JP2023001935A - Unmanned confirmation device, parking device, and method of controlling parking device - Google Patents

Abstract

To provide an unmanned confirmation device capable of performing automatic unmanned confirmation within a parking device while ensuring sufficient safety.SOLUTION: An unmanned confirmation device 1000 comprises imaging means 1003 for chronologically and continuously obtaining a captured image of a boarding area 101, and an image analysis unit 1001 which has learned a learning model which has, as training data, an image to be detected including a person, analyzes the captured image output from the imaging means 1003 on the basis of the learning model, and outputs target detection information included in the captured image. Determination as to whether the boarding area 101 is in an unmanned state is executed on the basis of the output detection information, and when it is determined that the boarding area 101 is not in an unmanned state, the unmanned confirmation device 1000 holds an operating state.SELECTED DRAWING: Figure 5

Description

2. Description of the Related Art In a parking system such as a mechanical multi-storey car park, various processes and means are incorporated in its control method in order to ensure or improve safety during operation of the parking system.

Various measures have been taken to ensure adequate user safety in controlling the mechanical drive of parking devices.

For example, Patent Literature 1 discloses a control method for a mechanical multi-storey car park that can safely operate by preventing the entry/exit door from being closed while a person is left behind in the garage device. In the following paragraphs, the reference numerals of Patent Document 1 are shown in parentheses. The control method includes a first authentication process (S4) for authenticating the user based on a first authentication operation by the user before opening the entrance/exit door of the garage device, and a first authentication process (S4). After that, a transport calling process (S5) for calling the vehicle body transport means, a door opening process (S6) for opening the loading/unloading door after the arrival of the vehicle body transporting means, and a second authentication operation by the user before closing the loading/unloading door. a second authentication process (S8) for re-authentication of the user based on the After the verification process (S9) for verifying is matched with the verification result in the verification process (S9), the user operates a control panel provided outside the garage device to input a door closing instruction, and the door closing instruction is input. and a closing process (S12) for closing the entrance/exit door according to the procedure. Furthermore, the control method further includes a safety confirmation notification process (S11) for prompting the user to confirm safety in the garage device (4) between the verification process (S9) and the door closing process (S12). More specifically, after the second authentication operation, the display screen (31) and the voice speaker (32) notify the user to check the safety in the garage device (4). An instruction is given to press the closing button (36) to close the entrance/exit door (11). Following this, the user visually checks the inside of the garage device (4), confirms whether or not there is a person remaining in the garage device (4), and then presses the close button (36) to close the entrance/exit door (11). . Then, the user who has closed the entrance/exit door (11) can leave the mechanical multi-storey car park (1).

JP 2014-139401 A

However, with the conventional control method, when the user enters or leaves the vehicle, in addition to multiple authentication operations and door closing operations, the user has to leave the mechanical multi-level parking garage (parking device). Since the user is required to press the door close button after confirming the operation, there was a problem that the work load imposed on the user to ensure safety was heavy. Also, in the case of visual confirmation by humans, it is impossible to completely prevent oversights due to human error. Furthermore, if the user leaves without performing a series of these safety confirmation operations, the parking system will be left open, making it impossible for new users to enter the parking system, and the administrator will have to restart the parking system. There was also the problem of having to

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and provides an unattended confirmation device that enables automatic unattended confirmation of a parking device while ensuring sufficient safety, and the unattended confirmation device. The object of the present invention is to provide a parking device equipped with a parking device and a control method for the parking device.

An unattended confirmation device according to one aspect of the present invention includes: one or more parking spaces; a boarding/alighting area for a user to get on/off a vehicle; In a parking apparatus having a transport mechanism for transporting a vehicle to a predetermined parking room and transporting the vehicle in the predetermined parking room to the boarding/alighting area, the parking apparatus is connected to a control unit for controlling the operation of the parking apparatus, and the vehicle is connected to the boarding/alighting area. An unattended confirmation device for confirming an unattended state in
imaging means for continuously acquiring captured images of the boarding/alighting area over time;
A learning model has been trained using an image of a detection target including a person as training data, and the captured image output from the imaging means is analyzed based on the learning model, and detection information of the target included in the captured image. and an image analysis unit that outputs
Based on the output detection information, it is determined whether or not the boarding/alighting area is in an unmanned state, and when it is determined that the boarding/alighting area is not in an unmanned state, the unmanned confirmation device maintains an operating state. It is characterized by

According to the unattended confirmation device of the present invention, whether or not a detection target exists in the boarding/alighting area is based on the detection information of the target obtained by analyzing the captured image acquired by the imaging means by the learned image analysis unit. It is possible to automatically perform the confirmation of whether or not it is possible for the user to do so. When the AI automatically determines that the boarding/alighting area is not in an unmanned state (that is, in a state in which the detection target is not detected), the unmanned confirmation device maintains the operating state. Since the control unit of the parking device is connected to the unattended confirmation device, it is possible to control the operation of the parking device while ensuring safety according to the operating state or non-operating state of the unmanned confirmation device. Therefore, the unattended confirmation device of the present invention makes it possible to automatically confirm unattended status in the parking apparatus, thereby reducing the user's work load while ensuring the safety of the parking apparatus.

An unattended confirmation apparatus according to a further aspect of the present invention is the unattended confirmation apparatus according to the above aspects, wherein the imaging means includes a plurality of surveillance cameras that capture images of the boarding/alighting area, and the plurality of surveillance cameras cooperate to It is characterized in that the whole area of the boarding/alighting area is photographed. As a result, it is possible to prevent a blind spot from occurring in the getting-on/off area of the parking device.

An unattended confirmation device according to a further aspect of the present invention is the unmanned confirmation device according to the above aspects, wherein the image analysis unit includes, in the captured image, an object within an image range of a guide mirror installed on the wall surface of the boarding/alighting area, and/or Alternatively, it is configured not to detect the object within the image range of the entrance door. This prevents erroneous detection of a person or object located in an external space (outside the boarding/alighting area) reflected through the guide mirror or the entrance door as being present in the boarding/alighting area. can do.

An unattended confirmation device of a further aspect of the present invention is the unmanned confirmation device of the above aspect, further comprising an image processing unit for detecting a moving object by a rule-based method, wherein the image processing unit comprises a first captured image; comparing the first captured image with a second captured image of a frame immediately before the first captured image, and detecting a region changed between the first captured image and the second captured image as the moving body; When the image processing unit detects the moving object, the unattended confirmation device maintains an operating state. That is, by using a combination of an AI-based (learning-type) image analysis unit and a rule-based image processing unit, the unattended confirmation device changes from a non-operating state to an operating state simply by activating one of them. . By using the state information of the unattended confirmation device by the control unit, it becomes possible to operate the parking device with a greater emphasis on safety. For example, even if there is an omission in detection by the image analysis unit due to a malfunction of the device, etc., by detecting a moving target such as a person as a moving object and switching the unattended confirmation device from a non-operating state to an operating state, the control unit can be operated. It is possible to implement safety measures via

An unattended confirmation device of a further aspect of the present invention is the unmanned confirmation device of the above aspect, wherein the detection information includes one or more scores each indicating a probability that one or more detected objects are detection targets, and The boarding/alighting area is determined not to be unmanned when at least one of one or more scores exceeds a predetermined threshold.

An unattended confirmation apparatus according to a further aspect of the present invention is the unmanned confirmation apparatus of the above aspects, further comprising one or more detection sensors for detecting the existence of an object within the boarding/alighting area, wherein the one or more detection sensors detect the existence of an object within the boarding/alighting area. It is characterized in that the unattended confirmation device maintains an operating state when the presence of an object within the area is detected. That is, by using a combination of an AI (learning type) image analysis unit and a detection sensor that physically detects the presence of an object, the unattended confirmation device changes to an operating state simply by operating either one, It is possible to operate the parking device with a greater emphasis on safety. For example, even if there is an omission in detection by the image analysis unit due to a malfunction of the device, safety measures can be executed via the control unit by switching the unattended confirmation device from a non-operating state to an operating state when the detection sensor responds. It is possible to

A parking device according to one aspect of the present invention includes:
one or more parking compartments;
a boarding/alighting area for the user to board/alight from the vehicle;
a control panel arranged in an external space of the boarding/alighting area;
an entrance door that partitions the external space and the boarding/alighting area in an openable/closable manner;
a transport mechanism for transporting the vehicle in the boarding/alighting area to a predetermined parking room, and transporting the vehicle in the predetermined parking room to the boarding/alighting area;
a control unit that controls the operation of the parking device;
and the unattended confirmation device of the above form, which is communicably connected to the control unit.

That is, the parking device of this embodiment can be controlled by the control unit according to the state information indicating the operating state or non-operating state of the unattended confirmation device, thereby exhibiting the effects of the unmanned confirmation device of the above-described embodiment.

A further aspect of the parking device of the present invention is the parking device of the above aspect,
The control unit, for the parking device,
a first determination step of determining whether the unattended confirmation device is in an operating state;
a second determination step of determining whether or not the unmanned confirmation device has been kept in the non-operated state for a predetermined time when it is determined in the first determination step that the unmanned confirmation device is in the non-operated state;
In the second determination step, when the non-operating state of the unattended confirmation device is maintained for a predetermined time, a door closing step of controlling the closing of the entrance door is executed;
In the first determination step and the second determination step, when it is determined that the unattended confirmation device is in an operating state, the opening control of the entrance door is maintained.

That is, the parking device of this embodiment determines that the non-operating state of the unattended confirmation device has been maintained for a predetermined time and starts closing control of the entrance/exit door, thereby ensuring safety in the boarding/alighting area more reliably. It is.

A further aspect of the parking device of the present invention is the parking device of the above aspect,
After receiving an instruction to leave the vehicle from the user via the operation panel, the control unit instructs the parking device to:
a conveying step of conveying the vehicle from the parking room to the boarding/alighting area;
a door opening step of controlling the opening of the entrance door after the transportation of the vehicle to the boarding/alighting area is completed;
After the user leaves the vehicle from the boarding/alighting area, a vehicle leaving completion detection step of detecting completion of leaving the vehicle based on vehicle detection means for detecting the presence/absence of the vehicle in the boarding/alighting area;
a first determination step of determining whether or not the unattended confirmation device is in an operating state after detecting completion of leaving the vehicle;
a second determination step of determining whether or not the unmanned confirmation device has been kept in the non-operated state for a predetermined time when it is determined in the first determination step that the unmanned confirmation device is in the non-operated state;
In the second determination step, when the non-operating state of the unattended confirmation device is maintained for a predetermined time, a door closing step of controlling the closing of the entrance door is executed;
In the first determination step and the second determination step, when it is determined that the unattended confirmation device is in an operating state, the door opening control of the entrance door is maintained, and the first determination step is repeatedly performed. Characterized by

That is, the parking apparatus of this embodiment determines that the non-operating state of the unattended confirmation device has been maintained for a predetermined period of time and starts closing control of the entrance/exit door. is guaranteed to

A further aspect of the parking device of the present invention is the parking device of the above aspect,
The control unit further provides the parking device with:
After the closing control of the entrance door is started, a third determination step of further determining whether or not the unmanned confirmation device is in an operating state is executed, and if it is determined that the unmanned confirmation device is in an operating state, The closing control of the entrance/exit door is stopped, and the opening control of the entrance/exit door is started.

That is, in the parking device of this embodiment, even if a detection target such as a person enters the boarding/alighting area after the door closing control of the entrance door is started, the unattended confirmation device is immediately activated to close the entrance door. Since the control is stopped and the door opening control is performed, the object to be detected is prevented from being trapped in the parking device, and the safety in the boarding/alighting area is ensured more reliably.

A parking device according to a further aspect of the present invention is the parking device of the above aspect, further comprising a warning device that issues a warning toward the external space, wherein the control unit controls the opening of the entrance door after completion of leaving the vehicle is detected. It is characterized in that the warning device is operated before the start of the door closing control to alert the user. By the alert, the user can be notified that the entrance door will be automatically closed after the automatic unattended confirmation process.

A method of one aspect of the present invention is a control method of a parking device, wherein the parking device opens and closes one or more parking rooms, a boarding/alighting area for a user to get on/off the vehicle, and the external space and the boarding/alighting area. an entrance/exit door for partitioning, a transport mechanism for transporting a vehicle in the boarding/alighting area to a predetermined parking room, a transport mechanism for transporting a vehicle in the predetermined parking room to the boarding/alighting area, a control unit for controlling the operation of the parking device, and , an unattended confirmation device according to any one of claims 1 to 6 for confirming an unmanned state in the boarding/alighting area,
The control method is
a transporting step of transporting the vehicle from the parking room to the boarding/alighting area after receiving an instruction to leave the vehicle from the user;
a door opening step of controlling the opening of the entrance door after the transportation of the vehicle to the boarding/alighting area is completed;
After the user leaves the vehicle from the boarding/alighting area, a vehicle leaving completion detection step of detecting completion of leaving the vehicle based on vehicle detection means for detecting the presence/absence of the vehicle in the boarding/alighting area;
a first determination step of determining whether or not the unattended confirmation device is in an operating state after detecting completion of leaving the vehicle;
a second determination step of determining whether or not the non-operating state of the unmanned confirmation device has been maintained for a predetermined time when it is determined in the first determination step that the unmanned confirmation device is in a non-operating state;
a closing step of controlling the closing of the entrance door when the non-operating state of the unattended confirmation device is maintained for a predetermined time in the second determining step;
In the first determination step and the second determination step, when it is determined that the unattended confirmation device is in an operating state, the door opening control of the entrance door is maintained, and the first determination step is executed again. Characterized by

That is, in the control method of the parking device of the present embodiment, it is determined that the non-operating state of the unattended confirmation device has been maintained for a predetermined time, and the door closing control of the entrance door is started. This is a more reliable guarantee of sexuality.

INDUSTRIAL APPLICABILITY The unattended confirmation device of the present invention makes it possible to automatically confirm the unmanned state of a parking apparatus, thereby reducing the user's work load while ensuring the safety of the parking apparatus. In addition, the parking apparatus of the present invention operates according to the state information of the operating state or the non-operating state of the unattended confirmation device connected to the control unit, thereby ensuring the safety of the parking apparatus while allowing the conventional user to It is possible to replace the unattended confirmation operation by automatic unattended confirmation processing, and reduce the work burden on the user. Furthermore, the control method of the present invention allows the vehicle to be effectively exited from the parking system using the unattended verification system, improving user safety and convenience.

BRIEF DESCRIPTION OF THE DRAWINGS The perspective view which shows the mechanical structure of the parking apparatus (fork-type multilevel parking lot) of one Embodiment of this invention. The schematic diagram which looked at the parking device of FIG. 1 from the exterior front. The schematic diagram which looked at the internal structure of the parking apparatus of FIG. 1 from the front. FIG. 2 is a plan view of a boarding/alighting area of the parking device of FIG. 1; 1 is a block diagram showing the configuration of a parking device and an unattended confirmation device according to an embodiment of the present invention; FIG. FIG. 6 is a schematic diagram showing an imaging area and a detection area in the boarding/alighting area in the unattended confirmation device of FIG. 5 ; FIG. 2 is a schematic diagram showing an example of image analysis by an image analysis unit on a first captured image of a surveillance camera on the entrance/exit side in the unattended confirmation apparatus of one embodiment of the present invention; FIG. 8 is a schematic diagram showing another example of the image analysis pattern of FIG. 7; FIG. 4 is a schematic diagram showing an example of image analysis by an image analysis unit on a second image captured by a surveillance camera on the opposite side of the entrance in the unattended confirmation device of one embodiment of the present invention. FIG. 10 is a schematic diagram showing another example of the image analysis pattern of FIG. 9; The flowchart which shows the control method (retrieval process) of the parking apparatus of one Embodiment of this invention. The flowchart which shows the control method (warehousing process) of the parking apparatus of one Embodiment of this invention. The figure which shows the boarding/alighting area|region of the parking device of another embodiment of this invention.

An embodiment of the present invention will be described below with reference to the drawings. In addition, the shape of each drawing referred to in the following description is a conceptual diagram or a schematic diagram for describing suitable shapes and sizes, and the dimensional ratios and the like do not necessarily match the actual dimensional ratios. That is, the present invention is not limited to the dimensional ratios in the drawings.

The unattended confirmation device 1000 of the present embodiment is exemplarily incorporated in a parking device 100, which is a comb-tooth (fork) type multilevel parking lot. The unattended confirmation device 1000 determines whether or not the boarding/alighting area 101 of the parking device 100 is unattended, and transmits the signal (or state information) to the control unit 150 to automatically confirm the unattended condition. It is a device that First, the basic configuration of the parking device 100 of this embodiment will be described. FIG. 1 is a perspective view schematically showing a fork-type parking lot of a parking device 100 according to one embodiment of the present invention. FIG. 2 is a schematic diagram of the parking device 100 viewed from the front. FIG. 3 is a schematic diagram of the internal structure of the parking device 100 viewed from the front. FIG. 4 is a schematic plan view of the get-on/off area of the parking device 100. As shown in FIG. FIG. 5 is a block diagram showing the configuration of the parking device 100 and the unattended confirmation device 1000. As shown in FIG.

The parking device 100 of the present embodiment is a comb-teeth type mechanical multilevel parking lot that can park vehicles on a plurality of floors. Parking device 100 is connected to a power source (not shown) for power supply. The operation of the parking device 100 is controlled by a control section 150 (see FIG. 5). The control unit 150 has at least a processor and a storage unit, and stores programs (instructions) for controlling the parking device 100 and various information in the storage unit. Also, the control unit 150 may have communication means and acquire various information from an external server via the communication means. 5, the control unit 150 is connected to a vehicle detection means 115, an unattended confirmation device 1000, an operation panel 107, and a mechanical drive unit (conveyance mechanism, entrance door 106), which will be described later, to control each component. Controllable.

As shown in FIGS. 1 to 4, the parking device 100 includes a boarding/alighting area 101 for a user to get in and out of the vehicle, an elevating space 102 extending in the elevating direction from the boarding/alighting area 101 so as to allow the vehicle to ascend/descend to another floor, A plurality of parking compartments 103 arranged adjacent to the elevator space 102 in the horizontal direction to accommodate the vehicles traveling from the elevator space 102; have

The getting-on/off area 101 is arranged inside the parking device 100 so as to get on/off from the vehicle. Outside the boarding/alighting area 101, an external area adjacent to the roadway is arranged. The external area is an area that communicates with the boarding/alighting area 101 through the entrance/exit door 106 . The boarding/alighting area 101 is arranged at the same level as the roadway so that the vehicle can enter or leave the roadway. In addition, the boarding/alighting area 101 and the external area are separated by an entrance/exit door 106 . As shown in FIG. 2 , an operation panel 107 is provided on the outer wall of the parking device 100 adjacent to the entrance door 106 . A user can temporarily stop the vehicle in an external area for warehousing and input necessary information to the operation panel 107 to open/close the entrance door 106 and carry out warehousing processing of the vehicle. Alternatively, the user can open/close the entrance door 106, process the vehicle to exit the parking lot, and cause the vehicle to exit from the boarding/alighting area 101 to the outside area by inputting the information necessary for exiting the garage into the operation panel 107. . Further, a guide mirror 108 (see FIG. 1) is installed on the wall surface in front of the entrance door 106 to guide the entry of the vehicle.

In addition, in the boarding/alighting area 101, a rotating floor 110 is provided as a prescribed stop area for stopping the vehicle. The rotating bed 110 supports a parked vehicle and rotates to change the direction of the vehicle. The rotating bed 110 is provided with a plurality of comb teeth 111 arranged side by side at predetermined intervals in the front-rear direction so as to be able to support the front and rear wheels of the vehicle. Four tire mounting portions 111a are provided. This tire mounting portion 111a is part of a row of a plurality of comb teeth 111 extending forward and backward. Further, the boarding/alighting area 101 is provided with vehicle detection means 115 (see FIG. 5) that is provided to detect the presence or absence of a vehicle within the boarding/alighting area 101 . As an example, the vehicle detection means 115 may be a laser sensor provided on the wall of the boarding/alighting area 101 and arranged at a position capable of irradiating the side of the vehicle, or a laser sensor provided on the floor surface of the boarding/alighting area 101 to detect the vehicle on which the vehicle is placed. It may be a pressure sensor or a weight sensor that detects that. The vehicle detection means 115 may take any form as long as it detects the presence of a vehicle within the boarding/alighting area 101, such as infrared rays, metal detection, heat detection, photoelectric sensors, laser sensors, ultrasonic sensors, and radar sensors. , ranging sensor, loop coil, microwave, ETC, magnetic sensor, camera (image processing), pressure sensor, and the like.

Further, the boarding/alighting area 101 is provided with a plurality of monitoring cameras (imaging means) 1003 , a human sensor 1004 and an intrusion detection sensor 1005 , which are part of the components of the unattended confirmation device 1000 . In this embodiment, two monitoring cameras 1003 are installed in the boarding/alighting area 101 as imaging means. A first surveillance camera 1003 is installed at a predetermined height at a corner opposite to the entrance. As shown in FIG. 7, the first monitoring camera 1003 is arranged so as to photograph the wall surface provided with the entrance and the floor surface at the same time. The second surveillance camera 1003 is arranged diagonally opposite to the first surveillance camera 1003, and is installed at a predetermined height at the corner on the doorway side. As shown in FIG. 9, the second surveillance camera 1003 is arranged so as to photograph the wall surface on the opposite side of the doorway and the floor surface at the same time. The pair of monitoring cameras 1003 and 1003 are configured to work together to photograph the entire area of the boarding/alighting area 101 without creating a blind spot in the captured image. In addition, three motion sensors 1004 are installed on the wall near the entrance door 106 and on both left and right side walls as viewed from the entrance. Further, the doorway is provided with an intrusion detection sensor 1005 capable of detecting an object passing through the doorway. The above-mentioned vehicle detection means and various detection sensors may be based on any principle, and infrared rays, metal detection, heat detection, photoelectric sensors, laser sensors, ultrasonic sensors, radar sensors, ranging sensors, loop coils, It can be appropriately selected from microwave, ETC, magnetic sensor, camera (image processing), pressure sensor, and the like.

The elevating space 102 is a space for the elevating lift 120 to elevate, and extends over all floors. The height of the elevating space 102 is set according to the desired number of parking rooms 103, that is, the number of floors of the parking tower. In the lifting space 102 , the comb teeth of the lifting lift 120 and the comb teeth of the traversing tray 130 pass each other, whereby the vehicle is transferred between the lifting lift 120 and the traversing tray 130 .

Each parking room 103 is arranged so as to form a pair on both sides of the elevator space 102 in the horizontal direction on each floor different from the boarding/alighting area 101 . Each parking room 103 is a space in which one vehicle can be parked. Each parking room 103 is provided with a transverse tray 130 on which a vehicle is placed.

The accommodation portion 104 is a space provided to accommodate the lift 120 below the rotating floor 110 of the boarding/alighting area 101 . That is, the accommodation portion 104 is a space recessed in the boarding/alighting area 101 . During the operation of the parking device 100, the lift 120 is housed in the housing portion 104 as a retracted position so as not to interfere with the rotation of the rotating bed 110. As shown in FIG. A sensor, a limit switch, or the like can detect that the lift 120 is accommodated in the accommodation portion 104 .

As shown in FIG. 3 , the parking device 100 is stored in a rotating floor 110 installed in a boarding/alighting area 101 , a lift 120 that moves up and down in a lift space 102 , and a corresponding parking room 103 as a transport mechanism for a vehicle. In addition, a traversing tray 130 that traverses substantially horizontally along the traversing rail between the parking room 103 and the lifting space 102 is provided. The rotating bed 110 is composed of a plurality of comb teeth 111, has a comb-shaped frame on which a vehicle can be placed, and is configured so that the direction of the vehicle can be changed at a predetermined angle. As an example, the rotating bed 110 has a comb-teeth shape in which the comb-teeth extend outward from the central frame. In this embodiment, the rotating bed 110 is set to rotate 180 degrees to face either the front or rear of the vehicle toward the entrance door 106 . The rotating bed 110 is configured to rise when rotated. The lifting lift 120 has a comb-shaped frame on which a vehicle can be placed, and the frame moves vertically with respect to the comb-shaped frame of the rotating bed 110 in both the unrotated position and the rotated position of the rotating bed 110 . They are formed so that they can pass each other. As an example, the lifting lift 120 is composed of a pair of left and right divided frames, and comb teeth extend inward from the outer frame. In the present embodiment, as shown in FIG. 4, the lift 120 is arranged at the same height as the rotating bed 110 in the boarding/alighting area 101 in the initial configuration, and only when the rotating bed 110 is rotationally driven is the lift 120 lifted. to avoid interference with the storage unit 104. The traversing tray 130 has a comb-shaped frame on which a vehicle can be placed, and the frame is formed so as to pass the comb-shaped frame of the lift 120 in the vertical direction. As an example, the traversing tray 130 has a comb-teeth shape in which the comb-teeth extend outward from the central frame. A transverse tray 130 is stored in each parking room 103 . Traverse tray 130 is driven along traverse rails from parking compartment 103 to lift space 102, and by providing limit switches (not shown) on the traverse rails, its position can be more accurately controlled. . Note that the transport mechanism is driven by a general drive mechanism such as a motor and a pulley based on commands from the control unit 150, but the description of the drive mechanism is omitted here.

Next, the operation of the conveying mechanism when the parking device 100 is entering and leaving the garage will be described. When a vehicle is to be parked in a predetermined parking room 103, the vehicle is driven into the boarding/alighting area 101, and with the vehicle placed on the rotating floor 110, the lifting lift 120 is retracted into the storage section 104 as needed for rotation. (Alternatively, the lifting lift 120 may be placed in the housing portion 104 in advance), and the rotating bed 110 rotates. When the lifting lift 120 rises, the comb-shaped frames of the rotating bed 110 and the lifting lift 120 pass each other, and the vehicle is transferred from the rotating bed 110 to the lifting lift 120 . A lifting lift 120 loaded with a vehicle is lifted above the floor surface of a predetermined parking room 103 , and a traversing tray 130 is traversed in the lifting space 102 and arranged below the lifting lift 120 . Then, the lifting lift 120 descends, and the comb-shaped frames of the lifting lift 120 and the traversing tray 130 pass each other, whereby the vehicle is transferred from the lifting lift 120 to the traversing tray 130 . After the transfer, the vehicle is accommodated in the parking room 103 by the traversing tray 130 carrying the vehicle traveling along the traversing rail into the parking room 103 .

On the other hand, when a designated vehicle is to be taken out of a predetermined parking room 103, the traversing tray 130 loaded with the vehicle travels from the parking room 103 to the elevator space 102, and the vacant lift 120 is moved to the boarding/alighting area 101 or storage section. Up from 104. Then, the lift 120 is lifted so that the comb-shaped frames of the lift 120 and the traverse tray 130 pass each other and stops above the traverse tray 130 , and the vehicle is transferred from the traverse tray 130 to the lift 120 . The empty traversing tray 130 is then traversed into the original parking compartment 103 . Subsequently, the lift 120 in the loaded state is lowered to the ground floor, the vehicle is placed in the boarding/alighting area 101, the comb-shaped frames of the lift 120 and the rotating bed 110 overlap each other, and the vehicle is lifted from the lift 120. It is placed on the rotating bed 110 . If necessary, the rotating bed 110 rotates so that the vehicle can leave the garage. When the rotating bed 110 needs to be rotated, the lifting lift 120 descends to the housing portion 104 and is transferred to the rotating bed 110, and then the rotating bed 110 rotates.

Next, the unattended confirmation device 1000 introduced into the parking device 100 of this embodiment will be described. As shown in FIG. 5, the unattended confirmation device 1000 is configured to automatically determine whether the boarding/alighting area 101 is unmanned or occupied, and to communicate confirmation information as to whether or not it is unmanned to the control unit 150. there is The unattended confirmation device 1000 includes a monitoring camera 1003 (imaging means) that acquires captured images of the boarding/alighting area 101 continuously over time; An unmanned determination unit 1010 that determines whether or not the boarding/alighting area 101 is unmanned based on output information from the unit 1001 . Note that the surveillance camera 1003 captures a moving image composed of a collection of a plurality of frames (still images) captured continuously over time, and each frame constitutes a captured image. The frame rate of moving images may be set arbitrarily. In addition, it is preferable that the monitor camera 1003 is configured so as to be able to acquire a captured image even in the boarding/alighting area 101 in a dark environment when the lights are off.

Each monitoring camera 1003 has an imaging angle of view 1003a that defines an imaging area, as shown in FIG. The composite imaging area of the two surveillance cameras 1003 includes the entire floor surface of the boarding/alighting area 101 so that the surveillance cameras 1003 arranged on the diagonal line do not create blind spots. In other words, the pair of monitoring cameras 1003 and 1003 can cooperate to acquire an image of the entire floor area of the boarding/alighting area 101 as a captured image. That is, by using both the first captured image captured by the first monitoring camera 1003 and the second captured image captured by the second monitoring camera 1003 for image analysis or image processing, Areas that cannot be captured by the surveillance camera 1003 alone can be complemented with each other. Note that the number of monitoring cameras 1003 as imaging means may be arbitrarily increased or decreased.

Further, the image analysis unit 1001 is configured as an artificial intelligence (AI) type analysis means that has learned a learning model using an image of a detection target including a person as teacher data. Training of the learning model can be performed using existing machine learning techniques. In particular, in order to detect people in captured images, machine learning is performed by using images of various people, including adults, children, men, women, standing postures, sitting postures, and lying postures, as teacher data. model was built. This allows the image analysis unit 1001 to detect a person in the boarding/alighting area 101 with high accuracy. Further, the image analysis unit 1001 has been trained so that it can detect even an image of only a part of the human body including the head, arms, and legs as a detection target (person). . More preferably, machine learning may be performed to extend the detection target to other objects such as shoes, umbrellas, plastic bottles, laptops, mobile phones, and pets (dogs and cats). Furthermore, in order to further improve detection accuracy, an image captured by the surveillance camera 1003 depicting a detection target such as a person may be used for machine learning. Furthermore, by machine-learning an image including a plurality of cars (preferably, an image of a monitoring camera 1003 in which a car is parked in the boarding/alighting area 101) as training data, it is possible to determine whether or not there is a car in the boarding/alighting area 101. It is also possible to determine and detect a detection target including Alternatively, the image analysis unit 1001 may operate so as to also serve as the vehicle detection means 115 . As a detection algorithm, an existing or arbitrary object detection algorithm such as YOLO, Faster R-CNN, SSD, etc. can be used.

The image analysis unit 1001 is configured to analyze the input captured image based on the learning model and output detection information of a target (or object) included in the captured image. The detection information includes one or more scores each indicating a probability (0 to 1) that the determined object or objects (person or object image) is the detection object (person). One or more pieces of detection information are sent to the unmanned determination unit 1010, and when at least one of the one or more scores exceeds a predetermined threshold, it is determined that the boarding/alighting area 101 is not in an unmanned state. The threshold can be arbitrarily set by the administrator. The administrator can set a lower threshold when emphasizing safety, and can set a higher threshold when emphasizing operation. In this embodiment, the threshold is set to 0.3. Then, the unmanned determination unit 1010 determines whether or not the boarding/alighting area 101 is unmanned based on the detection information (first detection information) output from the image analysis unit 1001. When it is determined not to be in the state, the unattended confirmation device 1000 maintains the operating state. Note that the operating state by the image analysis unit 1001 of the unattended confirmation device 1000 can be switched to the non-operating state over time in response to changes in determination results based on successive captured images of the monitoring camera 1003 . The control unit 150 reads a signal (state information) indicating whether the unattended confirmation device 1000 is in an operating state or a non-operating state, and controls the parking device 100 according to the situation.

7 and 8 show an example of image analysis by the image analysis unit 1001 on the image captured by the first surveillance camera 1003 on the opposite side of the entrance. A first monitoring camera 1003 captures an image of the boarding/alighting area 101 including the entrance/exit. Let X denote the image of a person that has been taken. As shown in FIG. 7, when a person is included in the captured image, the image analysis unit 1001 detects the person in the captured image as a determination target, and displays the probability of being a person as a score together with a rectangular frame. For example, the score is displayed as "person0.92", meaning that there is a probability of 0.92 that the subject is a person. Also, even if the upper body of a person is cut off from the image and only the legs of the person are included, the image of the legs can be detected as the person. Furthermore, in this embodiment, erroneous detection of the target is prevented by setting a detection range and a non-detection range within the captured image. In other words, if the detection range is the entire captured image, the target reflected through the doorway can also be recognized as the detection target. Therefore, when a person outside the doorway is reflected, it is erroneously recognized that the boarding/alighting area 101 is in a manned state. In order to prevent such erroneous recognition, as shown in FIG. 7, a horizontal line passing through the lower end of the doorway (when the doorway 106 is open) is defined as a detection boundary line 1001a. The range was defined as a non-detection range, and the portion below the detection boundary line 1001a was defined as a detection range. An image of a person whose at least part exists within the detection range of the captured image is detected as a detection target, while an image of a person who exists only within the non-detection range is set not to be detected as a detection target. More specifically, as shown in FIG. 7, when the imaged figure exists in both the detection range and the non-detection range, it is detected as a person. On the other hand, as shown in FIG. 8, when a person to be detected exists outside the doorway and his figure is reflected through the doorway, the imaged figure of the person exists only in the non-detection range. , not detected as a person. Note that the setting of the non-detection range is not limited to this embodiment and may be arbitrarily set. For example, the non-detection range may be defined as a rectangular range or the perimeter of the entrance/exit.

9 and 10 show an example of image analysis by the image analysis unit 1001 on the image captured by the second monitoring camera 1003 on the entrance/exit side. A second monitoring camera 1003 captures an image of the boarding/alighting area 101 including the guide mirror 108 . Let X denote the image of a person that has been taken. As shown in FIG. 9, when a person is included in the captured image, the image analysis unit 1001 detects the image of the person in the captured image as a determination target, and displays the probability of being a person as a score together with a rectangular frame. In this embodiment, as in FIG. 7, erroneous target detection is prevented by setting a detection range and a non-detection range in the captured image. That is, if the detection range is the entire captured image, the target reflected on the guide mirror 108 can also be recognized as the detection target. Therefore, when a person outside the doorway is reflected in the guide mirror 108, it is erroneously recognized that the boarding/alighting area 101 is in a manned state. In order to prevent such erroneous recognition, as shown in FIG. A portion below the boundary line 1001b is defined as a detection range. An image of a person at least partly existing within the detection range of the captured image is detected as a detection target, while an image of a person existing only within the non-detection range is not detected as a detection target. More specifically, as shown in FIG. 9, when the imaged figure exists in both the detection range and the non-detection range, it is detected as a person. On the other hand, as shown in FIG. 10, when the person to be detected exists outside the doorway and is reflected in the guide mirror 108, the imaged figure is present only in the non-detection range. , not detected as a person. Note that the setting of the non-detection range is not limited to this embodiment and may be arbitrarily set. For example, the non-detection range may be defined as a rectangular range or the perimeter of guide mirror 108 .

The unattended confirmation device 1000 further includes an image processing unit 1002 for detecting a moving object by a rule-based method. As shown in FIG. 5, the image processing unit 1002 is connected to a monitoring camera 1003 and an unoccupied determination unit 1010 . The image processing unit 1002 is configured to process the captured image output from the monitoring camera 1003 and output the processed information to the unattended determination unit 1010 as second detection information. The image processing unit 1002 compares a first captured image captured at a predetermined time with a second captured image of a frame immediately preceding the first captured image, and compares the first captured image with the second captured image. 2 is configured to detect an area that has changed between the captured image and the second captured image as a moving object. That is, the image processing unit 1002 can perform rule-based processing on the captured image independently of the image analysis unit 1001 to detect objects that move within the boarding/alighting area 101 . Then, when the image processing unit 1002 detects a moving object, the unmanned determination unit 1010 determines whether the boarding/alighting area 101 It is determined that the unattended state is not present, and the unattended confirmation device 1000 maintains the operating state. On the other hand, when the image processing unit 1002 maintains the operating state, the state in which the image processing unit 1002 does not detect the moving object continues for a predetermined time (for example, 3 to 5 seconds). It is possible to switch to the active state. Note that the image analysis unit 1001 and the image processing unit 1002 may be integrated and configured to transmit one common signal to the unattended determination unit 1010 .

Unattended confirmation device 1000 further includes a plurality of detection sensors 1004 and 1005 that detect the presence of objects within boarding/alighting area 101 . One of the plurality of detection sensors is the human sensor 1004 provided at three locations in the boarding/alighting area 101 . As shown in FIG. 6, each human detection sensor 1004 has a detection area 1004a that extends in a circular (or radial) plan view, and the three detection areas 1004a overlap to cover almost the entire boarding/alighting area 101. are doing. In this embodiment, the human sensor 1004 can be selected from common infrared sensors. Also, one of the plurality of detection sensors is an intrusion detection sensor 1005 installed at the entrance. The intrusion detection sensor 1005 has a linear or planar detection area 1005a, as shown in FIG. 6, and can detect an object passing through a doorway. Intrusion detection sensor 1005 may be selected from common photoelectric sensors. Then, when one or both of the human sensor 1004 and the intrusion detection sensor 1005 detect a person or an object, based on the third detection information (or detection signal) transmitted from the detection sensor to the unmanned determination unit 1010, Unmanned determination unit 1010 determines that boarding/alighting area 101 is not unmanned, and unmanned confirmation device 1000 maintains the operating state. On the other hand, when the detection sensors 1004 and 1005 maintain the operating state, the detection sensors 1004 and 1005 change to the non-detecting state, thereby enabling the unattended confirmation device 1000 to switch from the operating state to the non-operating state. . In this embodiment, the human sensor 1004 and the intrusion detection sensor 1005 operate independently. The third detection information may be two distinct signals or one common signal.

That is, the unattended confirmation device 1000 of this embodiment includes the above-described image analysis unit 1001, image processing unit 1002, human sensor 1004 as first detection means, and intrusion detection sensor 1005 as second detection means. In combination, the safety within the boarding/alighting area 101 is automatically confirmed. The image analysis unit 1001, image processing unit 1002, human sensor 1004, and intrusion detection sensor 1005 operate independently of each other. Then, even if only one of the first, second and third detection information indicates the presence of the detection target and/or the object, the unattended confirmation device 1000 maintains its operating state. . In other words, even if two of the image analysis unit 1001, the image processing unit 1002, and the detection sensor change from the detection state to the non-detection state, if the remaining one indicates the detection state, the unattended confirmation device 1000 The active state is maintained without switching from the active state to the non-active state. As a result, it becomes possible to operate the parking apparatus 100 with a greater emphasis on safety. For example, even if there is an omission in detection due to a malfunction of the image analysis unit 1001, safety measures can be taken via the control unit 150 by activating the unattended confirmation device 1000 when the image processing unit 1002 or the detection sensor reacts. It is possible to execute

The image analysis unit 1001 , the image processing unit 1002 and the unattended determination unit 1010 of the unattended confirmation device 1000 can be constructed as a physical server (computer) installed in the parking device 100 . However, an external network such as a cloud server may be used for these constructions. Moreover, although the unattended determination unit 1010 is configured as a part of the unattended confirmation device 1000 , it may be incorporated in the control unit 150 .

Next, a method of controlling the parking device 100 with automatic unattended confirmation using the unattended confirmation device 1000 will be described. It should be noted that detailed description of processes other than unattended confirmation may be omitted and other processes may be added arbitrarily.

In general, the control unit 150 controls the operation of the parking device 100 to cause the parking device 100 to perform an automatic unattended confirmation process including the following steps. First, the control unit 150 activates the unattended confirmation device 1000 to start the unattended confirmation process. The unmanned confirmation process may be always executed while the parking device 100 is activated, or may be started at a predetermined timing. The unattended confirmation step includes a first determination step of determining whether or not the unmanned confirmation device 1000 is in an operating state. A second determination step of determining whether or not the non-operating state of has been maintained for a predetermined period of time, and in the second determining step, if the unmanned confirmation device 1000 has been maintained in the non-operating state of the apparatus for a predetermined period of time, the entrance door 106 is closed. closing door process to control; Then, when it is determined in the first determination process and the second determination process that the unattended confirmation device 1000 is in the operating state, the control unit 150 controls the door opening control of the entrance door 106 to be maintained. That is, when the boarding/alighting area 101 is manned, the entrance/exit door 106 is not closed. Furthermore, the unattended confirmation step may include a third determination step of further determining whether unattended confirmation device 1000 is in an operating state after closing control of entrance door 106 is started in the door closing step. When it is determined that the unattended confirmation device 1000 is in an operating state, the control unit 150 stops the closing control of the entrance door 106 and reverses to start the opening control of the entrance door 106 . That is, according to this control method, even if a detection target such as a person enters the boarding/alighting area 101 after the closing control of the entrance/exit door 106 is started, the unattended confirmation device 1000 is immediately activated and the entrance/exit is closed. Since the closing control of the door 106 is stopped and the door opening control is performed, it is possible to prevent the object to be detected from being confined in the parking device 100 and ensure safety in the boarding/alighting area 101 more reliably. .

Next, with reference to the flowchart of FIG. 11, the control method of the parking device 100 in the leaving operation of the parked vehicle incorporating the unattended confirmation process will be described.

First, the control unit 150 receives a vehicle exit instruction from the user via the operation panel 107 . In general, the user can issue a leaving instruction specifying a parked vehicle by operating the operation panel 107 for authentication. After receiving a vehicle exit instruction from the user via the operation panel 107, the control unit 150 drives the transport mechanism (mechanical drive unit) of the parking device 100 to transport the vehicle from the parking room 103 to the boarding/alighting area 101. (conveyance process). After the transportation of the vehicle to the boarding/alighting area 101 is completed, the vehicle detection means 115 detects the vehicle at a fixed position and controls the opening of the entrance/exit door 106 (door opening step). After the user leaves the vehicle from the boarding/alighting area 101, the completion of leaving the vehicle from the boarding/alighting area 101 is detected in response to the change of the vehicle detection means 115 to the undetected state (retrieval completion detection step). After the completion of leaving the vehicle is detected, the automatic unattended confirmation process by the unattended confirmation device 1000 is started. Unattended confirmation device 1000 may be activated at this point. First, it is determined whether or not the unattended confirmation device 1000 is in an operating state (first determination step). If it is determined in the first determination step that the unmanned confirmation device 1000 is in the non-operating state, it is determined whether or not the unmanned confirmation device 1000 has been kept in the non-operating state for a predetermined time (second determination step). This maintenance time is preferably 3 to 5 seconds from the viewpoint of processing speed and safety, but can be arbitrarily set by the administrator. In the second determination process, when the non-operating state of the unattended confirmation device 1000 is maintained for a predetermined time, the closing control of the entrance/exit door 106 is started (door closing process). Then, it is further determined whether or not the unattended confirmation device 1000 is in an operating state at least until the door closing control ends after the door closing control of the entrance door 106 is started (third determination step). When it is determined that the unattended confirmation device 1000 is in an operating state, the control unit 150 stops the closing control of the entrance door 106 and reverses to start the opening control of the entrance door 106 . On the other hand, when the non-operating state of the unattended confirmation device 1000 is maintained, the closing process of the entrance door 106 is completed. The automatic unattended confirmation process ends when the door closing process of the entrance door 106 is completed. After that, the parking device 100 is arbitrarily driven and controlled so that the next vehicle can enter and leave the garage, and a series of the leaving operation ends. It should be noted that the user can leave the parking device 100 after driving the vehicle and getting out of the parking device 100 and before completing all the leaving processes.

When it is determined that the unattended confirmation device 1000 is in the operating state in the first determination step to the third determination step, the control unit 150 determines that the operation state retention time of the unmanned confirmation device 1000 is within a predetermined set time. determine whether Although the predetermined set time is set to 60 seconds in this embodiment, it can be set arbitrarily by the administrator. When the unattended confirmation device 1000 changes to the non-operating state within a predetermined set time, the control unit 150 determines whether the number of retries is within the set number. Although the number of retries is set to three in this embodiment, it can be arbitrarily set by the administrator. If the number of retries is within the set number of times, the process returns to the first determination process (or may be the second determination process) to start the unattended confirmation process again. On the other hand, when the operation state retention time of the unattended confirmation device 1000 exceeds the predetermined set time, or when the number of retries exceeds the set number of times, the control unit 150 determines that the parking device 100 is abnormal. to stop Then, the parking device 100 is restored by removing the cause of the abnormality by the administrator of the parking device 100 . Either one or both of the step of determining whether the number of retries is within the set number of times and the step of determining whether the retention time of the operating state is within the predetermined set time may be omitted.

In addition, the parking device 100 may further include a warning device that issues a warning to the outside space by sound or lighting. The warning device may be an audio speaker provided on the operation panel 107 or a revolving light provided on the top of the operation panel 107 (not shown). In this embodiment, the control unit 150 activates an alarm device after detection of the completion of leaving the vehicle and before starting closing control of the entrance door 106 to alert the user by voice. Further, the control unit 150 performs control to visually alert the user by turning on the revolving lamp from the start to the completion of the door closing control of the entrance door 106 . The parking apparatus 100 can notify the user that the entrance/exit door will automatically close after the automatic unattended confirmation process by the alert.

Next, with reference to the flowchart of FIG. 12, the control method of the parking device 100 in the parking operation of the parked vehicle incorporating the unmanned confirmation process will be described. A part of the description of the same steps as the shipping step is omitted.

First, the control unit 150 receives a vehicle parking instruction from the user via the operation panel 107 . In general, the user can park the vehicle outside the entrance door 106 of the parking device 100 and perform an authentication operation on the operation panel 107 to instruct the vehicle to enter the parking lot. After receiving a vehicle warehousing instruction from the user via the operation panel 107, the control unit 150 causes the entrance/exit door 106 to be opened. Then, the user drives the vehicle, enters the boarding/alighting area 101 through the opened doorway, and stops the vehicle at a fixed position. The vehicle detection means 115 detects the vehicle at a fixed position and changes to the detection state. Then, the control unit 150 confirms that the user has left the boarding/alighting area 101 through the doorway, and detects completion of the vehicle entering/leaving the boarding/alighting area 101 (a warehousing completion detection step). Confirmation of the user leaving the boarding/alighting area 101 can be processed by the control unit 150 by combining one or more of the monitoring camera 1003 , the human sensor 1004 and the intrusion detection sensor 1005 . Alternatively, the control unit 150 may request the user to input to the operation panel 107 that the vehicle has left the boarding/alighting area 101 . After the completion of parking of the vehicle is detected, the automatic unmanned confirmation process by the unmanned confirmation device 1000 is started. Unattended confirmation device 1000 may be activated at this point. Since the automatic unattended confirmation process is the same as the leaving operation, the explanation thereof is omitted. The automatic unattended confirmation process ends when the door closing process of the entrance door 106 is completed. After that, the control unit 150 drives the transport mechanism to transport the vehicle to the designated parking room 103 . Then, the parking device 100 is arbitrarily driven and controlled so that the next vehicle can enter and leave the parking lot, and the series of parking operation ends. The user can leave the parking device 100 after stopping the vehicle in the getting-on/off area 101 and leaving the parking device 100 and before completing all the leaving processes.

Therefore, the unattended confirmation device 1000 and the parking device 100 of the present embodiment can automatically confirm unmannedness in the boarding/alighting area 101 while ensuring the safety of the parking device 100 .

The present invention is not limited to the above embodiments, and can take various embodiments and modifications. Another embodiment of the present invention will be described below.

[Modification]
(1) In a parking device 100' of another embodiment shown in FIG. 13, only a monitoring camera 1003 as imaging means is provided in the boarding/alighting area 101 of an unattended confirmation device 1000, and a detection sensor is omitted. The unattended confirmation device 1000 of this embodiment can sufficiently perform unattended confirmation even with the monitoring camera 1003 alone. In FIG. 13 , surveillance cameras 1003 are provided at four corners of the boarding/alighting area 101 . The angle of view of each monitoring camera 1003 may be different from each other. That is, at least one of the four imaging means may be provided with one or a plurality of monitoring cameras 1003 with a narrower angle of view in order to capture a larger image of a small object. In FIG. 13, the angles of view of the second monitoring cameras 1003, 1003 on the second diagonal are narrower than the first monitoring cameras 1003, 1003 on the first diagonal. Unattended determination can be performed by the image analysis unit 1001 alone or by a combination of the image analysis units 1001 and 1002 .

(2) The unmanned confirmation system of the present invention may be introduced into a pallet type parking system or a flat parking system, and similarly, it enables automatic unattended confirmation within the boarding/alighting area. Also, the parking device may be capable of charging a parked electric vehicle.

(3) In the above embodiment, the unattended confirmation device is configured by combining an AI-based image analysis section, a rule-based image processing section, and various detection sensors, but the present invention is not limited to this. For example, the unattended confirmation device may confirm the unattended state within the boarding/alighting area based only on the image analysis unit. Further, the unattended confirmation device may confirm the unattended state in the boarding/alighting area with respect to the image analysis part by either one of the image processing part and the detection sensor, or by combining other means. Further, the unattended verification device may be operable to selectively enable one or a combination of the image analysis unit, image processing unit and detection sensor to change the detection method depending on the situation.

(4) The parking apparatus of the above embodiment is a parking tower having a plurality of floors and two or more parking rooms installed on the same floor. It can also be applied to a parking lot with only one side (see FIG. 13).

(5) In the parking device of the above-described embodiment, the lifting lift is retracted in the accommodation section so that the rotating bed can rotate, but the present invention is not limited to this configuration. That is, in the parking device of the present invention, the accommodating portion may be omitted. In this case, the lift is initially placed on the floor of the boarding and alighting area, the rotating bed is lifted above the lifting lift (instead of the lifting lift retracting into the housing), and the rotating bed rotates so as not to interfere with the lifting lift. It becomes possible. In this modification, it is possible to omit the provision of the storage section, and the floor surface is positioned just below the comb teeth, so it is also suitable for wheelchair users.

The present invention is not limited to the above-described embodiments and modifications, and can be implemented in various forms within the technical scope of the present invention. That is, under the technical scope of the present invention, some configurations of the present embodiment may be omitted or modified, or other configurations may be added.

100 Parking device 101 Boarding area 102 Elevating space 103 Parking room 104 Storage unit 106 Entrance door 107 Operation panel 108 Guide mirror 110 Rotating floor 111 Comb tooth 115 Vehicle detection means 120 Elevating lift 130 Traversing tray 150 Control unit 1000 Unattended confirmation device 1001 Image analysis Part (AI method)
1001a Detected boundary line 1001b Detected boundary line 1002 Image processing unit (rule-based method)
1003 Surveillance camera (imaging means)
1003a Shooting angle of view 1004 Human sensor (detection sensor)
1004a detection area 1005 intrusion detection sensor (detection sensor)
1005a detection region 1010 unmanned determination unit X person image

Claims (12)

one or a plurality of parking rooms, a boarding/alighting area for a user to get on/off the vehicle, an entrance/exit door that partitions the external space and the boarding/alighting area in an openable/closable manner, and a vehicle in the boarding/alighting area to be transported to a predetermined parking room, A parking device having a transport mechanism for transporting a vehicle in a predetermined parking room to the boarding/alighting area, wherein the vehicle is connected to a control unit for controlling the operation of the parking system, and unattended confirmation for confirming an unmanned state in the boarding/alighting area. a device,
imaging means for continuously acquiring captured images of the boarding/alighting area over time;
A learning model has been trained using an image of a detection target including a person as training data, and the captured image output from the imaging means is analyzed based on the learning model, and detection information of the target included in the captured image. and an image analysis unit that outputs
Based on the output detection information, it is determined whether or not the boarding/alighting area is in an unmanned state, and when it is determined that the boarding/alighting area is not in an unmanned state, the unmanned confirmation device maintains an operating state. An unattended confirmation device characterized by: 2. The image pick-up means includes a plurality of monitoring cameras for capturing images in the boarding/alighting area, and the plurality of monitoring cameras work together to capture the entire area of the boarding/alighting area. Unattended confirmation device as described. The image analysis unit is configured not to detect an object within an image range of a guide mirror installed on a wall surface of the boarding/alighting area and/or an object within an image range of the entrance/exit door in the captured image. 3. The unattended confirmation device according to claim 1 or 2, wherein the Further comprising an image processing unit for detecting a moving object by a rule-based method, wherein the image processing unit processes a first captured image and a second captured image of a frame immediately preceding the first captured image. are compared, and an area changed between the first captured image and the second captured image is detected as the moving body,
4. The unattended confirmation device according to claim 1, wherein the unattended confirmation device maintains an operating state when the image processing unit detects the moving body. The detection information includes one or more scores each indicating a probability that one or more detected objects are detection targets, and when at least one of the one or more scores exceeds a predetermined threshold, the boarding/alighting 5. The unattended confirmation device according to any one of claims 1 to 4, wherein it is determined that the area is not unattended. Further comprising one or more detection sensors for detecting the presence of an object within the boarding/alighting area, and when the one or a plurality of detection sensors detect the presence of an object within the boarding/alighting area, the unattended confirmation device indicates an operating state. 6. The unattended confirmation device according to any one of claims 1 to 5, characterized in that it is held. A parking device,
one or more parking compartments;
a boarding/alighting area for the user to board/alight from the vehicle;
a control panel arranged in an external space of the boarding/alighting area;
an entrance door that partitions the external space and the boarding/alighting area in an openable/closable manner;
a transport mechanism for transporting the vehicle in the boarding/alighting area to a predetermined parking room, and transporting the vehicle in the predetermined parking room to the boarding/alighting area;
a control unit that controls the operation of the parking device;
A parking apparatus comprising: the unattended confirmation device according to any one of claims 1 to 6, which is communicably connected to the control unit. The control unit, for the parking device,
a first determination step of determining whether the unattended confirmation device is in an operating state;
a second determination step of determining whether or not the unmanned confirmation device has been kept in the non-operated state for a predetermined time when it is determined in the first determination step that the unmanned confirmation device is in the non-operated state;
In the second determination step, when the non-operating state of the unattended confirmation device is maintained for a predetermined time, a door closing step of controlling the closing of the entrance door is executed;
8. The parking according to claim 7, wherein when it is determined in the first determination step and the second determination step that the unattended confirmation device is in an operating state, opening control of the entrance door is maintained. Device. After receiving an instruction to leave the vehicle from the user via the operation panel, the control unit instructs the parking device to:
a conveying step of conveying the vehicle from the parking room to the boarding/alighting area;
a door opening step of controlling the opening of the entrance door after the transportation of the vehicle to the boarding/alighting area is completed;
After the user leaves the vehicle from the boarding/alighting area, a vehicle leaving completion detection step of detecting completion of leaving the vehicle based on vehicle detection means for detecting the presence/absence of the vehicle in the boarding/alighting area;
a first determination step of determining whether or not the unattended confirmation device is in an operating state after detecting completion of leaving the vehicle;
a second determination step of determining whether or not the unmanned confirmation device has been kept in the non-operated state for a predetermined time when it is determined in the first determination step that the unmanned confirmation device is in the non-operated state;
In the second determination step, when the non-operating state of the unattended confirmation device is maintained for a predetermined time, a door closing step of controlling the closing of the entrance door is executed;
In the first determination step and the second determination step, when it is determined that the unattended confirmation device is in an operating state, the opening control of the entrance door is maintained, and the first determination step is repeatedly executed. 8. A parking device according to claim 7. The control unit further provides the parking device with:
After the closing control of the entrance door is started, a third determination step of further determining whether or not the unmanned confirmation device is in an operating state is executed, and if it is determined that the unmanned confirmation device is in an operating state, 10. The parking device according to claim 8, wherein closing control of said entrance door is stopped and opening control of said entrance door is started. A warning device is further provided for issuing a warning to the outside space, wherein the control unit operates the warning device during a period from detection of the completion of leaving the vehicle to before start of door closing control of the entrance door, so that the user can 11. The parking device according to any one of claims 8 to 10, characterized in that it draws attention to. A control method for a parking device, wherein the parking device includes one or more parking rooms, a boarding/alighting area for a user to get on/off the vehicle, an entrance/exit door that partitions the external space and the boarding/alighting area in an openable/closable manner, and the boarding/alighting area. to a predetermined parking room, a transport mechanism for transporting the vehicle in the predetermined parking room to the boarding/alighting area, a control unit for controlling the operation of the parking device, and an unmanned state in the boarding/alighting area. Equipped with an unmanned confirmation device according to any one of claims 1 to 6 for confirmation,
The control method is
a transporting step of transporting the vehicle from the parking room to the boarding/alighting area after receiving an instruction to leave the vehicle from the user;
a door opening step of controlling the opening of the entrance door after the transportation of the vehicle to the boarding/alighting area is completed;
After the user leaves the vehicle from the boarding/alighting area, a vehicle leaving completion detection step of detecting completion of leaving the vehicle based on vehicle detection means for detecting the presence/absence of the vehicle in the boarding/alighting area;
a first determination step of determining whether or not the unattended confirmation device is in an operating state after detecting completion of leaving the vehicle;
a second determination step of determining whether or not the non-operating state of the unmanned confirmation device has been maintained for a predetermined time when it is determined in the first determination step that the unmanned confirmation device is in a non-operating state;
a closing step of controlling the closing of the entrance door when the non-operating state of the unattended confirmation device is maintained for a predetermined time in the second determining step;
In the first determination step and the second determination step, when it is determined that the unattended confirmation device is in an operating state, the door opening control of the entrance door is maintained, and the first determination step is executed again. A method characterized.

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