JP2022157310A - parking device - Google Patents

Abstract

To provide a parking device that is improved in safety and convenience.SOLUTION: A parking device comprises: a moving body; a drive device which moves the moving body; a sensor which detects that the moving body reaches a predetermined position in a movement path of the moving body; and a control device which controls, once the sensor detects that the moving body reaches the predetermined position while the moving body is being moved toward a target position, the drive device to stop the movement after the lapse of a predetermined time, and then detects that the moving body stops moving before the predetermined time passes.SELECTED DRAWING: Figure 3

Description

The present invention relates to parking devices.

2. Description of the Related Art In order to effectively use a parking space, a multi-level parking system having two or more levels of parking pallets (also referred to as pallets) in the vertical direction has been put to practical use. In multilevel parking systems, parking pallets can move horizontally and vertically. Control is required to ensure that horizontal and vertical movement is accomplished.

Patent Document 1 discloses a control device for a vertical circulation type multi-storey parking facility in which, when the stop position of a called cage is not detected as a normal stop position by a normal stop position sensor, the cage is circulated in the circulating direction by one car. A control unit is disclosed that reinitiates the call operation after the call has been made. In Patent Document 2, in a parking lot facility where vehicles enter and leave the parking lot with a carrier that runs on its own on a travel route, it was given to the carrier before the power failure in order to resume the entering and leaving work that was interrupted by the power failure. A control method is disclosed in which a carriage is controlled so as to continue the warehousing work after the interruption stage based on the warehousing command. Patent Document 3 discloses a mechanical parking device that can be safely and easily restored based on a transfer operation procedure stored in a transfer operation procedure storage means when power is restored from a power failure. It is disclosed to provide a controller.

JP-A-7-331916 JP-A-2-217574 JP-A-2003-120065

One object of the present invention is to improve the safety and convenience of parking systems.

According to one embodiment of the present invention, a moving body, a driving device for moving the moving body, a sensor for detecting that the moving body has reached a predetermined position on the movement path of the moving body, and a target position for moving the moving body. When the sensor detects that the moving body has reached a predetermined position while moving toward the and a controller for detecting that movement has stopped.

Further, the control device controls the drive device to return the moving body to a position before reaching the predetermined position when it is detected that the movement of the moving body has stopped before the predetermined time elapses. may contain.

Further, the control device includes a storage unit that stores that the movement of the moving body has stopped before the predetermined time has elapsed when it is detected that the movement of the moving body has stopped before the predetermined time has elapsed, When the control device moves the moving body toward the target position, if the storage unit stores that the movement of the moving body has stopped before the predetermined time has elapsed, controlling the drive to return the mover to the position.

The control device may further include controlling the driving device to move the moving body toward the target position again after returning the moving body to the position before reaching the predetermined position.

Also, the control device may control the driving device to return the moving body for a predetermined time or more.

Also, the control device may control the drive device to return the moving body twice or more than the predetermined time.

Further, the control device may control the driving device so as to stop the movement after a predetermined period of time after the sensor stops detecting the moving body at the predetermined position when returning the moving body.

It is a figure showing a parking device concerning one embodiment of the present invention. It is a block diagram showing a schematic structure of a parking device concerning one embodiment of the present invention. It is a figure for demonstrating the process of a control apparatus when moving the pallet of the parking apparatus which concerns on one Embodiment of this invention. It is a figure for demonstrating the process of a pallet drive when moving the pallet of the parking device which concerns on one Embodiment of this invention. It is a figure for demonstrating the process of a pallet driving device when reversely moving the pallet of the parking apparatus which concerns on one Embodiment of this invention. It is a figure for demonstrating the relationship of a position and a process when moving the pallet of the parking apparatus which concerns on one Embodiment of this invention. FIG. 10 is a diagram for explaining processing of the control device when moving the pallet of the parking device according to the modified example of the present invention; It is a block diagram which shows schematic structure of the parking device which concerns on the example of a changed completely type of this invention.

Hereinafter, each embodiment of the invention disclosed in the present application will be described with reference to the drawings. However, the present invention can be embodied in various forms without departing from the gist thereof, and should not be construed as being limited to the description of the embodiments exemplified below.

In addition, in order to clarify the description, the drawings may schematically show the width, thickness, shape, etc. of each part compared to the actual embodiment, but this is only an example, and the interpretation of the present invention is not limited to In addition, in this specification and each drawing, elements having the same functions as those described with respect to the previous drawings may be denoted by the same reference numerals, and redundant description may be omitted.

<First embodiment>
A parking device according to a first embodiment of the present invention will be described in detail with reference to the drawings.

[Configuration of parking device]
FIG. 1 is a schematic side view of a parking device according to one embodiment of the invention. FIG. 1 shows the main configuration of a parking device 100 according to one embodiment of the invention.

In the parking device 100, a main structure is constituted by a support 102, and a plurality of pallets 104 on which vehicles V are placed are installed in the main structure.

The pallet 104 is provided so as to be able to move up and down along the column 102 by the drive section 236 . In addition, the pallet 104 can be moved along the lateral direction of the vehicle body (the depth direction of the paper surface of FIG. 1) by another drive unit 236 (not shown).

The pallet 104 in the main structure is provided with a space such that the vehicles do not interfere with each other when a plurality of vehicles V are vertically stacked. As a result, the main structure formed by the struts 102 forms parking areas P1, P2, P3, and P4 stacked in a plurality of stages in the vertical direction. Although not shown, a plurality of parking areas P1, P2, P3, and P4 may be formed side by side not only in the vertical direction but also in the horizontal direction (the depth direction shown in FIG. 1).

Parking device 100 is operated by operation panel 214 . Operation panel 214 is provided outside parking device 100 . In this example, an operation panel 214 is attached to the support 102 near the entrance of the parking device 100 (lower right side in the figure). The user operates the operation panel 214 from the outside of the parking device 100 to move the target pallet 104 to the entrance/exit 109 or open/close the gate 108 .

The operation panel 214 communicates with the control device 200 that controls the parking device 100 by wire or wirelessly. A signal output from the operation panel 214 is transmitted to the control device 200, and the control device 200 outputs a control signal to a pallet drive device 230 that moves the pallet 104, a gate drive device that opens and closes the gate 108, and the like. Controller 200 controls all operations of parking system 100 , including operation of multiple pallets 104 and gates 108 . Although FIG. 1 shows an example in which the control device 200 is provided behind the vehicle V, the location of the control device 200 is not particularly limited.

The gate 108 provided at the entrance/exit of the parking device 100 is opened when the pallet 104 is moved to the entrance/exit at the time of leaving the vehicle. Closed. When the vehicle is parked, the gate 108 is opened by operating the operation panel 214 to open the gate 108, and is closed by operating the operation panel 214 after the vehicle is parked.

The gate 108 is closed except when it is opened to allow the vehicle V to enter or leave the garage. Therefore, the gate 108 remains closed even when the pallet 104 is moved. The closed gate 108 normally prevents people from entering the system of the parking system 100 .

In a parking device 100 that forms parking areas stacked in a plurality of stages in the vertical direction and stores and parks vehicles in a three-dimensional manner, the target pallet 104 is moved to the entrance/exit 109 by raising and lowering the pallet 104. to move the vehicle in and out. There are several methods for moving the target pallet 104 to the entrance/exit 109 . For example, in order to retrieve a vehicle parked on the upper pallet 104, the lower pallet 104 is sunk into the underground pit. A method of lowering the upper pallet 104 to an area where the lower pallet 104 does not exist, or a method of combining these is adopted.

For example, the sensor 220a is attached to detect that the pallet 104 has reached a predetermined position (position before reaching the target position) on the movement path of the pallet 104 in order to reliably move the pallet 104. In this example, the sensor 220a is attached near the pallet 104 in the rearward direction of the vehicle body, and detects an object existing at a predetermined position when the pallet 104 moves in the lateral direction of the vehicle body (the depth direction of the paper surface of FIG. 1). A detection range is formed. However, the sensor 220a is not limited to this. For example, the sensor 220a may have a detection range for detecting an object existing at a predetermined position when the pallet 104 moves vertically. A detection range for detecting an object existing at a predetermined position may be formed during the movement in the direction (sensor 220a and sensor 220b are referred to as sensor 220 when not distinguished). The object detected by sensor 220 is not particularly limited, and any object that moves within parking apparatus 100 may be used. The sensor 220 transmits detected information to the pallet drive device 230 .

FIG. 2 is a block diagram showing a schematic configuration of a parking device according to one embodiment of the present invention. The parking system of the present invention comprises a control device 200, an operating panel 214, a pallet driving device 230, a gate driving device 240, a pallet 104, a gate 108 and a sensor 220.

The control device 200 includes a storage section 204 and a control section 206 . The storage unit 204 is a logical storage area, and is a memory such as a storage area inside the CPU, a main storage device, or a secondary storage device. The storage unit 204 stores programs and the like that cause the control device 200 to implement various functions.

The control unit 206 is a CPU (Central Processing Unit). The control unit 206 causes the CPU to execute the programs stored in the storage unit 204 to realize various functions in the control device 200 . The program executed by the control unit 206 may be provided while being stored in a computer-readable recording medium such as a magnetic recording medium, an optical recording medium, a magneto-optical recording medium, or a semiconductor memory. Also, each program may be downloaded via a network.

The control unit 206 transmits signals including instructions regarding the driving of the pallet 104 and the gate 108 based on the information received from the operation panel 214 to the pallet driving device 230 and the gate driving device 240, thereby operating the parking device 100. to control. For example, when information is received from the sensor 220 that the pallet 104 has reached a predetermined position while the movement of the pallet 104 toward the target position continues, the movement of the pallet 104 is instructed after a predetermined time. A signal (driving output notification A) including an instruction to stop may be included. The instruction regarding driving may include, for example, a signal (driving output notification B) including an instruction to reverse the movement of the pallet 104 at least up to a predetermined position. The instruction regarding driving may include, for example, a signal (driving output notification C) including an instruction to stop the reverse movement of the pallet 104 .

The operation panel 214 is a user interface through which the user inputs automatic operation instructions (number designation of the pallets 104 and opening/closing instructions of the gate 108 ) to the control device 200 . When the operation panel 214 receives an input of an automatic operation instruction from the user, the operation panel 214 transmits information on the pallet 104 to be automatically operated and information on operation details to the control device 200 .

The pallet driving device 230 includes an input/output section 234 and a driving section 236 . The input/output unit 234 receives signals including instructions regarding movement of the pallet 104 from the control unit 206 . The input/output unit 234 controls the movement of the pallet 104 by the drive unit 236 based on the received signal including the instruction regarding the movement of the pallet 104 . The input/output unit 234 also receives information from the sensor 220a. The input/output unit 234 controls movement of the pallet 104 by the driving unit 236 based on the received information. The input/output unit 234 is a CPU (Central Processing Unit) and causes the pallet driving device 230 to implement the various functions described above.

The gate driver 240 includes an input/output unit 244 and a driver 246 . The input/output unit 244 receives signals including instructions regarding movement of the gate 108 from the control unit 206 . The input/output unit 244 controls the movement of the gate 108 by the drive unit 246 based on the received signal including the instruction regarding the movement of the gate 108 . Input/output unit 244 also receives information from sensor 220b. The input/output unit 244 controls movement of the gate 108 by the driving unit 246 based on the received information. The input/output unit 244 is a CPU (Central Processing Unit), and causes the gate driving device 240 to implement the various functions described above.

A sensor 220 detects an object present in a predetermined area in the direction of travel of the pallet 104 or gate 108 . The sensor 220 can be, for example, a non-contact sensor such as a magnetic sensor, an optical sensor, an ultrasonic sensor, an infrared sensor, a sensor by image recognition (analysis of the image taken by the camera), and the like, mechanical detection via the actuator It may be an electric switch to be operated, a switch using a movable contact, or a contact sensor such as a piezoelectric sensor that generates power by pressure.

[Operation when entering and exiting the parking device]
When a specific pallet is designated on the operation panel 214 and an operation for loading and unloading is performed, the control device 200 receives information designating the pallet. The control unit 206 outputs to the pallet driving device 230 a signal including an instruction to move the pallet 104 with the specified pallet number to the entrance/exit. When the pallet driving device 230 receives a signal including an instruction to move the pallet 104 with the designated pallet number to the entrance/exit, it moves the pallet 104 to the entrance/exit. The movement processing of the pallet 104 refers to the process from the operation of the operation panel 214 by the user to the movement of the pallet 104 to the entrance/exit, and is executed by the control device 200 and the pallet driving device 230 .

When the pallet 104 arrives at the entrance/exit, the control unit 206 outputs a signal including an instruction to open the gate 108 to the gate driving device 240 . When the operation panel 214 is operated to close the gate 108 after the vehicle is parked in and out, the control unit 206 outputs a signal including an instruction to close the gate 108 to the gate driving device 240 . The gate driver 240 opens and closes the gate 108 upon receiving a signal including an instruction to open or close the gate 108 . The opening/closing process of the gate 108 refers to opening or closing the gate 108 and is executed by the control device 200 and the gate driving device 240 .

[Operation when moving palette]
FIG. 3 is a diagram for explaining the processing of the control device when moving the pallet 104 of the parking device according to one embodiment of the present invention. FIG. 4 is a diagram for explaining the processing of the pallet driving device when moving the pallet 104 of the parking device according to one embodiment of the present invention. FIG. 5 is a diagram for explaining the processing of the pallet driving device when reversing the pallet 104 of the parking device according to the embodiment of the present invention. FIG. 6 is a diagram for explaining the relationship between positions and processes when moving the pallet 104 of the parking apparatus according to one embodiment of the present invention.

When the operation panel 214 is operated by the user and the movement processing of the pallet 104 is started, the control unit 206 of the control device 200 continues the operation of moving the pallet 104 toward the target position X (FIG. 6). When information is received from the sensor 220 that the pallet 104 has reached the detection position Y (predetermined position, FIG. 6) while the pallet 104 is being pressed, a signal (driving output Notification A) is output to the input/output unit 234 of the pallet drive device 230 (s300 in FIG. 3). Here, the pressing time is the time required to move the pallet 104 from the detection position Y to the target position X, and the pressing time and the detection position can be set as appropriate. For example, the pressing time may be 100 msec or more and 1 sec or less, and the detection position may be set from the moving distance of the pallet 104 during the pressing time. It is preferable that the moving speed of the pallet 104 from the detection position to the target position is always constant.

When the drive output notification A is input, the input/output unit 234 of the pallet drive device 230 controls the drive unit 236 to start moving the pallet 104 toward the target position X (Fig. 4s610, Fig. 6A). ).

When the movement of pallet 104 is started, input/output unit 234 checks whether information is received from sensor 220a (Fig. 4s620). This confirmation is to confirm whether or not the pallet 104 has reached the detection position Y, and is performed using a sensor or the like installed at a location where an object existing in the movement direction of the pallet 104 can be detected.

If no information has been received from the sensor 220a (Fig. 4s620; No), the input/output unit 234 causes the driving unit 236 to continue moving the pallet 104 until information is received from the sensor 220a.

When the pallet 104 reaches the detection position Y and the sensor 220 a detects the pallet 104 ( FIG. 6( b )), the sensor 220 a transmits the detected information to the input/output unit 234 . In this embodiment, the sensor 220a detects the end (right end) of the pallet 104 on the traveling direction side. However, it is not limited to this, and the target and position to be detected can be appropriately selected according to the type and position of the sensor 220a. For example, when the sensor 220a moves upward on the pallet 104 and a detection range is formed for detecting an object existing at a predetermined position, the detection position Y is the position before reaching the target position X (target position X lower), and the sensor 220a may detect the end (upper end) of the pallet 104 in the direction of travel. For example, when the sensor 220a moves downward in the pallet 104 and a detection range is formed for detecting an object existing at a predetermined position, the detection position Y is the position before reaching the target position X (target position X higher), and the sensor 220a may detect the end (lower end) of the pallet 104 in the travel direction.

When the input/output unit 234 receives the information from the sensor 220a (s620 in FIG. 4; Yes), it starts the delay timer (s630 in FIG. 4), and while measuring the pressing time, the drive unit 236 keeps the pallet 104 in the state until the pressing time elapses. Movement is continued (Fig. 4s640; No, Fig. 4s670; No).

If the pushing time has elapsed (s640 in FIG. 4; Yes), the input/output unit 234 controls the driving unit 236 to stop the movement of the pallet 104 (s650 in FIG. 4). As a result, the pallet 104 stops at the target position X (Fig. 6(c)). When the movement of the pallet 104 stops, the input/output unit 234 continues the movement of the pallet 104 for the pressing time after the pallet 104 reaches the detection position Y (FIG. 6B). A signal (notification of delay completion) indicating that the movement of the pallet 104 has been stopped (FIG. 6(c)) is output to the control unit 206 (s660 in FIG. 4), and the movement processing of the pallet 104 is completed.

On the other hand, the movement of the pallet 104 may be stopped due to some abnormality before the pressing time elapses (Fig. 4s640; No, Fig. 4s670; Yes). If the pushing time does not pass normally, the movement of the pallet 104 cannot be continued for the pushing time, and the pallet 104 stops between the detection position Y and the target position X (FIG. 6(d)). The input/output unit 234 can recognize whether the pallet 104 is moving or stopped. As a method of recognizing whether the pallet 104 is moving or stopped, for example, it may be recognized by a driving output notification from the control device 200, or by recognizing the operation of the driving unit, or by using a sensor or the like. can be recognized using If the stop of the movement of the pallet 104 is detected before the pushing time elapses, the input/output unit 234 stops the movement of the pallet 104 for the pushing time after the pallet 104 reaches the detection position Y (FIG. 6B). Instead of continuing, a signal (delayed incompletion notification) including that the movement of the pallet 104 has stopped (Fig. 6(d)) is output to the control unit 206 (Fig. 4s680).

Even if the sensor 220 detects the pallet 104 after the movement of the pallet 104 has stopped due to some abnormality (s620 in FIG. 4; Yes), the movement of the pallet 104 cannot continue for the pushing-in time, and the pallet 104 remains at the detection position. Stop at Y (FIG. 6(b)). This case is also included in the case where the pressing time did not pass normally (Fig. 4s640; No)), and the input/output unit 234 outputs The movement of the pallet 104 is not continued during the pressing time, and a signal (delayed incompletion notification) including that the movement of the pallet 104 has stopped is output to the control unit 206 (s680 in FIG. 4).

According to the parking apparatus according to one embodiment of the present invention, the control device 200 is stopped by outputting either the delayed completion notice (Fig. 4s660) or the delayed non-completion notice (Fig. 4s680) to the control device 200. It can be determined whether or not the pallet 104 has reached the target position X (FIG. 6(c)). By having such a configuration, problems such as interference of the pallet 104 when the pallet 104 deviates from the target position X and starts the next movement can be avoided.

The control unit 206 of the control device 200 checks whether or not the notification from the input/output unit 234 of the pallet drive device 230 has been received (Fig. 3 s320).

When receiving the notification from the input/output unit 234 (s320 in FIG. 3; Yes), the control unit 206 confirms whether the notification is a delayed completion notification or a delayed non-completion notification. If the received notification is a delayed completion notification (Fig. 3s340; Yes), the pallet 104 movement process is completed.

If the received notification is a delayed incompletion notification (FIG. 3 s340; No), the control unit 206 reverses the movement of the pallet 104 at least to the front of the detection position Y (on the side of the detection position Y opposite to the target position X). A signal containing the instruction (driving output notification B) is output to the input/output unit 234 of the pallet driving device 230 (s350 in FIG. 3).

When the drive output notification B is input, the input/output unit 234 of the pallet drive device 230 controls the drive unit 236 to reversely move the pallet 104 toward the detection position Y (s710 in FIG. 5).

The control unit 206 starts the reversing timer (s360 in FIG. 3), and while measuring the reversing time, causes the driving unit 236 to continue reversing movement of the pallet 104 until the reversing time elapses (s370 in FIG. 3; No).

The inversion time of the pallet 104 may be the elapsed time of the delay timer described above, may be the same as the pressing time, or may be twice the pressing time. Since the reverse movement of the pallet 104 needs to be accelerated from a state where the pallet 104 is stopped, it is preferable to secure the necessary distance and time until the movement speed of the pallet 104 becomes the same.

In this embodiment, an example of controlling the reversal movement of the pallet 104 by the reversal time has been shown. However, the position of the pallet 104 is not limited to this, and the position of the pallet 104 may be returned to the front of the detection position Y (the side of the detection position Y opposite to the target position X). Therefore, the position of the pallet 104 may be changed as long as the pallet 104 is no longer detected at the detection position Y by the sensor 220, and the reverse movement may be stopped after the pushing time has elapsed after the pallet 104 is no longer detected at the detection position Y.

If the reversing time has elapsed (s370 in FIG. 3; Yes), the control unit 206 outputs a signal (drive output notification C) including an instruction to stop the reversing movement of the pallet 104 to the input/output unit 234 of the pallet driving device 230. (Fig. 3s380).

When the input/output unit 234 of the pallet drive device 230 receives the drive output notification C, it controls the drive unit 236 to stop the reverse movement of the pallet 104 (s750 in FIG. 5). As a result, the pallet 104 stops beyond the detection position Y (on the opposite side of the detection position Y to the target position X) (FIG. 6A).

When the reverse movement of the pallet 104 stops, the input/output unit 234 completes the reverse movement processing of the pallet 104 . The input/output unit 234 continues the reverse movement of the pallet 104 after the pallet 104 reaches the detection position Y ( FIG. 6B ) before completing the reverse movement processing of the pallet 104 . A signal (notification of completion of reversal) indicating that the reversal movement of has been stopped (FIG. 6(a)) may be output to the control unit 206 (s760 in FIG. 5).

The control unit 206 of the control device 200 again outputs the drive output notification A to the input/output unit 234 of the pallet drive device 230 (Fig. 3, s300). The control unit 206 confirms the reception of the reversal completion notification from the input/output unit 234 (s390 in FIG. 3; Yes), and then outputs the driving output notification A to the input/output unit 234 of the pallet driving device 230 (s300 in FIG. 3). You may

The input/output unit 234 again causes the driving unit 236 to start moving the pallet 104 toward the target position X (s610 in FIG. 4), and repeats the process of moving the pallet 104 until it is completed. However, the present invention is not limited to this, and the control unit 206 may wait for an instruction to resume operation after receiving a notification from the input/output unit 234 (s380 in FIG. 3; Yes).

According to the parking apparatus according to one embodiment of the present invention described above, the pallet 104 can be reliably moved, and the safety and convenience of the parking apparatus can be improved. Note that, in the present embodiment, the movement of the pallet 104 in the lateral direction of the vehicle body has been described as an example. However, it is not limited to this, and the parking apparatus according to one embodiment of the present invention can apply a similar configuration to vertical movement of the pallet 104 and vertical movement of the gate 108 .

Although the preferred embodiments of the present invention have been described in detail above, the present invention is not limited thereto.

<Modification 1>
For example, if the notification received by the control device 200 is a delayed incomplete notification (Fig. 3 s340; No), the parking device 100 according to one embodiment of the present invention returns the pallet 104 to the position before reaching the predetermined position. A configuration for controlling the driving device is shown. However, the present invention is not limited to this, and if the notification received by the control device 200 is a delayed incompletion notification, the storage unit may store that the movement of the pallet 104 has stopped before the predetermined time has elapsed. If the storage unit stores that the movement of the pallet 104 has stopped before the predetermined time elapses, the driving device can be controlled to return the pallet 104 to the position before reaching the predetermined position.

FIG. 7 is a diagram for explaining the processing of the control device when moving the pallet of the parking device according to the modification of the present invention. In the parking device according to this modified example, it is confirmed that the storage unit 204 stores the delay completion/incompleteness to complete the pallet movement processing, and the storage of the delay completion/incompletion is confirmed when the pallet movement processing is started again. Since it is the same as the parking device 100 according to one embodiment except that the parking device 100 is provided, repeated description will be omitted.

In this modification, the control unit 206 of the control device 200 reads the storage unit 204 when the operation panel 214 is operated by the user and the movement processing of the pallet 104 is started. (s700 in FIG. 7).

If the storage unit 204 has delayed completion storage (Fig. 7s700; Yes), the control unit 206 outputs a driving output notification A to the input/output unit 234 of the pallet driving device 230 (Fig. 7s300).

If the storage unit 204 has delay incompletion storage (Fig. 7s700; No), the control unit 206 outputs the driving output notification B to the input/output unit 234 of the pallet driving device 230 (Fig. 7s300).

After the control unit 206 of the control device 200 outputs the driving output notification B to the input/output unit 234 of the pallet driving device 230 (s350 in FIG. 7), the reversing timer is started (s360 in FIG. 7), and the reversing time has passed (s360 in FIG. 7s370; Yes), the driving output notification C is output to the input/output unit 234 of the pallet driving device 230 (Fig. 7s380), and the driving output notification A is output to the input/output unit 234 of the pallet driving device 230 again (Fig. , s300) is the same as the operation of the parking apparatus according to the embodiment when the pallet is moved.

After the control unit 206 of the control device 200 outputs the driving output notification A to the input/output unit 234 of the pallet driving device 230 (s300 in FIG. 7), does it receive the notification from the input/output unit 234 of the pallet driving device 230? 7s320) and confirming whether the notification is a delayed completion notification or a delayed non-completion notification (Fig. 7s340), the operation is the same as the movement of the pallet of the parking device according to the embodiment. be.

In this modification, if the notification received from the input/output unit 234 is a delayed completion notification (Fig. 7s340; Yes), the storage unit 204 of the control device 200 stores the delayed completion (Fig. 7s720) and moves the pallet 104. Complete the process. If the notification received from the input/output unit 234 is a delayed incompletion notification (Fig. 7s340; No), the storage unit 204 of the control device 200 stores the delay incompletion (Fig. 7s740) and completes the movement processing of the pallet 104. do.

According to one variation of the parking system of the present invention, the controller 200 stores a delayed completion (Fig. 7s720) or a delayed non-completion (Fig. 7s740) in the controller 200 so that the controller 200 can has reached the target position X (FIG. 6(c)). By having such a configuration, problems such as interference of the pallet 104 when the pallet 104 deviates from the target position X and starts the next movement can be avoided. By storing either delayed completion (Fig. 7s720) or delayed non-completion (Fig. 7s740) in the control device 200, the movement of the pallet 104 can be reliably performed, and the safety and convenience of the parking system can be improved. can be improved.

<Modification 2>
For example, the parking device 100 according to one embodiment of the present invention has a configuration in which the pallet driving device 230 has the input/output unit 234 and the gate driving device 240 has the input/output unit 244 . However, the processing of the input/output unit 234 and the input/output unit 244 may all be performed by the control unit 206 without being limited to this. FIG. 7 is a block diagram showing a schematic configuration of a parking device according to a modification of the invention. In the parking device 100a according to this modified example, the control unit 206 of the control device 200a receives information from the sensor 220, starts the delay timer, and measures the push-in time. Since it is the same as 100, repeated description is omitted.

DESCRIPTION OF SYMBOLS 100... Parking apparatus 102... Support|pillar 104... Pallet 108... Gate 200... Control device 204... Storage part 206... Control part 214... Operation panel 230... Pallet drive device 240... Gate drive device 220... Sensor

Claims (7)

a mobile object;
a driving device for moving the moving body;
a sensor that detects that the moving body has reached a predetermined position in the moving path of the moving body;
controlling the driving device to stop movement after a predetermined time when the sensor detects that the moving body has reached the predetermined position while moving the moving body toward a target position; and a control device that detects that the moving body has stopped moving before the predetermined time elapses. The control device controls the driving device to return the moving body to a position before reaching the predetermined position when detecting that the moving body has stopped moving before the predetermined time elapses. 2. The parking device of claim 1, comprising: The control device, when detecting that the movement of the moving object has stopped before the predetermined time has passed, stores that the movement of the moving object has stopped before the predetermined time has passed. with
If the storage unit stores that the movement of the moving body has stopped before the predetermined time elapses when moving the moving body toward the target position, the control device performs the predetermined 2. The parking system of claim 1, comprising controlling the drive to return the truck to the position it was in prior to reaching the position. The control device further comprises controlling the driving device to move the moving body toward the target position again after returning the moving body to the position before reaching the predetermined position. Item 4. The parking device according to any one of Items 1 to 3. 5. The parking device according to any one of claims 1 to 4, wherein the control device controls the driving device so as to return the moving body for the predetermined time or longer. 6. The parking device according to any one of claims 1 to 5, wherein the control device controls the drive device so as to return the moving body twice or more than the predetermined time. wherein the control device controls the driving device so as to stop the movement after the predetermined period of time after the moving body is no longer detected at the predetermined position by the sensor when returning the moving body. 5. The parking device according to any one of 1 to 4.

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