 capable of photographing a positional relationship between a parking vehicle 3 and a tray 7 in a boarding chamber 6, an imaging processing apparatus 14 comprising a vehicle guide part 19 which determines the positional relationship between the parking vehicle 3 and the tray 7 by using image data taken by the internal camera 8 to extract vehicle guide information corresponding thereto, and a guide information notifying apparatus 24 which notifies a driver of the parking vehicle 3 of the vehicle guide information by the vehicle guide part 19.SELECTED DRAWING: Figure 5

Description

The present invention relates to a mechanical parking device having a configuration in which a parked vehicle is stopped at a predetermined position in a boarding room.

As conventional mechanical parking devices of this type, Japanese Patent Application Laid-Open No. 2018-188801 (Patent Document 1) and Japanese Patent Application Laid-Open No. 2019-2246 (Patent Document 2) are known.

Patent Document 1 describes a warehousing section, a warehousing port communicating with the warehousing section, and a first sensor for detecting the presence or absence of a vehicle at the position of the entrance side end of the warehousing range set in the warehousing section. A second sensor that detects the presence or absence of a vehicle at the position of the counter-entrance side end of the warehousing range, and a front end of the vehicle that is provided on the back side of the warehousing portion that is opposite to the warehousing port side. A distance measuring means for measuring the distance to the unit, a display provided on the back side of the warehousing unit, and a display controller are provided, and the display controller is a detection result of the first sensor. Based on the detection result of the second sensor and the measurement result by the distance measuring means, the display is provided with information regarding position correction for accommodating the vehicle to be stored in the storage range. Described is a mechanical parking device having a function of giving a command for displaying distance information regarding a distance from a counter-entrance side end portion of a warehousing range to a front end portion of the vehicle to be warehousing.

Further, Patent Document 2 is an object movement detection device that detects an object movement position in a preset detection area, and sets the detection area as a divided detection area divided into a plurality of areas in the movement direction of the object. A division detection area setting unit and a detection unit for detecting the object in the division detection area are provided, and the detection unit detects the object in the selected division detection area on the detection start side of the object. Described is an object movement detection device characterized in that the selection of the division detection region is switched to the movement direction of the object and the movement position of the object is detected by the detection unit.

JP-A-2018-188801 JP-A-2019-2246

However, although various detection equipments have been introduced into conventional mechanical parking devices for efficient service and safety improvement, if detection equipments are added separately for each required function, it will eventually become extremely difficult. It becomes a mechanical parking device that is expensive and troublesome to maintain and inspect.

Therefore, an object of the present invention is to provide a mechanical parking device capable of achieving more unified and efficient service and safety improvement.

The present invention is a mechanical type having a configuration in which a driver drives a parked vehicle from an entrance onto a tray in a boarding room and stops the parked vehicle at an appropriate stop position on the tray in order to achieve the above object. In the parking device, the positional relationship between the parked vehicle and the tray is determined by using the in-compartment camera capable of photographing the positional relationship between the parked vehicle and the tray in the boarding room and the image data obtained by the in-house camera. An image processing device provided with a vehicle guidance unit for extracting vehicle guidance information corresponding to the vehicle guidance unit and a guidance information notification device for notifying the driver of the parked vehicle of the vehicle guidance information by the vehicle guidance unit are provided. It is a feature.

According to such a configuration, the parked vehicle can be guided to a predetermined stop position on the tray by a relatively simple configuration using image processing without arranging a large number of complicated sensors. It is possible to provide a mechanical parking device that enables more unified and efficient service and safety improvement.

Further, in addition to the above-described configuration, the present invention uses the image data from the in-flight camera to park the parked vehicle when the parked vehicle is temporarily stopped at a position to be stopped on the tray by the driver's operation. A position detection unit for determining the positional relationship between the vehicle and the tray is provided in the image processing device, and when the positional relationship between the parked vehicle and the tray is determined to be inappropriate by the detection of the position detection unit, the guidance information notification device is provided. It is characterized in that it is configured to notify the driver of the parked vehicle of the vehicle guidance information.

According to such a configuration, the guidance information notification device notifies the driver of the parked vehicle of the vehicle guidance information until the parked vehicle is temporarily stopped at the position to be stopped on the tray by the driver's operation. It is also possible to stop the vehicle, and it is also possible to refrain from vehicle guidance information that may be distracting when an unfamiliar driver concentrates and moves to the stop position. However, once the driver has stopped at a position that seems to be an appropriate stop position, if the position is actually inappropriate, how to obtain vehicle guidance information from the guidance information notification device and correct the position. You will be taught what to do and you can take appropriate action.

Further, in addition to the above-described configuration, the present invention can store the parked vehicle outside the vicinity of the entrance to the boarding room by using an external camera capable of photographing the parked vehicle and image data of the external camera. It is characterized by providing a size determination unit that determines whether or not the vehicle is a size, and a notification device that notifies the driver of the parked vehicle when the size determination unit determines that the vehicle cannot be stored.

According to such a configuration, it is possible to identify a parked vehicle that cannot be stored before it is introduced into the boarding room, and it is possible to easily add a size determination unit by using an image processing device. It is possible to provide a mechanical parking device capable of providing unified and efficient service and improving safety.

Further, in addition to the above-described configuration, the present invention is characterized in that the image processing device is provided with a person detection unit that detects that there is no person in the boarding room by using the image data from the camera in the refrigerator. To do.

According to such a configuration, it is possible to detect that there is no person in the boarding room from the image data by using the camera in the refrigerator for providing the vehicle guidance information to the guidance information notification device with a simple configuration. It is possible to provide a mechanical parking device that enables more unified and efficient service and safety improvement.

Further, in addition to the above-described configuration, the present invention provides an operation panel in the vicinity of the entrance, and when the size determination unit detects that the parked vehicle cannot be stored in the operation panel from the image data obtained by the external camera. It is characterized in that the notification device for notifying is provided.

With such a configuration, it is possible to reliably notify the driver of the parked vehicle performing the warehousing operation from the operation panel of the information that the warehousing is not possible, and more unified and efficient service and safety improvement can be achieved. It is possible to provide a mechanical parking device that can be planned.

Further, in addition to the above-described configuration, the present invention is provided with an operation panel provided with a display screen or a speaker in the vicinity of the entrance, and the size determination unit cannot enter the parked vehicle from the image data obtained by the external camera on the operation panel. It is characterized in that the notification device is provided to notify the fact from at least one of the display screen or the speaker when the detection is detected.

According to such a configuration, the display screen or the speaker, which is the existing configuration of the operation panel, is diverted to a simple configuration, and the driver of the parked vehicle performing the warehousing operation is surely notified of the information that the warehousing is not possible. It is possible to provide a mechanical parking device that enables more unified and efficient service and safety improvement.

Further, in addition to the above-described configuration, the present invention uses the guidance information notification device to guide the vehicle as any one of the character display on the display device, the sound from the speaker, the image display on the display device, or a combination thereof. The information is notified to the driver of the parked vehicle.

According to such a configuration, the driver of the parked vehicle can be reliably notified by a simple guidance information notification device.

According to the mechanical parking device according to the present invention, the parked vehicle is guided to a predetermined stop position on the tray by a relatively simple configuration using image processing without arranging a large number of complicated sensors. It is possible to improve more unified and efficient services and safety by focusing on the configuration that can be used.

It is a side view near the entrance which shows the state just before warehousing of the mechanical parking device by one Embodiment of this invention. It is a top view near the entrance which shows the state just before warehousing of the mechanical parking device shown in FIG. It is a side view of the boarding room which shows the initial state of warehousing of the mechanical parking device shown in FIG. It is a top view of the boarding room which shows the initial state of warehousing of the mechanical parking device shown in FIG. It is a block block diagram which shows the image processing apparatus which is the main part of the mechanical parking apparatus shown in FIG. It is a side view of the boarding room which shows the warehousing end state of the mechanical parking device shown in FIG. It is a top view of the boarding room which shows the warehousing end state of the mechanical parking device shown in FIG. It is a front view which shows the display example in the display device of the guidance device shown in FIG. It is a front view which shows the display example of the display device in the mechanical parking device by another Example of this invention.

Hereinafter, examples of the present invention will be described with reference to the drawings.

1 and 2 are a side view and a plan view of the vicinity of the entrance showing the state immediately before the warehousing of the mechanical parking device according to the embodiment of the present invention.

Near the entrance to the boarding room of the mechanical parking device, there is an entrance door 1 that is opened when it is time to enter the boarding room formed on the back side, and an entrance door 1 provided on the wall surface near the entrance. An operation panel 2 operated by a user or the like at the time of leaving the garage and an external camera 4 arranged above the entrance and entering the parking vehicle 3 for warehousing are provided before entering the boarding room. Has been done.

When the parked vehicle 3 approaches the entrance door 1 and is stopped for warehousing, the driver gets out of the car and performs the warehousing operation using the operation panel 2 provided on the wall surface near the entrance. By capturing the operation signal at that time or the proximity signal of the parked vehicle in advance, the external camera 4 photographs the parked vehicle 3, and the size that can be stored in comparison with the warehousing vehicle size area 5 by the image analysis processing device described in detail later. Whether or not it is determined is performed.

When the image analysis processing device determines that the parked vehicle 3 can be stored, the entrance door 1 is opened by using the storage operation signal from the operation panel 2. Therefore, the driver drives the parked vehicle 3 again and advances into the boarding room 6. On the other hand, when the image analysis processing device determines that the parked vehicle 3 cannot be stored because it exceeds the simulated storage size area 5, the driver is notified that the vehicle cannot be stored by the notification device described in detail later. Is done.

3 and 4 are side views and plan views of the boarding room showing the initial state of warehousing of the mechanical parking device shown in FIGS. 1 and 2.

In the boarding room 6, the tray 7 in which the parked vehicle 3 that has been boarded is stopped at a predetermined position to be mounted, and the inside of the boarding room 6 can be photographed. In particular, the parked vehicle 3 is in the predetermined position of the tray 7. An internal camera 8 capable of photographing the parked vehicle 3 and the tray 7 from above until the parking vehicle 3 is stopped, and a mirror 9 arranged on the front side so that the driver of the parked vehicle 3 can use it when driving to the stop position. , The display device 10 arranged on the upper part of the mirror 9 is arranged.

Further, in FIGS. 3 and 4, the correspondence between the warehousing range 13 when the parked vehicle 3 is mounted on the tray 7 and transported by a lift device (not shown) and the warehousing size area 5 shown in FIG. Are shown schematically so that you can see.

Further, in the boarding room 6, there is a final sensor stand 11 for detecting protrusions such as the door and trunk of the parked vehicle 3 opening when the lift devices of the mechanical parking device are operated on both sides of the mirror 9, and a boarding room 6. Normal equipment such as equipment 12 such as an emergency stop switch arranged on the left and right wall surfaces of the entrance room 6 is also configured. However, since these are not directly related to the main parts of the present invention, detailed description thereof will be omitted.

FIG. 5 is a block configuration diagram showing an image processing device which is a main part of the mechanical parking device shown in FIG.

The image processing device 14 has a warehousing detection unit 15 that detects the approach of the parked vehicle 3 by the external camera 4 and other detection devices shown in FIG. 1, and an image from the external camera 4 when the warehousing detection unit 15 detects the entry. There are no people in the current boarding room 6 using the size determination unit 16 that determines whether or not the parked vehicle can be stored using the data and the image data from the internal camera 8 shown in FIG. The person detection unit 17 that determines whether or not the vehicle, the position detection unit 18 that detects while tracking the current position of the parked vehicle 3 using the image data from the camera 8 in the refrigerator, and the current position data and the figure by the position detection unit 18. Vehicle guidance unit 19 that extracts guidance assistance information that guides the parked vehicle 3 to a predetermined stop position on the tray 7 while comparing the warehousing vehicle size area 5 and the warehousing range 13 shown in 4, and other abnormality determination. It has an abnormality determination unit 20 and the like for performing the above.

When the size determination unit 16 of the image processing device 14 determines that the parked vehicle 3 cannot be stored because it exceeds the simulated warehousing size area 5 shown in FIG. 2, the driver cannot be stored through the notification device 21. Will be notified. The notification device 21 is composed of, for example, a speaker 22 incorporated in the operation panel 2 shown in FIG. 2 and a display unit 23 such as a display screen.

As described above, when the parked vehicle 3 is stopped near the entrance door 1 as shown in FIG. 1, the parked vehicle 3 is detected by the warehousing detection unit 15 of the image processing device 14, and at the same time, the size determination unit 16 externally detects the parked vehicle 3. Using the image data from the camera 4, it is determined whether or not the parked vehicle 3 is of a size that can be stored.

At this time, when the size determination unit 16 determines that the parked vehicle 3 is a size that can be stored, when the driver who gets off the parked vehicle 3 operates the operation panel 2 for storage, the entrance door 1 is opened and the vehicle gets on. It is possible to enter the entrance room 6. However, when the size determination unit 16 determines that the parked vehicle 3 exceeds the size that can be stored, when the driver who gets off the parked vehicle 3 operates the operation panel 2 for storage, the speaker 22 or A notification to that effect is given to the display screen 23. However, the notification by the notification device 21 may be performed before the operation panel 2 is operated, by another notification device 21 configured other than the operation panel 2, or by both notification devices 21. You can also.

Further, a guidance information notification device 24 is connected to the image processing device 14, and a process of notifying the driver of the guidance information extracted by the vehicle guidance unit 19 is performed. The guidance information notification device 24 is composed of, for example, a display device 10 and a speaker 25 arranged in the boarding room 6 as shown in FIGS. 3 and 4.

The guidance assistance information by the guidance information notification device 24 at this time can be given at an appropriate timing. For example, when the driver of the parked vehicle 3 moves toward a predetermined stop position on the tray 7 by himself while looking at the mirror 9 and stops the vehicle, the vehicle guidance unit 19 determines whether or not the stop position is appropriate. , And according to the result, the guidance assistance information necessary for adjusting the position of the parked vehicle 3 can be extracted from the vehicle guidance unit 19 and output to the guidance information notification device 24.

In particular, according to such a configuration, the vehicle guidance information is transmitted from the guidance information notification device 24 to the parked vehicle 3 until the parked vehicle 3 is temporarily stopped at the position to be the stop position on the tray 7 by the driver's operation. It is also possible to stop notifying the driver of the vehicle, and it is also possible to refrain from vehicle guidance information that may be distracting when inexperienced drivers are concentrating and moving to the stop position. Become. However, once the driver has stopped at a position that seems to be an appropriate stop position, if the position is actually inappropriate, how to obtain vehicle guidance information from the guidance information notification device 24 and how to position it. You will be told if you should fix it and you can take appropriate action.

In another example, the guidance information notification device extracts necessary guidance assistance information from the vehicle guidance unit 19 while the driver of the parked vehicle 3 is moving toward a predetermined stop position on the tray 7. It can be output to 24. In yet another example, these can be combined to constantly output guidance assistance information to the guidance information notification device 24.

Next, in the above-mentioned presentation example of the guidance assist information, when the parked vehicle 3 is stopped at a predetermined stop position on the tray 7, the vehicle guidance unit 19 performs a determination process of determining whether or not the stop position is appropriate. A case where the vehicle guidance unit 19 outputs guidance assistance information necessary for adjusting the position of the parked vehicle 3 to the guidance information notification device 24 according to the result will be described more specifically.

6 and 7 are side views and plan views of the boarding room showing the final state of warehousing of the mechanical parking device shown in FIGS. 3 and 4.

As described above, the internal camera 8 is arranged in the boarding room 6, and the image processing device 14 and the guidance information notification device 24 for taking in and processing the image data by the internal camera 8 are provided. The vehicle guidance unit 19 of the image processing device 14 shown in FIG. 5 is guiding assistance information while comparing the current position data by the position detection unit 18 with the warehousing vehicle size area 5 and the warehousing range 13 shown in FIG. Is being created.

Further, the vehicle guidance unit 19 of the image processing device 14 compares the current position information of the parked vehicle 3 shown in FIGS. 6 and 7 with the warehousing vehicle size area 5 and the warehousing range 13, and the current position of the parked vehicle 3. Determines if is the proper stop position.

As a result, when the vehicle guidance unit 19 determines that the position is appropriate, the guidance assistance information corresponding to the appropriate position is displayed on the display device 10 of the guidance information notification device 24 as shown in FIGS. 6 and 7. Therefore, the driver who got off entrusts the parked vehicle 3 to the mechanical parking device, moves to the front of the operation panel 2 again, and closes the entrance door 1. However, if the current stop position of the parked vehicle 3 is not appropriate, the display device 10 displays other guidance assistance information prompting the correction.

FIG. 8 is a front view showing a display example of the display device 10 in the guidance information notification device 24 shown in FIG.

FIG. 8A shows an example of a forward instruction, which is a character display 26 that linearly prompts forward to a stop position on the tray 7 while maintaining the state as it is. FIG. 8B shows an example of a backward instruction, and the character display 27 prompts the user to move backward once because the position is not appropriate. FIG. 8C shows an example of a stop instruction, and the character display 28 urges the user to stop at an appropriate stop position and complete the operation movement process in the boarding room 6.

FIG. 8D shows an example of a right protrusion position correction instruction, in which the right side of the parked vehicle 3 protrudes and the character display 29 urges the vehicle to move slightly to the left. FIG. 8E shows an example of a left protrusion position correction instruction, in which the left side of the parked vehicle 3 protrudes, and the character display 30 urges the parked vehicle 3 to move slightly to the right.

The driver of the parked vehicle 3 can grasp the stopped state of his / her parked vehicle 3 by looking at the display instruction example of the display device 10 and listening to the sound from the speaker 25 accompanying the display instruction example. For example, if the display "Please stop" is displayed as shown in FIG. 8C, it can be known that the parked vehicle 3 that the driver has driven can be stopped at an appropriate stop position on the tray 7. ..

However, when the vehicle guidance unit 19 detects that the rear of the warehousing vehicle size area 5 in FIG. 7 protrudes from the warehousing range 13 and the parked vehicle 3 is stopped, the display device 10 advances in FIG. 8A. It becomes an instruction display. Therefore, when attention is drawn to the display device 10 while also using a buzzer sound, a blinking display, and the like, the driver confirms the forward instruction display of the display device 10 and advances the parked vehicle 3. Therefore, the parked vehicle 3 is stopped at an appropriate stop position on the tray 7. After that, the display device 10 is switched to the stop instruction display shown in FIG. 8C.

Further, when the vehicle guidance unit 19 detects that the front of the warehousing vehicle size area 5 in FIG. 7 protrudes from the warehousing range 13 and the parked vehicle 3 is stopped, the display device 10 gives a forward instruction in FIG. 8 (b). It becomes a display. Therefore, when attention is drawn to the display device 10 while also using a buzzer sound, a blinking display, and the like, the driver confirms the backward instruction display of the display device 10 and moves the parked vehicle 3 backward. Therefore, the parked vehicle 3 is stopped at an appropriate stop position on the tray 7.

Further, when the vehicle guidance unit 19 detects that the right side of the warehousing vehicle size area 5 in FIG. 7 protrudes from the warehousing range 13 and the parked vehicle 3 is stopped, the display device 10 is on the right side of FIG. 8D. The protrusion position correction instruction display is displayed. Therefore, when a buzzer sound, a blinking display, or the like is used together to call attention to the display device 10, the driver confirms the backward instruction display of the display device 10 and moves the parked vehicle 3 to the left side. Therefore, the parked vehicle 3 is stopped at an appropriate stop position on the tray 7.

Similarly, when the vehicle guidance unit 19 detects that the left side of the warehousing vehicle size area 5 in FIG. 7 protrudes from the warehousing range 13 and the parked vehicle 3 is stopped, the display device 10 shows FIG. 8 (e). The left protrusion position correction instruction display is displayed. Therefore, when attention is drawn to the display device 10 while using a buzzer, a blinking display, or the like in combination, the driver confirms the backward instruction display of the display device 10 and moves the parked vehicle 3 to the right side. Therefore, the parked vehicle 3 is stopped at an appropriate stop position on the tray 7.

In the above-described embodiment, the position of the parked vehicle 3 and the tray 7 is determined by using the image data of the inside camera 8 capable of photographing the positional relationship between the parked vehicle 3 and the tray 7 in the boarding room 6 and the image data of the inside camera 8. An image processing device 14 provided with a vehicle guidance unit 19 that determines a relationship and extracts vehicle guidance information corresponding to the relationship, and a guidance information notification device that notifies the driver of the parked vehicle 3 of vehicle guidance information by the vehicle guidance unit 19. 24 is provided.

Therefore, when the parked vehicle 3 boarded in the boarding room 6 exceeds a predetermined size, it must be moved out of the boarding room 6 as unusable, which reduces the utilization efficiency. However, since the image processing device 14 using image processing is used, the external camera 4 is arranged in front of the boarding room 6, and the parked vehicle 3 uses the image data obtained by the external camera 4 to obtain a predetermined size. A size determination unit 16 for determining that the value is exceeded can be easily added.

Similarly, for safety reasons, it is necessary to confirm that there are no people in the boarding room 6 in relation to the opening and closing of the entrance door 1 of the boarding room 6. A person detection unit 17 that detects a person from the image data can be easily added.

In this way, the parking vehicle can be guided to a predetermined stop position on the tray by a relatively simple configuration using image processing without arranging a large number of complicated sensors. It is possible to provide a mechanical parking device that enables unified and efficient service and safety improvement.

FIG. 9 is a front view showing a display example of the display device 10 in the mechanical parking device according to another embodiment of the present invention.

FIG. 9A shows an example of a forward instruction, which is an image display 31 such as a picture or a photograph that prompts the player to move forward to the stop position on the tray 7 while maintaining the same state, and the text information is used in a limited manner. It has become. FIG. 9B shows an example of a stop instruction, which is a similar image display 32 that prompts the user to stop at an appropriate stop position.

FIG. 9C shows an example of an instruction for protruding to the right, and the right side of the parked vehicle 3 protrudes to the same image display 33 for prompting the vehicle to move slightly to the left. FIG. 9D shows an example of a left-side protrusion instruction, in which the left side of the parked vehicle 3 protrudes, and the same image display 34 is provided to encourage the parked vehicle 3 to move slightly to the right.

The driver of the parked vehicle 3 can easily and instantly grasp the stopped state or the correction of his / her parked vehicle 3 by looking at the display example of the display device 10. For example, if the message "Please stop" is displayed as shown in FIG. 9B, it is possible to immediately know that the parked vehicle 3 that the driver has driven has stopped at an appropriate stop position on the tray 7. it can.

However, when the vehicle guidance unit 19 shown in FIG. 5 detects that the rear of the warehousing vehicle size area 5 in FIG. 7 protrudes from the warehousing range 13 and the parked vehicle 3 is stopped, the display device 10 displays FIG. It becomes the forward instruction display of (a). Therefore, the driver can immediately confirm the forward instruction display of the display device 10 and advance the parked vehicle 3. Therefore, the parked vehicle 3 is stopped at an appropriate stop position on the tray 7. After that, the display device 10 is switched to the stop instruction display shown in FIG. 9B.

Further, when the vehicle guidance unit 19 detects that the right side of the warehousing vehicle size area 5 in FIG. 7 protrudes from the warehousing range 13 and the parked vehicle 3 is stopped, the display device 10 protrudes to the right in FIG. 9C. It becomes a display. Therefore, the driver can immediately check the display on the right side of the display device 10 and move the parked vehicle 3 to the left side. Therefore, the parked vehicle 3 is stopped at an appropriate stop position on the tray 7.

Similarly, when the vehicle guidance unit 19 detects that the left side of the warehousing vehicle size area 5 in FIG. 7 protrudes from the warehousing range 13 and the parked vehicle 3 is stopped, the display device 10 shows FIG. 9D. The display is overhanging to the left. Therefore, the driver can immediately check the left protrusion display of the display device 10 and move the parked vehicle 3 to the right side. Therefore, the parked vehicle 3 is stopped at an appropriate stop position on the tray 7.

In this way, the guidance information notification device 24 that guides based on the determination result of the vehicle guidance unit 19 obtains almost the same effect by using only one of the character display, the image display, and the voice, or a combination thereof. Can be done.

In each of the above-described embodiments, the limitation in the height direction of the parked vehicle 3 is not mentioned, but the present invention can be easily applied even when this kind of detection is required. For example, unlike the external camera 4, another external camera that enables shooting in the height direction is installed outside the boarding room 6, and the parked vehicle 3 is based on the image data taken by the other external camera. The height direction can be measured and compared with the height limit to determine. Also in this case, the image processing device 14 is provided with a height direction measuring unit using image data, and can be similarly connected to the notification device 21 to notify the driver of the parked vehicle 3 to obtain the same effect. Can be done.

Of course, the present invention can also be applied to those having both entrances and exits.

Similarly, when it is necessary to detect protrusion or the like due to the opening of the bonnet of the parked vehicle 3 in the boarding room 6, the side wall side in the boarding room 6 is different from the internal camera 8 and the height direction is photographed. It is possible to install another internal camera that is tilted as much as possible and determine abnormal protrusion in the height direction from the image data taken by the other internal camera.

As described above, the present invention has a configuration in which the driver drives the parked vehicle 3 from the entrance onto the tray 7 in the boarding room 6 and stops the parked vehicle 3 at an appropriate stop position on the tray 7. In the mechanical parking device, the position of the parked vehicle 3 and the tray 7 using the image data of the inside camera 8 capable of photographing the positional relationship between the parked vehicle 3 and the tray 7 in the boarding room 6 and the inside camera 8. An image processing device 14 provided with a vehicle guidance unit 19 that determines a relationship and extracts vehicle guidance information corresponding to the relationship, and a guidance information notification device that notifies the driver of the parked vehicle 3 of vehicle guidance information by the vehicle guidance unit 19. It is characterized in that 24 is provided.

According to such a configuration, the parked vehicle can be guided to a predetermined stop position on the tray by a relatively simple configuration using image processing without arranging a large number of complicated sensors. It is possible to provide a mechanical parking device that enables more unified and efficient service and safety improvement.

Further, in addition to the above-described configuration, the present invention uses the image data obtained by the in-flight camera 8 when the parked vehicle 3 is temporarily stopped at the position to be the stop position on the tray 7 by the driver's operation. A position detection unit 18 for determining the positional relationship between the parking vehicle 3 and the tray 7 is provided in the image processing device 14, and a guidance information notification device is provided when the positional relationship between the parked vehicle 3 and the tray 7 is determined to be inappropriate by the detection of the position detection unit 18. It is characterized in that it is configured to notify the driver of the parked vehicle 3 of the vehicle guidance information from 24.

According to such a configuration, until the parked vehicle 3 is temporarily stopped at the position to be the stop position on the tray 7 by the driver's operation, the vehicle guidance information is transmitted from the guidance information notification device 24 to the operation of the parked vehicle 3. It is also possible to stop notifying the hand, and it is also possible to refrain from vehicle guidance information that may be distracting when an inexperienced driver concentrates and moves to the stop position. However, once the driver has stopped at a position that seems to be an appropriate stop position, if the position is actually inappropriate, how to obtain vehicle guidance information from the guidance information notification device 24 and how to position it. You will be told if you should fix it and you can take appropriate action.

Further, in addition to the above-described configuration, the present invention has an external camera 4 capable of photographing the parked vehicle 3 in front of the entrance to the boarding room 6, and the parked vehicle 3 can be stored using the image data of the external camera 4. It is characterized by providing a size determination unit 16 that determines whether or not the vehicle is a size, and a notification device 21 that notifies the driver of the parked vehicle 3 when the size determination unit 16 determines that the vehicle cannot be stored.

According to such a configuration, it is possible to determine the parked vehicle 3 that cannot be stored before being introduced into the boarding room 6, and moreover, the size determination unit 16 is used by using the image processing device 14 that utilizes image processing. Can be easily added, and a mechanical parking device can be provided that enables more unified and efficient service and safety improvement.

Further, in addition to the above-described configuration, the present invention provides the image processing device 14 with a person detection unit 17 that detects that there is no person in the boarding room 6 by using the image data obtained by the camera 8 in the refrigerator. It is a feature.

According to such a configuration, the camera 8 in the refrigerator for providing the vehicle guidance information to the guidance information notification device 24 is also used, and the image data thereof indicates that there is no person in the boarding room 6 with a simple configuration. It is possible to provide a mechanical parking device that can be detected and enables more unified and efficient service and safety improvement.

Further, in addition to the above-described configuration, the present invention provides an operation panel 2 in the vicinity of the entrance, and when the size determination unit 16 detects that the parked vehicle 3 cannot be stored from the image data obtained by the external camera 4 on the operation panel 2, that is the case. A notification device 21 for notifying is provided.

According to such a configuration, it is possible to reliably notify the driver of the parked vehicle 3 performing the warehousing operation from the operation panel 2 of the information that the warehousing is not possible, and more unified and efficient service and safety. It is possible to provide a mechanical parking device that can be improved.

Further, in addition to the above-described configuration, the present invention is provided with an operation panel 2 provided with a display screen 23 or a speaker 22 near the entrance, and the size determination unit 16 is provided on the operation panel 2 from image data obtained by the external camera 4 with respect to the parked vehicle 3. It is characterized in that a notification device 21 is provided to notify the fact that the warehousing is not possible from the display screen 23 or the speaker 22.

According to such a configuration, the display screen 23 or the speaker 22 which is the existing configuration of the operation panel 2 is diverted to a simple configuration, and the driver of the parked vehicle 3 performing the warehousing operation is informed that the warehousing is not possible. You can be sure to notify.

Further, in the present invention, in addition to the above-described configuration, the guidance information notification device 24 guides the vehicle as any one of the character display on the display device 10, the sound from the speaker 25, the image display on the display device 10, or a combination thereof. It is characterized in that the information is notified to the driver of the parked vehicle 3.

According to such a configuration, the driver of the parked vehicle 3 can be reliably notified by the simple guidance information notification device 24.

2 Operation panel 3 Parked vehicle 4 External camera 6 Boarding room 7 Tray 8 Internal camera 10 Display device 14 Image processing device 16 Size determination unit 17 Person detection unit 19 Vehicle guidance unit 21 Notification device 22 Speaker 23 Display screen 24 Guidance information notification Device 25 speaker

Claims (7)

In a mechanical parking device having a configuration in which a driver drives a parked vehicle from an entrance onto a tray in a boarding room and stops the parked vehicle at an appropriate stop position on the tray.
Corresponding to this, the positional relationship between the parked vehicle and the tray is determined using the image data from the internal camera and the internal camera capable of photographing the positional relationship between the parked vehicle and the tray in the boarding room. A machine characterized in that an image processing device provided with a vehicle guidance unit for extracting vehicle guidance information to be used and a guidance information notification device for notifying the driver of the parked vehicle of the vehicle guidance information by the vehicle guidance unit are provided. Type parking device. A position where the positional relationship between the parked vehicle and the tray is determined by using the image data from the camera inside the refrigerator when the parked vehicle is temporarily stopped at a position to be stopped on the tray by the driver's operation. A detection unit is provided in the image processing device, and when the positional relationship between the parked vehicle and the tray is determined to be inappropriate by the detection of the position detection unit, the vehicle guidance information is transmitted from the guidance information notification device to the operation of the parked vehicle. The mechanical parking device according to claim 1, wherein the mechanical parking device is configured to notify the hand. An external camera capable of photographing the parked vehicle outside the vicinity of the entrance to the boarding room, and a size determination unit that determines whether or not the parked vehicle is of a size that can be stored by using the image data of the external camera. The mechanical parking device according to claim 1, further comprising a notification device for notifying the driver of the parked vehicle when the size determination unit determines that the parking is not possible. The mechanical type according to claim 1 to 3, wherein the image processing device is provided with a person detection unit that detects that there is no person in the boarding room by using image data from the camera in the refrigerator. Parking device. An operation panel is provided in the vicinity of the entrance, and the operation panel is provided with the notification device for notifying when the size determination unit detects that the parked vehicle cannot be stored from the image data obtained by the external camera. The mechanical parking device according to any one of claims 1 to 3. An operation panel provided with a display screen or a speaker is provided in the vicinity of the entrance, and when the size determination unit detects that the parked vehicle cannot be stored from the image data obtained by the external camera, a notification to that effect is displayed on the operation panel. The mechanical parking device according to claims 1 to 3, wherein the notification device is provided from at least one of the screen or the speaker. The guidance information notification device notifies the driver of the parked vehicle of the vehicle guidance information as any one of the character display on the display device, the sound from the speaker, the image display on the display device, or a combination thereof. The mechanical parking device according to claims 1 to 3.

Images