JP2023148140A - mechanical parking lot - Google Patents

Abstract

To provide a mechanical parking lot capable of shortening a recovery time in a case where a detection unit performs erroneous detection.SOLUTION: A mechanical parking lot 100 of a certain aspect comprises: a boarding/alighting room 2 in which a vehicle 1 and a user of the vehicle 1 can enter and exit; a parking room 3 in which the plurality of vehicles 1 can be stored; a conveyance mechanism 4 which conveys a vehicle entering the boarding/alighting room 2 to the parking room 3; a detection unit 5 which detects a status of at least one of the boarding/alighting room 2, the parking room 3 and the conveyance mechanism 4; a first determination unit which determines whether or not a detection result of the detection unit 5 is abnormal; and a second determination unit which determines whether or not it is erroneous detection when the first determination unit determines that the detection result is abnormal.SELECTED DRAWING: Figure 1

Description

The present invention relates to a mechanical parking lot.

Mechanical parking lots are known as parking lots that can efficiently park a large number of vehicles in a small space. In Patent Document 1, the present applicant disclosed a technology for a mechanical parking lot that stores vehicles in storage racks. This parking lot is equipped with a sensor that detects a predetermined value of the mechanical parking lot, an imaging unit that captures an image of the inside of the mechanical parking lot, and a recording unit that records the image. When the corresponding value is detected, the recording unit records the in-house video captured at the time of the detection.

JP2018-159242A

The present inventor has obtained the following new knowledge regarding mechanical parking lots. Mechanical parking lots that are equipped with transport equipment that stores vehicles that have entered the boarding/disembarking room in the parking space are equipped with multiple detection units that detect abnormalities in the boarding/disembarking room, parking room, and transport equipment to ensure proper operation. ing. If this detection unit detects an abnormality, the parking facility will stop operating and restoration work will be carried out with the cooperation of outside repair personnel. In this case, it takes time for an outside repair person to move, so it takes time to restore the system, and during that time, users cannot use the parking lot, which is inconvenient.

The inventor of the present invention has recognized that there are cases where the detection unit detects an abnormality due to false detection by the detection unit, and that depending on the cause, there are cases where recovery can be performed on-site in a short time. However, in conventional mechanical parking lots, it is not possible to determine whether the abnormality detected by the detection unit is due to false detection, so there is a problem in that even if false detection is the cause, the recovery time cannot be shortened.

The present invention has been made in view of such problems, and one of the objects of the present invention is to provide a mechanical parking lot that can shorten the recovery time when the detection section makes a false detection.

In order to solve the above problems, a mechanical parking lot according to an aspect of the present invention includes a boarding and alighting room where vehicles and vehicle users can enter and exit, a parking room where a plurality of vehicles can be stored, and a boarding and alighting room where vehicles and vehicle users can enter and exit the parking lot. a transport mechanism that transports the vehicle to the parking room; a detection unit that detects a state of at least one of the passenger compartment, the parking room, and the transport mechanism; and a first determination that determines whether the detection result of the detection unit is abnormal. and a second determination unit that determines whether or not there is an erroneous detection when the first determination unit determines that there is an abnormality.

Note that arbitrary combinations of the above-mentioned components and mutual substitution of the components and expressions of the present invention among methods, devices, systems, etc. are also effective as aspects of the present invention.

ADVANTAGE OF THE INVENTION According to this invention, the mechanical parking lot which can shorten recovery time when a detection part makes a false detection can be provided.

It is a front view showing a mechanical parking lot concerning an embodiment. FIG. 2 is a plan view showing a parking room of the mechanical parking lot shown in FIG. 1. FIG. FIG. 2 is a block diagram showing functional blocks of the mechanical parking lot shown in FIG. 1. FIG. It is a figure which shows the 1st example of the 1st detection part in a passenger compartment. It is a figure which shows the 2nd example of the 1st detection part in a passenger compartment. It is a figure which shows the 1st example of the 2nd detection part in a parking room. It is a figure which shows the 2nd example of the 2nd detection part in a parking room. It is a figure which shows the 3rd detection part in a lifting mechanism. It is a figure which shows the 1st waveform of the detection signal of a detection part. It is a figure which shows the 2nd waveform of the detection signal of a detection part. It is a figure which shows the 3rd waveform of the detection signal of a detection part.

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below based on preferred embodiments with reference to the drawings. In the embodiments and modified examples, the same or equivalent components and members are given the same reference numerals, and redundant explanations will be omitted as appropriate. Further, the dimensions of members in each drawing are shown enlarged or reduced as appropriate to facilitate understanding. Further, in each drawing, some members that are not important for explaining the embodiments are omitted.

Also, although ordinal terms such as first, second, etc. are used to describe various components, these terms are used only to distinguish one component from another; The components are not limited by this.

[Embodiment]
The configuration of a mechanical parking lot 100 according to an embodiment will be described with reference to the drawings. FIG. 1 is a front view showing a mechanical parking lot 100. FIG. 2 is a plan view showing the parking room 3. FIG. 3 is a block diagram showing functional blocks of the mechanical parking lot 100.

The following description will be based on the XYZ orthogonal coordinate system. For convenience, the X-axis direction corresponds to a horizontal front-back direction, the Y-axis direction corresponds to a horizontal left-right direction, and the Z-axis direction corresponds to a vertical up-down direction. In the X-axis direction, the direction indicated by the arrow is called the "right direction" or "right side," and the opposite direction is called the "left direction" or "left side." In the Y-axis direction, the direction indicated by the arrow is referred to as the "rear direction" or "rear side", and the opposite direction is referred to as the "front direction" or "front side". The Y-axis direction and the Z-axis direction are each orthogonal to the X-axis direction. The notation of these directions does not limit the form of the mechanical parking lot 100, and the mechanical parking lot 100 can be used in any form.

First, the overall configuration of the mechanical parking lot 100 will be explained. The mechanical parking lot 100 includes a boarding room 2, a parking room 3, a transport mechanism 4, an information processing section 10, a detection section 5, an imaging section 6, and a parking room imaging section 7. The information processing section 10 includes a first determination section 16 , a second determination section 17 , a third determination section 18 , and an instruction section 19 . In the embodiment, the boarding room 2 is provided inside a building 28 on the ground, and the parking room 3 is provided underground. In the example of FIG. 1, the parking lot 3 is provided on the first basement floor. Hereinafter, the detection signals from the detection unit 5 may be collectively referred to as detection signals S5, and the imaging results from the imaging unit 6 may be collectively referred to as image data S6.

The passenger compartment 2 is configured so that the vehicle 1 and the user of the vehicle 1 can enter and exit. The passenger compartment 2 is surrounded by walls on all sides, and has a door 25 that opens and closes an entrance 24 leading to the outside of the building 28. The door 25 opens when allowing the vehicle 1 and the user of the vehicle 1 to enter and leave the venue, and closes when restricting entry and exit. Incoming cars enter the passenger compartment 2 through the entrance/exit 24, and outgoing vehicles exit the passenger compartment 2 through the entrance/exit 24. A pallet opening 29 surrounding the elevating pallet 43 is provided in the floor 27 of the passenger compartment 2. The passenger compartment 2 is provided with a first detection section 51, which will be described later.

The parking room 3 will be explained with reference to FIG. The parking room 3 is a facility that can store a plurality of vehicles 1. The parking room 3 may be provided in one or more levels. The parking room 3 includes a guide frame 33 and a plurality of pallets 32. The guide frames 33 are arranged on the floor 39 of the parking room 3 in a grid pattern in the front, rear, left and right directions. The guide frame 33 can be composed of a steel frame, a can frame, etc. extending in horizontal longitudinal and lateral directions. The pallet 32 is a plate-shaped structure on which the vehicle 1 can be mounted, and is moved back and forth and left and right along the upper surface of the guide frame 33 by a pallet moving mechanism (not shown). In addition, although this description has shown an example in which the vehicle 1 is placed on the pallet 32 and moved by the pallet moving mechanism, the present invention is not limited to this. For example, the vehicle may be moved by an AGV (Automatic Guided Vehicle) that travels automatically without any human intervention.

In the parking lot 3, when leaving the vehicle 1, the surrounding pallets 32 are moved back and forth and left and right like a puzzle using empty spaces (hereinafter simply referred to as "spaces 34"), and the pallet 32 on which the vehicle 1 is placed is moved. It is moved to the transport mechanism 4. A second detection section 52, which will be described later, is provided in the parking room 3. The space 34 is an area where the guide frame 33 is exposed when the pallet 32 moves elsewhere.

The transport mechanism 4 will be explained with reference to FIG. The transport mechanism 4 is configured to be able to carry the vehicle 1 into the parking room 3 and to take the vehicle 1 out from the parking room 3. In other words, the transport mechanism 4 is a movement mechanism that moves the vehicle 1 up and down between the passenger compartment 2 and the parking compartment 3. The transport mechanism 4 of the embodiment includes a lifting device 41, a lifting pallet 43, and a hoistway 44. The lifting device 41 is a device that lifts and lowers the vehicle 1 and the lifting pallet 43. The elevating pallet 43 is a plate-like structure on which the vehicle 1 is placed and elevated. The hoistway 44 is a space in which the vehicle 1 and the hoisting pallet 43 move up and down, and can be constructed of columns, beams, and the like. A ground floor portion of the transport mechanism 4 is provided in the passenger compartment 2, and an underground floor portion of the transport mechanism 4 is provided in the parking room 3. The transport mechanism 4 is provided with a third detection section 53, which will be described later.

The information processing section 10 will be explained with reference to FIGS. 1 and 3. In the embodiment, the information processing unit 10 is provided in a control panel 26 installed in a building 28. The control panel 26 is provided with an operation input section 262 for inputting operations by a parking lot manager or a user. The information processing section 10 controls the operations of the boarding room 2, the parking room 3, and the transport mechanism 4 in accordance with the operation of the operation input section 262 by the parking lot manager or the user. The operation input unit 262 transmits operation information related to operation input by the parking lot manager or the user to the information processing unit 10.

Each block of the information processing unit 10 shown in FIG. 3 can be realized in terms of hardware by an element or mechanical device such as a CPU (Central Processing Unit) of a computer, and in terms of software, it can be realized by a computer program or the like. However, here we depict the functional blocks realized by their cooperation. Therefore, those skilled in the art who have been exposed to this specification will understand that these functional blocks can be realized in various ways by combining hardware and software.

The information processing section 10 includes an input section 101, a storage section 102, a communication section 103, a boarding room control section 104, a parking room control section 105, a transport mechanism control section 106, a first judgment section 16, a second judgment section 17, and a third judgment section 102. It includes a determination section 18 and an instruction section 19.

The input unit 101 receives operation information from the operation input unit 262, detection signals from the detection unit 5 (first detection unit 51, second detection unit 52, third detection unit 53), and imaging unit 6 (first imaging unit 61, third detection unit 53). The image data of the second imaging unit 62 and the third imaging unit 63 (the image data includes still images and moving images; the same applies hereinafter) and the image data of the parking room imaging unit 7 are received. The input unit 101 also receives the operation results of the reset switch 266 and restart switch 268.

The storage unit 102 stores operation information from the operation input unit 262, detection signals from the detection unit 5 (the first detection unit 51, the second detection unit 52, and the third detection unit 53), and the imaging unit 6 (the first imaging unit 61, the third detection unit 53). The image data of the second imaging section 62 and the third imaging section 63) and the image data of the parking room imaging section 7 are stored in chronological order. The storage unit 102 stores predetermined parameters such as various threshold values.

The communication unit 103 communicates with the host system 112 via the communication means 111, transmits predetermined information to the host system 112, and receives predetermined information from the host system 112. The communication means 111 may be a public line such as the Internet, a private line, or other means. The host system 112 may be a computer system provided at a maintenance management company for the mechanical parking lot 100, or may be a cloud computing system.

The passenger compartment control unit 104 controls the opening/closing operation of the door 25 of the passenger compartment 2 . The parking room control unit 105 controls the operation of the pallet moving mechanism in order to move the pallet 32 in the parking room 3. The transport mechanism control unit 106 controls the lifting and lowering operation of the lifting pallet 43 of the transport mechanism 4.

The first determination unit 16 determines whether the detection result of the detection unit 5 is abnormal. The second determination unit 17 determines whether or not it is a false detection when the first determination unit 16 determines that there is an abnormality. The third determination unit 18 determines whether automatic recovery is possible when the second determination unit 17 determines that there is a false detection.

The instruction unit 19 outputs an instruction signal K for enabling the transport mechanism 4 to be restarted when the second determination unit 17 determines that there is a false detection. The instruction section 19 will be described later.

The detection unit 5 will be explained. The detection unit 5 detects the state of at least one of the passenger compartment 2, the parking compartment 3, and the transport mechanism 4, and transmits the detected detection result to the information processing unit 10 as a detection signal. The detection section 5 of the embodiment includes a first detection section 51 that detects the state of the passenger compartment 2, a second detection section 52 that detects the state of the parking room 3, and a third detection section that detects the state of the transport mechanism 4. 53.

The imaging unit 6 will be explained. The imaging section 6 images the detection section 5 in at least one of the passenger compartment 2, the parking room 3, and the transport mechanism 4, and transmits the imaging result to the information processing section 10 as image data. The imaging unit 6 of the embodiment includes a first imaging unit 61 that images the first detection unit 51, a second imaging unit 62 that images the second detection unit 52, and a third imaging unit that images the third detection unit 53. 63.

The first detection section 51 and first imaging section 61 of the passenger compartment 2 will be described with reference to FIGS. 3, 4, and 5. The first detection unit 51 includes an object detection unit 512 that detects people or objects in the passenger compartment 2, and a protrusion detection unit 513 that detects protrusion of the vehicle 1. From the viewpoint of reducing blind spots and detection omissions, a plurality of object detection sections 512 and protrusion detection sections 513 may be provided. The first imaging unit 61 includes a camera 612 that images the object detection unit 512 and a camera 613 that images the protrusion detection unit 513. A plurality of cameras 612 and 613 may be provided.

FIG. 4 shows an example of the arrangement of the object detection section 512 as a first example of the first detection section 51 in the passenger compartment 2. As shown in FIG. In this example, two object detection units 512 are disposed in the passenger compartment 2 near two opposing corners of the passenger compartment 2, and two cameras 612 are installed at positions where the object detection units 512 can be imaged. is placed. The two object detection units 512 can be arranged at a predetermined height from the floor 27, for example. The two cameras 612 are arranged, for example, near the ceiling, take images of the object detection section 512, and transmit the imaging results to the information processing section 10 as image data S612.

Although there is no limitation on the detection method of the object detection unit 512, the object detection unit 512 in this example is a laser distance measuring sensor (hereinafter referred to as a “laser sensor”) that detects the distance to an object using reflected light of an irradiated laser beam. including. In the embodiment, the object detection unit 512 is arranged at a predetermined height from the floor 27, and irradiates a laser beam in a substantially horizontal direction to detect the presence or absence of an object in preset detection ranges 5121 and 5122 (indicated by hatching). Detect. The detection ranges 5121 and 5122 can be set, for example, to a band-shaped area surrounding the pallet opening 29 on all sides.

The object detection unit 512 transmits the detection result of the object detection unit 512 to the information processing unit 10 as a detection signal S512. When the user exits the passenger compartment 2 and the door 25 is closed after entering or exiting the warehouse, the transport mechanism 4 starts the transport operation. The information processing unit 10 includes a first determination unit 16, and the first determination unit 16 monitors the detection signal S512, and after the start of the conveyance operation, the detection signal S512 indicates whether there is a person or object in the passenger compartment 2. When indicating a detection state in which the detection signal S512 (detection result) is detected, the detection signal S512 (detection result) is determined to be abnormal. If the detection result is determined to be abnormal, the information processing unit 10 stops the transport operation. Hereinafter, a state in which the operation is stopped when an abnormality is determined will be referred to as an "abnormal stop state." In this state, restart of the transport operation is regulated until the abnormal stop state is canceled by a predetermined procedure.

FIG. 5 shows an example of the arrangement of a protrusion detection section 513 as a second example of the first detection section 51 in the passenger compartment 2. As shown in FIG. In this example, two protrusion detection sections 513 are arranged in the passenger compartment 2 near the pallet opening 29, and two cameras 613 are arranged at positions where they can respectively image the protrusion detection sections 513. The two protrusion detection parts 513 can be arranged at a predetermined height from the floor 27, for example. The two cameras 613 are arranged, for example, near the ceiling, take images of the protrusion detection section 513, and transmit the imaging results to the information processing section 10 as image data S613.

Although there is no limitation on the detection method of the protrusion detection section 513, the protrusion detection section 513 in this example is a photoelectric sensor consisting of a light emitter P that emits a light beam and a light receiver Q that receives the light beam. The light beam of the projector P has an optical axis extending in the X-axis direction along the long side of the pallet opening 29 or the elevating pallet 43. The light beam of the projector P passes through the pallet opening 29 or the space above the lifting pallet 43 at a position where the protrusion of the vehicle 1 can be detected.

The protrusion detection unit 513 transmits the detection result of the protrusion detection unit 513 to the information processing unit 10 as a detection signal S513. When the user exits the passenger compartment 2 after entering the warehouse and the door 25 is closed, the transport mechanism 4 starts the transport operation. The first determination unit 16 of the information processing unit 10 monitors the detection signal S513, and detects the detection signal S513 ( detection result) is determined to be abnormal. If the detection result is determined to be abnormal, the information processing unit 10 stops the transport operation.

With reference to FIG. 6, the second detection section 52 and second imaging section 62 of the parking room 3 will be explained. FIG. 6 shows an example of the arrangement of a parking room image sensor 522 and a lift image sensor 523 as a first example of the second detection unit 52 in the parking room 3. The second detection unit 52 includes a parking lot image sensor 522 that detects an abnormal operation in the parking lot 3, and a lift image sensor 523 that detects an abnormal operation in the underground floor portion of the transport mechanism 4. From the viewpoint of reducing blind spots and detection omissions, a plurality of parking room image sensors 522 and lift image sensors 523 may be provided. The second imaging unit 62 includes a camera 622 that images the parking room image sensor 522 and a camera 623 that images the lift image sensor 523. A plurality of cameras 622 and 623 may be provided.

The parking lot image sensor 522 is the parking lot image capturing section 7 that captures an image of the parking lot 3 .

In this example, in the parking lot 3, four parking lot image sensors 522 are arranged near four corners on the ceiling side of the parking lot 3, and the four parking lot image sensors 522 are placed at positions where each of the parking lot image sensors 522 can capture an image. One camera 622 is arranged. The four cameras 622 capture images of the parking room image sensor 522 and transmit the captured images to the information processing unit 10 as image data S622.

The four parking room image sensors 522 are cameras that can image the entire parking room from four directions. In this example, the four parking room image sensors 522 also serve as four cameras 622. That is, the parking lot image sensor 522 (A) on the upper left in FIG. 6 also functions as a camera 622 (A) that images the parking lot image sensor 522 (C) on the lower right in FIG. 6, which is arranged approximately diagonally. , the parking room image sensor 522(C) also functions as a camera 622(C) that captures an image of the parking room image sensor 522(A). Similarly, the parking lot image sensor 522 (B) on the upper right in FIG. 6 also functions as a camera 622 (B) that images the parking lot image sensor 522 (D) on the lower left in FIG. 6, which is arranged approximately diagonally. , the parking room image sensor 522(D) also functions as a camera 622(B) that captures an image of the parking room image sensor 522(B).

The lift image sensor 523 is a camera capable of capturing an image of the upper surface of the lifting pallet 43 in the underground floor portion of the hoistway 44 of the transport mechanism 4, and is arranged on the ceiling side of the parking room 3. The parking room image sensor 522 (D) also functions as a camera 623 that images the lift image sensor 523. The camera 623 images the lift image sensor 523 and transmits the image sensing result to the information processing unit 10 as image data S623.

Although there is no limitation on the detection method of the parking lot image sensor 522 and the lift image sensor 523, the parking lot image sensor 522 and the lift image sensor 523 in this example are cameras that output the imaging results as image data S522 and S523. Data S522 and S523 are transmitted to the information processing section 10.

In this way, the second detection unit 52 (parking room image sensor 522, lift image sensor 523) can acquire image data, and the second determination unit 17 uses the image data acquired by the second detection unit 52. Based on this, false positives can be determined. The false detection determination based on image data will be described later.

The first determination unit 16 of the information processing unit 10 monitors the image data S522 and S523, and determines that the image data S522 and S523 (detection results) are abnormal when an unsteady object is detected in the image data at a predetermined timing. judge. If the detection result is determined to be abnormal, the information processing unit 10 stops the transport operation. Irregular objects are things that cannot exist in the parking lot 3 or the lifting pallet 43 during normal times, and include people, objects left by people, small animals, plastic bags, and the like. The first determination unit 16 can determine an unsteady object by analyzing the size, shape, color, movement, etc. of the difference between the reference image data stored in advance and the image data S522 and S523.

Another example of the second detection unit 52 and second imaging unit 62 of the parking room 3 will be described with reference to FIG. 7. FIG. 7 is a diagram showing an example of the arrangement of the lift height detection section 524 as a second example of the second detection section 52 in the parking room 3. The second detection unit 52 includes a lift height detection unit 524 that detects whether the lift height is appropriate, and the second imaging unit 62 includes a camera 624 that captures an image of the lift height detection unit 524. The lift height is the height of the elevating pallet 43 of the transport mechanism 4 when it is lowered into the parking room 3.

In the example of FIG. 7, the lift height detection unit 524 is arranged at the front end of the lifting pallet 43, and a reflection plate 525 is arranged in the structure of the parking room 3. The lift height detection section 524 projects a light beam 526 forward, receives the reflected light from the light beam 526 reflected by the reflection plate 525, and outputs a detection signal S524 corresponding to the amount of received light as a detection result to the information processing section. Send to 10. The amount of light received is maximum when the lift height is the reference height, and decreases as the difference between the lift height and the reference height increases. Therefore, the signal level of the detection signal S524 changes depending on the lift height. As another example, the amount of light received inside the reflector plate is configured so that it is approximately constant, and if the light is reflected, it is determined that the lift is within the allowable height range, and if the light is not reflected, it is determined that the lift is within the allowable height range. It may be determined that the lift is outside the permissible height range.

The camera 624 images the lift height detection section 524 and the reflection plate 525, and transmits the imaging result to the information processing section 10 as image data S624. The camera 624 is placed near the floor 39 of the parking room 3.

The positions of the lift height detection section 524 and the reflection plate 525 are set such that the detection signal S524 exceeds the threshold value when the lift height is within an allowable range (when it is an appropriate height). The first determination unit 16 of the information processing unit 10 monitors the detection signal S524, and when the detection signal S524 does not exceed the threshold when the vehicle 1 is transferred between the transport mechanism 4 and the parking room 3. Then, the detection signal S524 is determined to be abnormal. If the detection result is determined to be abnormal, the information processing unit 10 stops the transport operation. An abnormality in the detection signal S524 may occur not only when the lift height is abnormal but also when dust, insects, etc. (hereinafter referred to as "adhesive matter") are attached to the lift height detection section 524 or the reflection plate 525.

With reference to FIG. 8, the third detection section 53 and third imaging section 63 of the transport mechanism 4 will be explained. FIG. 8 is a diagram showing an example of the arrangement of the hatchback detection section 532 as the third detection section 53 in the transport mechanism 4. The third detection section 53 includes a hatchback detection section 532 that detects the hatchback state of the vehicle 1 using the transport mechanism 4 . The third imaging section 63 includes a camera 632 that images the hatchback detection section 532. Although there is no limitation on the detection method of the hatchback detection section 532, the hatchback detection section 532 in this example includes a laser sensor that detects the distance to an object using the reflected light of the irradiated laser light.

The hatchback detection unit 532 is arranged at a predetermined height, irradiates a laser beam in a substantially horizontal direction, and detects the presence or absence of an object on a preset detection surface 5322 (indicated by hatching). The detection surface 5322 is set above the elevating pallet 43 of the transport mechanism 4 that has descended into the parking room 3. The detection surface 5322 has a rectangular shape that is smaller than the planar contour of the lifting pallet 43 by a predetermined margin. The detection surface 5322 is configured to be able to detect an abnormal state in which the hatchback of the vehicle 1 is opened.

The hatchback detection unit 532 transmits the detection result of the hatchback detection unit 532 to the information processing unit 10 as a detection signal S532. The first determination unit 16 of the information processing unit 10 monitors the detection signal S532, and determines whether the detection signal S532 indicates a detection state when transferring the vehicle 1 between the transport mechanism 4 and the parking room 3. , the detection signal S532 (detection result) is determined to be abnormal. If the detection result is determined to be abnormal, the information processing unit 10 stops the transport operation.

The camera 632 images the hatchback detection unit 532, and transmits the imaging result to the information processing unit 10 as image data S632. The cameras 632 are arranged diagonally across the elevating pallet 43.

(Second judgment section)
A factor in which the detection result of the detection unit 5 indicates an abnormality may be an erroneous detection by the detection unit 5, and depending on the cause, there are cases where recovery can be performed on-site in a short time. Therefore, the embodiment includes a second determination unit 17 that determines whether or not there is a false detection (hereinafter referred to as “false detection determination”) when the first determination unit 16 determines that there is an abnormality. Although there is no limitation on the method of false detection determination, in the embodiment, period determination, waveform determination, and image determination are employed as false detection determination.

(Period determination)
Period determination will be explained with reference to FIGS. 9, 10, and 11. FIG. 9 shows the waveform G1 of the detection signal of the detection unit 5 in a non-abnormal state. FIG. 10 shows the first waveform G2 of the detection signal from the detection unit 5 when it is determined that there is an abnormality. FIG. 11 shows the second waveform G3 of the detection signal of the detection unit 5 when it is determined that there is an abnormality. In these figures, the horizontal axis shows the elapsed time, the vertical axis shows the signal level in percentage, and the threshold for abnormality determination is 50%.

The first type of false detection is caused by a flying foreign object such as a small animal such as an insect, a bird, or a mouse, or a flying foreign object such as garbage passing through the detection range of a laser sensor, photoelectric sensor, or image sensor. This type also includes those caused by electromagnetic noise. In the case of the first type, the period during which an abnormality in the detection signal of the detection unit 5 is detected (hereinafter referred to as "abnormality detection period") can be said to be quite short. Therefore, the second determination unit 17 determines false detection (hereinafter referred to as "period determination") based on the period during which an abnormality in the detection signal of the detection unit 5 is detected (hereinafter referred to as "abnormality detection period"). ). The abnormality detection period is a period in which the waveforms G2 and G3 exceed the threshold value.

The first waveform in FIG. 10 shows the abnormality detection period P1 (30 seconds in this example) in the case of no false detection, and the second waveform in FIG. 11 shows the abnormality detection period P2 in the case of the first type of false detection. (in this example, less than 1 second). In the embodiment, the threshold value of the abnormality detection period is set to 1 second based on the results of experiments and simulations. The second determination unit 17 determines that there is a false detection when the abnormality detection period is less than the threshold (1 second), and determines that there is no false detection when the abnormality detection period is equal to or greater than the threshold (1 second). That is, the second determination unit 17 determines that the waveform in FIG. 11 is a false detection, and determines that the waveform in FIG. 10 is not a false detection. The abnormality detection periods P1 and P2 are periods during which the waveforms G2 and G3 exceed the threshold values.

In the embodiment, period determination is applied to detection signals from a laser sensor (object detection unit 512, hatchback detection unit 532) and a photoelectric sensor (protrusion detection unit 513, lift height detection unit 524).

(Waveform judgment)
A second type of false detection is a case where the abnormality is caused by a small animal such as an insect, a bird, a mouse, or a flying foreign object such as garbage, and the abnormality detection period exceeds a threshold and it is determined that there is no false detection. Therefore, the second determination unit 17 determines false detection based on the waveform of the detection signal from the detection unit 5 (hereinafter referred to as "waveform determination"). For example, the second determination unit 17 can determine that the detection result of the detection unit 5 is an erroneous detection when the waveforms of the detection signal before and after the detection signal is determined to be abnormal satisfy a waveform condition regarding a preset waveform pattern.

This waveform condition is extracted from the abnormal waveform by collecting the normal waveform of the detection signal and the abnormal waveform in a state that simulates the abnormality occurrence state through experiments or simulations, and comparing it with the normal waveform. It can be set according to the characteristics of the waveform pattern. Characteristics of the waveform pattern can be obtained, for example, by mathematical analysis (eg, Fourier analysis) of the waveform. The second determination unit 17 determines that there is a false detection when the waveform of the detection signal at the time of abnormality detection satisfies the waveform condition, and determines that there is no false detection when the waveform of the detection signal at the time of abnormality detection does not satisfy the waveform condition. . Note that a configuration may also be adopted in which the characteristics of the waveform during normal times are extracted and a false detection is determined when the waveform conditions during normal times are not satisfied.

In the embodiment, waveform determination is applied to detection signals from a laser sensor (object detection unit 512, hatchback detection unit 532) and a photoelectric sensor (protrusion detection unit 513, lift height detection unit 524).

(Image judgment)
A third type of false detection is caused by small animals such as insects, birds, and rats, or foreign matter such as dust continuing to adhere to the detection unit 5. Therefore, the second determination unit 17 determines false detection based on the imaging result of the imaging unit 6 that images the detection unit 5 (hereinafter referred to as “image determination”). For example, the second determination unit 17 can determine false detection based on the image data acquired by the imaging unit 6.

In the embodiment, image data of the detection unit 5 captured during normal operation is stored in advance in the storage unit 102 as reference image data. For example, the second determination unit 17 compares the abnormality determination image data of the detection unit 5 captured when the abnormality is determined with the reference image data, and determines that it is a false detection if there is a significant difference between them. However, if there is no significant difference between these, it is determined that there is no false positive. Also, for example, if there is a significant difference in the image because it shows something that does not exist during normal operation, it can be determined that there is a malfunction, and if the object in the image is an insect or dust that does not cause any problems with the operation of the machine, the image can be determined. It may also be possible to determine a false detection when it can be determined through analysis. Further, for example, if there is no significant difference from the normal state after the abnormality is detected, it may be determined that the insect or dust was detected only momentarily and that the detection is false. Furthermore, for example, image data not only obtained at the time of abnormality detection but also subsequent image data can be used for comparison. If a foreign object (such as an insect) appears in the image when an abnormality is detected, and the foreign object disappears after that, it can be determined to be a false detection.

In addition, as another example, the second determination unit 17 detects the presence or absence of a deposit by image analysis of the image data at the time of abnormality determination using AI technology, and determines that the deposit is false detection when a deposit is detected. If not detected, it can be determined that there is no false detection.

In the embodiment, image determination is performed using laser sensors (object detection unit 512, hatchback detection unit 532), photoelectric sensors (protrusion detection unit 513, lift height detection unit 524), and image sensors (parking room image sensor 522, lift image sensor 523).

(Manual recovery)
This is a case where the second determination unit 17 determines that the detection is false, and it may be possible to recover manually (hereinafter referred to as "manual recovery"). For example, if image judgment shows that there is something attached to the detection unit 5, recovery can be achieved by manually removing the attachment. Therefore, the embodiment includes an instruction section 19 that outputs an instruction signal K for allowing an operation to return the transport mechanism 4 to a restartable state when the second determination section 17 determines that there is an erroneous detection. In the embodiment, when the instruction signal K is output, a message is displayed on the display device 264 provided on the control panel 26 to the effect that the reset switch 266 should be turned on after removing the deposits from the detection unit 5. In this description, an example has been shown in which the reset operation is executed based on the instruction signal when the second determination unit 17 determines that there is an erroneous detection, but the present invention is not limited to this. For example, if the reset operation is omitted and the second determination unit 17 determines that the detection is false, the transport mechanism 4 is returned to a restartable state, the abnormal stop state is released, and the restart switch 268 is displayed on the display device 264. A message indicating that the switch should be turned on may be displayed, and the transport operation may be restarted when the restart switch 268 is turned on.

When the reset switch 266 is turned on after removing the deposits, the information processing unit 10 performs an operation (hereinafter referred to as "reset operation") to return the transport mechanism 4 to a restartable state. As an example, the reset operation includes an operation of returning the lifting pallet 43 to a predetermined position, and by this returning operation, the lifting pallet 43 may be returned to the boarding room 2 or the lifting pallet 43 may be returned to the parking room 3. It's okay.

After the reset operation is completed, the information processing unit 10 releases the abnormal stop state and displays a message on the display device 264 to the effect that the restart switch 268 should be turned on. When the restart switch 268 is turned on, the information processing section 10 restarts the conveyance operation.

(Automatic recovery)
This is a case where the second determination unit 17 determines that the detection is false, and it may be possible to recover automatically without human intervention. For example, if a false detection is determined by period determination or waveform determination, recovery may be automatically performed from the viewpoint of early recovery. Therefore, the embodiment further includes a third determining unit 18 that determines whether automatic recovery is possible when the second determining unit 17 determines that there is an erroneous detection. If the third determination unit 18 determines that automatic recovery is possible, the information processing unit 10 outputs an automatic recovery instruction signal to cancel the abnormal stop state and restart the stopped conveyance operation. Note that before canceling the abnormal stop state, a siren or the like can be used to notify that the conveyance operation will be resumed.

Further, the information processing unit 10 may transmit an automatic recovery instruction signal to the higher-level system 112, and restart the transport operation when permission is obtained from the higher-level system 122 or its operator. After receiving the permission, the information processing unit 10 may cancel the abnormal stop state, perform a reset operation, and restart the conveyance operation.

Further, the conditions under which automatic recovery is possible may be limited to a case where a false detection is determined by period determination or a waveform determination, but a false detection is not determined by image determination. For example, the determination as to whether automatic recovery is possible is based on a combination of conditions such as the emergency stop button not being pressed, the evacuation door not being opened, and the parking lot being empty. It may be limited to cases where the following conditions are satisfied.

The detection signal (including image data) from the detection unit 5 and the image data from the imaging unit 6 may be transmitted to the host system 112 via the communication means 111. The host system 112 may perform the above-described period determination, waveform determination, and image determination and transmit the determination results to the information processing unit 10, and the information processing unit 10 may operate based on the determination results. The determination in the higher-level system 112 may include a determination by the operator of the higher-level system 112. Furthermore, the above-described period determination, waveform determination, and image determination may be performed in duplicate by the information processing unit 10 and the host system 112. In particular, manual and automatic recovery decisions may be made in the higher-level system 112.

The characteristics of the mechanical parking lot 100 configured as described above will be explained. The mechanical parking lot 100 includes a boarding room 2 where vehicles 1 and users of the vehicle 1 can enter and exit, a parking room 3 where a plurality of vehicles 1 can be stored, and a parking room 3 for vehicles that have entered the boarding room 2. A detection unit 5 that detects the state of at least one of the transport mechanism 4, the passenger compartment 2, the parking compartment 3, and the transport mechanism 4, and a first determination that determines whether the detection result of the detection unit 5 is abnormal. section 16, and a second determination section 17 that determines whether or not there is a false detection when the first determination section 16 determines that there is an abnormality.

According to this configuration, the second determination unit 17 can determine whether the cause of abnormality detection by the detection unit 5 is due to false detection. When the second determination unit 17 determines that the detection is false, the time required for recovery can be shortened.

In the embodiment, when the second determination unit 17 determines that there is a false detection, the transport mechanism 4 is returned to a restartable state. In this case, if it is determined to be a false detection, it is possible to return to a restartable state.

In the embodiment, the transport mechanism 4 has a lift pallet 43 for loading and transporting the vehicle 1, and the operation of returning the transport mechanism 4 to a state where it can be restarted involves returning the lift pallet 43 to a predetermined position. It is an action. In this case, the elevating pallet 43 can be returned to a predetermined position by the reset operation.

In the embodiment, the second determination unit 17 determines false detection based on the abnormality detection period of the detection signal S5 of the detection unit 5. In this case, a false detection can be determined if the abnormality detection period of the detection signal S5 satisfies a preset condition.

In the embodiment, the second determination unit 17 determines false detection based on the waveform of the detection signal S5 from the detection unit 5. In this case, a false detection can be determined if the waveform of the detection signal S5 satisfies preset conditions.

In the embodiment, the detection unit 5 is capable of acquiring image data, and the second determination unit 17 determines false detection based on the image data acquired by the detection unit 5. In this case, if the image data acquired by the detection unit 5 satisfies preset conditions, it can be determined that the detection is false.

The embodiment further includes an imaging section 6 that images the detection section 5, and the second determination section 17 determines false detection based on the imaging result of the imaging section 6. In this case, if the imaging result of the imaging unit 6 satisfies preset conditions, it can be determined that the detection is false.

The embodiment further includes a parking room imaging section 7 that images the parking room 3, and the second determination section 17 determines false detection based on the imaging result of the parking room imaging section 7. In this case, if the imaging result of the parking room imaging unit 7 satisfies preset conditions, it can be determined that the detection is false.

The embodiment further includes a third determining unit 18 that determines whether automatic recovery is possible when the second determining unit 17 determines that it is a false detection, and when the third determining unit 18 determines that automatic recovery is possible. Outputs a recovery instruction signal. In this case, the information processing unit 10 can cancel the abnormal stop state and automatically restart the conveyance operation.

The above is the description of the embodiment.

The above has been described based on several embodiments of the present invention. Those skilled in the art will understand that these embodiments are illustrative and that various modifications and changes are possible and within the scope of the claims of the present invention. It is about to be done. Accordingly, the description and drawings herein are to be regarded in an illustrative rather than a restrictive sense.

(Modified example)
A modified example will be explained below. In the drawings and description of the modified example, the same reference numerals are given to the same or equivalent components and members as in the embodiment. Explanation that overlaps with the embodiment will be omitted as appropriate, and configurations that are different from the embodiment will be mainly explained.

In the description of the embodiment, an example is shown in which the waveforms G1, G2, and G3 of the detection signals of the detection unit 5 are at a low level (approximately 0%) in a normal state and are at a high level (approximately 100%) in an abnormal state. It is not limited to this. For example, the waveform of the detection signal may be high level (approximately 100%) during normal conditions and low level (approximately 0%) during abnormal conditions, or may have various other waveforms.

For example, a device capable of achieving a predetermined illuminance may be installed in the space where the detection unit 5, the imaging unit 6, or the parking room imaging unit 7 is installed.

In the description of the embodiment, an example was shown in which the number of the passenger compartments 2 and the number of transport mechanisms 4 is one, but the number is not limited to this. For example, the number of passenger compartments and transport mechanisms 4 may be two or more.

In the description of the embodiment, an example is shown in which the number of levels of parking rooms is one, but the number is not limited to this. For example, the number of floors of parking rooms may be two or more.

Each of these modified examples has the same functions and effects as the embodiment.

Any combination of the above-described embodiments and modifications are also useful as embodiments of the present invention. A new embodiment resulting from a combination has the effects of each of the combined embodiments and modified examples.

1 Vehicle, 2 Boarding/exiting room, 3 Parking room, 4 Transport mechanism, 5 Detection unit, 6 Imaging unit, 7 Parking room imaging unit, 10 Information processing unit, 16 First determination unit, 17 Second determination unit, 18 Third determination Section, 19 Instruction section.

Claims (9)

A boarding and alighting area where vehicles and vehicle users can enter and exit;
A parking lot that can accommodate multiple vehicles,
a transport mechanism that transports the vehicle that has entered the passenger compartment to the parking compartment;
a detection unit that detects a state of at least one of the passenger compartment, the parking compartment, and the transport mechanism;
a first determination unit that determines whether the detection result of the detection unit is abnormal;
a second determination unit that determines whether or not it is a false detection when the first determination unit determines that there is an abnormality;
Mechanical parking lot with. The mechanical parking lot according to claim 1, wherein when the second determination unit determines that the detection is false, the conveyance mechanism is returned to a restartable state. The transport mechanism has a pallet on which a vehicle is placed and transported,
The mechanical parking lot according to claim 2, wherein the operation of returning the transport mechanism to a restartable state is an operation of returning the pallet to a predetermined position. The mechanical parking lot according to any one of claims 1 to 3, wherein the second determination unit determines false detection based on the abnormality detection period of the detection signal of the detection unit. The mechanical parking lot according to any one of claims 1 to 4, wherein the second determination unit determines false detection based on the waveform of the detection signal from the detection unit. The detection unit according to any one of claims 1 to 5, wherein the detection unit is capable of acquiring image data, and the second determination unit determines false detection based on the image data acquired by the detection unit. Mechanical parking lot. further comprising an imaging unit that captures an image of the detection unit,
The mechanical parking lot according to any one of claims 1 to 6, wherein the second determination unit determines false detection based on the imaging result of the imaging unit. further comprising a parking room imaging unit that images the parking room,
The mechanical parking lot according to any one of claims 1 to 7, wherein the second determination unit determines false detection based on the imaging result of the parking room imaging unit. further comprising a third determining unit that determines whether automatic recovery is possible when the second determining unit determines that there is a false detection;
The mechanical parking lot according to any one of claims 1 to 8, wherein an automatic restoration instruction signal is output when the third determination unit determines that automatic restoration is possible.

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