JP2024027497A - Transport device and bicycle parking system - Google Patents

Abstract

To reduce labor in storing a bicycle and stably hold the bicycle without user intervention.SOLUTION: A transport device comprising a conveyance device 4 and a transport machine 5 is a transport device for gripping the front wheel of a bicycle and moving the bicycle in the front-back direction, wherein a placing part having a guide part capable of moving the bicycle in the front-back direction, a gripping part constituted to be moved in the front-back direction on the placing part and grips the front wheels from both sides of the front wheels in the width direction by moving in the width direction of the front wheels; and the gripping part has a first-shaped part that grips the front wheel in the width direction from the rear side to the front side of the axle, below the axle of the front wheel.SELECTED DRAWING: Figure 1

Description

The present invention relates to a transport device and a bicycle parking system.

As a device for gripping a bicycle when transporting the bicycle in a mechanical bicycle parking lot, there are devices disclosed in Patent Documents 1 and 2, for example. The clamp device disclosed in Patent Document 1 grips a part of the lower half of the front wheel of a bicycle and the axle of the front wheel by sandwiching them between clamp pieces in the direction of the axle. The bicycle gripped by this clamp piece is pulled into the transfer table, and is transported by the transfer table to a storage shelf and stored therein. The bicycle parking device disclosed in Patent Document 2 grips a bicycle by clamping the front side of the front wheel of the bicycle or the lower side of the front wheel in the direction of the axle with clamp pieces, and transports the bicycle with the front wheel gripped to a storage section. do.

Japanese Patent Application Publication No. 10-292661 Japanese Patent Application Publication No. 9-328923

For example, in the case of a bicycle in which the front wheel hub axle is fixed to the front fork by a quick release, or a bicycle in which the front wheel brake is a disc brake, the device disclosed in Patent Document 1 allows the clamp piece to be attached to the quick release or disc brake. Because the front wheel is held asymmetrically between the left and right sides, it becomes difficult to stably grip the front wheel. The bicycle parking device disclosed in Patent Document 2 clamps not the axle but the front side of the front wheel axle or the side below the front wheel axle, so the clamp piece does not come into contact with the quick release or disc brake device, and the front wheel is stabilized. and can be held. However, the bicycle parking device disclosed in Patent Document 2 uses a stopper to restrict the entry position of the front wheel of the bicycle when the bicycle is parked in the parking lot, and detects the tire tip with a sensor provided in the stopper to operate the clamp piece and park the front wheel. In order to grasp the bicycle, the user must move the front wheel to the stopper position, which takes time and effort to store, and also makes automation difficult as the user must support the bicycle by themselves until the front wheel is grasped. .

The present invention has been made in view of the above-mentioned problems, and the present invention has been made to reduce the trouble of warehousing and to stably hold a bicycle without the user's intervention, and a parking device equipped with the same. The purpose is to provide a wheel system.

A conveyance device according to one aspect of the present invention is a conveyance device that grips a front wheel of a bicycle and moves the bicycle in a front-back direction, the conveyance device including a mounting section having a guide section that can move the bicycle in the front-back direction. , a gripping portion configured to be movable in the front-rear direction on the mounting portion and configured to move in the width direction of the front wheel to grip the front wheel from both sides in the width direction, the gripping portion comprising: A first shaped portion is provided below the axle of the front wheel and grips the front wheel in the width direction from the rear side to the front side of the axle.

In the conveying device according to the present invention, when the gripping portion grips the front wheel, the gripping portion has a second shaped portion that grips the front wheel from below to above the axle in a portion in front of the axle of the front wheel. You can also do this.

A bicycle parking system according to the present invention includes any one of the above-mentioned conveying devices and a positioning section for positioning a rear wheel of a bicycle at a predetermined position, and a parking area in which an area where the bicycle is stored and taken out is formed. A storage shelf in which bicycles are stored, which has a storage unit that includes a storage section and a positioning section that positions a rear wheel of the bicycle at a predetermined position, a lifting device that lifts and lowers the transport device, and a control unit that controls the transport device and the lifting device. The control unit controls the transport device to grip the front wheel of the bicycle whose rear wheel has been positioned on the storage shelf or the loading/unloading unit, and then controls the lifting device to grip the front wheel of the bicycle. The bicycle is moved onto the mounting section by raising the transport device so that the front wheel is in a floating state.

The bicycle parking system according to the present invention includes a sensor that detects the front wheel, and a storage unit that stores the position of the front wheel detected by the sensor, and the control unit is configured to control when the bicycle is moving. If the position of the front wheel detected by the sensor is outside a predetermined range from the stored position, an abnormality may be notified.

According to the present invention, it is possible to reduce the effort required to store the bicycle and to stably hold the bicycle without the user's intervention.

FIG. 1 is a vertical sectional view of a bicycle parking facility according to an embodiment. FIG. 2 is a diagram showing the warehouse entry/exit section. FIG. 3 is a horizontal cross-sectional view of the hangar. FIG. 4 is a side view of the transfer device. FIG. 5 is a diagram showing the main parts of the transfer device. FIG. 6 is a diagram showing the main parts of the transfer device. FIG. 7 is a block diagram showing a control system of the bicycle parking facility. FIG. 8 is a flowchart showing the flow of processing for registering a bicycle. FIG. 9 is a diagram illustrating the operation when moving a bicycle between the loading/unloading section and the carrier. FIG. 10 is a diagram showing a bicycle held by a transfer device. FIG. 11 is a diagram showing a bicycle held by a transfer device. FIG. 12 is a flowchart showing the flow of processing for storing a bicycle in a hangar. FIG. 13 shows the operation when moving the bicycle between the carrier and the storage rack. FIG. 14 is a flowchart showing the flow of processing for taking a bicycle out of a hangar. FIG. 15 is a diagram showing a state when gripping front wheels of different sizes.

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Note that the present invention is not limited to the embodiments described below. Furthermore, in the description of the drawings, the same or corresponding elements are given the same reference numerals as appropriate. Furthermore, it should be noted that the drawings are schematic and the relationship between dimensions of each element may differ from reality. Drawings may also include portions that differ in dimensional relationships and ratios. In addition, XYZ coordinate axes are shown as appropriate in the drawings, and directions will be explained using these. In the space indicated by the XYZ coordinate axes, the direction in which the X component increases is called the +X direction, and the direction in which the X component decreases is called the -X direction. Similarly, the Y and Z components are defined as +Y direction, -Y direction, +Z direction, and -Z direction.

[Embodiment]
FIG. 1 is a vertical cross-sectional view of a bicycle parking facility 1000 according to an embodiment of the present invention. A bicycle parking facility 1000, which is an example of a bicycle parking system, is a so-called above-ground cylindrical bicycle parking facility, and includes an entry/exit section 1 and a hangar 2. The storage/unloading section 1 is a place where the bicycle B is placed when the user stores the bicycle B into the bicycle parking facility 1000 or when the bicycle B is taken out from the bicycle parking facility 1000. It is located on the first floor of.

FIG. 2 is a diagram showing the warehouse loading/unloading section 1. As shown in FIG. The loading/unloading section 1 includes a door 11, a guide groove 12, and a positioning groove 13. The door 11 is driven by a door drive unit 14 (not shown) to open and close when the bicycle B enters the hangar 2 and when the bicycle B leaves the hangar 2. Furthermore, the door 11 is opened and closed when the bicycle B is scanned by a process to be described later. The guide groove 12 is a groove that guides the rear wheel of the bicycle B when pulling the bicycle B into a carrier 5, which will be described later, and when pushing the bicycle B from the carrier 5 to the loading/unloading section 1. The positioning groove 13 is a groove into which the rear wheel of the bicycle B is inserted when the bicycle B is stored, when the bicycle B is taken out of the storage, and when the bicycle B is scanned. The positioning groove 13 has a depth and width that supports the rear wheel of the bicycle B so that the bicycle B can stand on its own even if the user does not support the bicycle B.

Further, the storage/unloading section 1 includes an antenna 201 , a card reader 202 , a display section 203 , a storage button 204 , and a measurement button 205 . Antenna 201 is an antenna for communicating with IC tag 301 attached to bicycle B. The card reader 202 is a device that reads information recorded on an IC card 302 owned by a user of the bicycle parking facility 1000. The display unit 203 is, for example, a liquid crystal display device, and displays various information to the user of the bicycle parking facility 1000. The storage button 204 is a button operated by the user when storing the bicycle B into the hangar 2. The measurement button 205 is a button that is operated when scanning bicycle B.

The hangar 2 is a hangar that stores bicycles B in multiple stages. FIG. 3 shows a horizontal sectional view of the hangar 2. In this embodiment, the hangar 2 has a cylindrical space, and is provided with a plurality of storage shelves 3 in the vertical direction, and a plurality of storage shelves 3 are arranged radially in each of the plurality of stages. The storage shelf 3 is a shelf that stores the bicycle B, and has guide rails on which the front and rear wheels of the bicycle B are guided and accommodated. In this embodiment, for example, the total length is 1400 mm or more and 1900 mm or less, the total width is 650 mm or less, the total height is 1250 mm or less, the rear basket height is 1250 mm or less, the front basket width is 500 mm or less, the rear basket width is 500 mm or less, and the tire size is 18 A bicycle B that satisfies all the conditions of 28 inches or more and a tire width of 20 mm or more and 55 mm or less can be stored in the storage rack 3. Note that this condition is just an example, and the overall length, overall width, overall height, rear cage height, front cage width, rear cage width, tire size, and tire width may be other sizes. Although not shown, the guide rail of the storage shelf 3 is provided with a positioning portion for positioning the rear wheel of the bicycle B at a predetermined position. The positioning portion has a shape different from that of the guide rail (eg, groove depth, stepped portion, etc.).

Returning to FIG. 1, the bicycle parking facility 1000 includes a transfer device 4, a carrier 5, a lifting device 6, and a turning device 7 as a configuration for transporting the bicycle B.

The transfer device 4 is a device that can move the bicycle B in the front-back direction by a motor and a moving mechanism (not shown), and pulls the bicycle B onto the carrier 5 and pushes the bicycle B out from the carrier 5. It is. When the bicycle B is stored in the hangar 2, the transfer device 4 pulls the bicycle B in the storage/unloading section 1 onto the carrier 5. When the carrier 5 with the bicycle B pulled in is moved to the corresponding position on the storage shelf 3 by the lifting device 6, the transfer device 4 holding the bicycle B moves the bicycle B on the carrier 5 to the corresponding position. Push it out to storage shelf 3. Further, when the bicycle B is taken out from the hangar 2, the transfer device 4 pulls the bicycle B whose rear wheel is positioned in the positioning section of the storage shelf 3 onto the carrier 5. When the transporter 5 into which the bicycle B has been pulled is lowered to the position of the loading/unloading section 1 by the lifting device 6, the transfer device 4 holding the bicycle B moves the bicycle B on the transporter 5 into/out of the storage. Push out to part 1.

FIG. 4 is a side view of the transfer device 4. Moreover, FIGS. 5 and 6 are diagrams of the main parts related to gripping the bicycle B in the transfer device 4, viewed from above. The pair of gripping parts 41a and 41b are members that grip the front wheel of the bicycle B from the width direction of the front wheel. As is clear when viewed in conjunction with FIG. 10 showing a state in which the bicycle is being gripped, the metal gripping parts 41a and 41b can be roughly divided into second gripping parts whose longitudinal direction is the Z-axis direction and which sandwich the front side of the front wheel from the axle. 412, and a first grip part 411 that is continuous with the second grip part 412, whose longitudinal direction is the X-axis direction, and which is below the axle of the front wheel and which sandwiches the front wheel from the rear side to the front side of the axle. The first grip part 411 is an example of a first shape part, and the second grip part 412 is an example of a second shape part. The grip part 41a has an elastic body 413 on the +Y direction side, and the grip part 41b has an elastic body 413 on the -Y direction side. The elastic body 413 is made of plate-shaped rubber having elasticity and flexibility and is formed into the shape of the grip portions 41a and 41b, and comes into contact with the front wheel of the bicycle B when the grip portion 413 grips the front wheel.

The arm 42a is a member that supports the grip portion 41a, and the arm 42b is a member that supports the grip portion 41b. The arm 42a is connected to the grip part 41a with a bolt (not shown), and the arm 42b is connected to the grip part 41b with a bolt (not shown). The arm 42a has a connecting portion 47a that is plate-shaped and extends in the horizontal direction, and the arm 42b has a connecting portion 47b that is plate-shaped and extends in the horizontal direction. The connecting portions 47a and 47b are connected to the link mechanism 43 with bolts and nuts.

The shafts 45a, 45b are metal shafts that guide the bushes 46a, 46b. The shafts 45a, 45b are arranged vertically in parallel along the Y-axis direction, and pass through the arms 42a, 42b. Shafts 45a, 45b are inserted into the bushes 46a, 46b. The bush 46a is connected to the arm 42a with bolts and nuts (not shown), and the bush 46b is connected to the arm 42b with bolts and nuts (not shown).

The link mechanism 43 is connected to the connecting parts 47a and 47b and the driving part 44. The link mechanism 43 is driven by the drive unit 44 to move the arms 42a, 42b in the Y-axis direction.

The drive unit 44 includes a servo motor and a reduction gear, and drives the link mechanism 43. When the servo motor of the drive unit 44 is rotated so that the link mechanism 43 is linear, the arm 42a connected to the link mechanism 43 at the connecting part 47a is guided by the bush 46a and moves along the shafts 45a and 45b -Y. The arm 42b, which is connected to the link mechanism 43 at the connecting portion 47b, is guided by the bush 46b and moves in the +Y direction along the shafts 45a and 45b. As a result, as shown in FIG. 5, the distance between the grip portion 41a and the grip portion 41b in the Y-axis direction increases. Further, when the drive section 44 drives the link mechanism 43 so that the link mechanism 43 is bent, the arm 42a connected to the link mechanism 43 at the connecting section 47a is guided by the bush 46a and moves along the shafts 45a and 45b in a +Y direction. The arm 42b, which is connected to the link mechanism 43 at the connecting portion 47b, is guided by the bush 46b and moves in the -Y direction along the shafts 45a and 45b. As a result, as shown in FIG. 6, the distance between the gripping part 41a and the gripping part 41b in the Y-axis direction becomes narrower. The drive section 44, link mechanism 43, shafts 45a, 45b, bushes 46a, 46b, coupling sections 47a, 47b, and arms 42a, 42b function as a drive section that moves the grips 41a, 41b.

The encoder 48 detects the rotation angle of the servo motor included in the drive unit 44 . The sensor 49 is, for example, a three-dimensional range sensor used in 3D-LiDAR (light detection and ranging) technology. The sensor 49 scans the bicycle B from in front of the bicycle B.

Returning to FIG. 1, the carrier 5 is a device on which the bicycle B is placed within the bicycle parking facility 1000. The transfer device 4 is movable on the carrier 5 in the direction of pulling in the bicycle B and in the direction of pushing out the bicycle B (back and forth direction of the bicycle). The carrier 5 is an example of a mounting section on which the bicycle B is placed, and has guide rails 5a in which the front and rear wheels of the bicycle B are accommodated, as shown in FIGS. 9 and 13. The guide rail 5a is an example of a guide part that allows the bicycle B to move in the front-back direction. When the bicycle B is stored in the hangar 2, the bicycle B pulled in from the storage/unloading section 1 by the transfer device 4 is placed on the guide rail 5a of the carrier 5, and when the bicycle B is taken out from the hangar 2, the transfer device 4, the bicycle B pulled in from the storage shelf 3 is placed on the guide rail 5a of the carrier 5. The transfer device 4 and the transport device 5 constitute a transport device that transports the bicycle B.

The lifting device 6 is a device that raises and lowers the carrier 5. When the bicycle B is stored in the hangar 2, the lifting device 6 raises the carrier 5 on which the bicycle B is placed to the stage of the storage shelf 3 designated for the bicycle B on the first floor of the bicycle parking facility 1000. Furthermore, when the bicycle B is taken out from the hangar 2, the lifting device 6 moves it to the stage of the storage shelf 3 where the bicycle B to be taken out is stored, and lowers the carrier 5 on which the bicycle B is placed to the first floor. .

The turning device 7 is a device that rotates the carrier 5. The swing device 7 is configured to rotate the carrier 5 when viewed from above so that the guide rail 5a of the carrier 5 and the guide rail of the storage shelf 3 are in a straight line when storing the bicycle B or leaving the bicycle B. Rotate clockwise or counterclockwise.

FIG. 7 is a block diagram showing a control system of the bicycle parking facility 1000. The communication unit 110 is a communication interface that performs communication via a communication network. The communication unit 110 communicates with a management device (not shown) via a communication network. The management device is a computer device operated by the administrator of the bicycle parking facility 1000. The control section 100 includes a calculation section and a storage section. The calculation unit is composed of, for example, a CPU (Central Processing Unit), a FPGA (Field-Programmable Gate Array), or both a CPU and an FPGA. The storage unit includes, for example, a part made up of ROM (Read Only Memory), a part made up of RAM (Random Access Memory), and a part made up of nonvolatile memory that stores data in a rewritable manner. There is. The portion constituted by the ROM stores various programs and data used by the arithmetic unit to perform arithmetic processing. The RAM is used to store the work space for the arithmetic unit to perform arithmetic processing, the results of the arithmetic processing by the arithmetic unit, and the like. The non-volatile memory stores, for example, the position of the storage shelf 3 where the user's bicycle B is stored, the width of the front wheel of the bicycle B, and the width of the bicycle B in association with identification information that uniquely identifies the user of the bicycle parking facility 1000. Store front wheel position in non-volatile memory.

The control unit 100 controls the transfer device 4, the lifting device 6, the swing device 7, the door drive unit 14, the display unit 203, etc. by the CPU executing a program stored in the ROM. Further, the control unit 100 performs various functions described below based on the information acquired from the IC tag 301 by the antenna 201, the information acquired from the IC card 302 by the card reader 202, the operation on the warehousing button 204, and the operation on the measurement button 205. Execute processing. The functions of the control unit 100 are realized as a functional unit by the CPU reading a program from the ROM and executing it.

Next, an example of the operation when registering bicycle B will be explained. FIG. 8 is a flowchart showing the process of registering the user's bicycle B when starting to use the bicycle parking facility 1000. Moreover, FIG. 9 is a diagram showing the operation when moving the bicycle B between the storage/retrieval section 1 and the carrier 5. To begin using the bicycle parking facility 1000, the user places the front wheel of bicycle B in the guide groove 12, sets the rear wheel in the positioning groove 13 as shown in FIG. 9(a), and operates the measurement button 205. do. When the user operates the measurement button 205, the control unit 100 starts the process shown in FIG.

First, the control unit 100 controls the door drive unit 14 to open the door 11, and moves the transfer device 4 to a predetermined position in the storage/unloading unit 1 as shown in FIG. 9(b) (step S101). The predetermined position is, for example, a position a predetermined distance from the positioning groove 13 toward the door 11. In addition, when moving the transfer device 4 to the storage/unloading section 1, the control section 100 controls the lifting device 6 so that, for example, the upper end of the guide rail 5a of the carrier 5 and the upper end of the guide groove 12 are at the same height. to adjust the height of the carrier 5 in the vertical direction.

Next, the control unit 100 controls the transfer device 4 to grip the front wheel of the bicycle B with the grips 41a and 41b (step S102). Specifically, the control unit 100 controls the drive unit 44 to drive the link mechanism 43. When the link mechanism 43 is driven, the arm 42a moves in the +Y direction along the shafts 45a, 45b, and the arm 42b moves in the -Y direction along the shafts 45a, 45b, and the gripping parts 41a, 41b are provided with An elastic body 413 grips the front wheel. FIG. 10 is a diagram of the bicycle B held by the transfer device 4 viewed from the −Y direction to the +Y direction, and FIG. 11 is a diagram of the bicycle B held by the transfer device 4 viewed from the +Z direction to the −Z direction. This is a view. Here, the front wheel of the bicycle B is gripped at the front side of the axle and the side below the axle, so that the front wheel can be gripped stably. Furthermore, as shown in FIG. 10, since the front wheel is gripped at a position away from the axle by the gripping parts 41a and 41b, avoiding the vicinity of the axle, even if Bicycle B is equipped with a quick release or disc brake, The elastic body 413 does not come into contact with the release or disc brake device, making it possible to stably grip the front wheel. Moreover, since the gripping parts 41a and 41b move horizontally, they can stably grip the front wheel in the vertical and horizontal directions.

Next, the control unit 100 determines whether the width of the front wheel gripped by the transfer device 4 is within a predetermined range (step S103). Here, the control unit 100 detects the width of the front wheel based on the detection result of the encoder 48. Note that the control unit 100 may detect the width of the front wheel from the measurement result of the sensor 49. If the detected width of the front wheel is not within a predetermined range (NO in step S103), the control unit 100 controls the transfer device 4 to release the front wheel of bicycle B (step S114), and A warning is given to (step S115).

Here, the control unit 100 determines that the width of the front wheel is not within a predetermined range, for example, if the width of the front wheel is less than 20 mm or more than 55 mm. Further, the control unit 100 controls the drive unit 44 to drive the link mechanism 43 when releasing the front wheels. When the link mechanism 43 is driven, the arm 42a moves in the -Y direction along the shafts 45a, 45b, the arm 42b moves in the +Y direction along the shafts 45a, 45b, and the elasticity of the gripping parts 41a, 41b The front wheel held by the body 413 is released. Further, when warning the user, the control unit 100 displays on the display unit 203 that the bicycle B cannot be stored in the bicycle parking facility 1000.

If the detected width of the front wheel is within a predetermined range (YES in step S103), the control unit 100 determines whether the position of the front wheel is within a predetermined range (step S104). Specifically, the control unit 100 detects the position of the front wheel from the measurement result of the sensor 49, and determines whether the position of the front wheel in the X-axis direction is within a predetermined range determined by the sensor 49. Here, if the total length of bicycle B is less than 1400 mm or more than 1900 mm, the detected position of the front wheel in the X-axis direction is outside the predetermined range. If the position of the front wheel is not within a predetermined range (NO in step S104), the control unit 100 controls the transfer device 4 to release the front wheel of bicycle B (step S114), and warns the user. (Step S115).

If the position of the front wheel is within a predetermined range (YES in step S104), the control unit 100 controls the transfer device 4 to start moving the bicycle B onto the carrier 5 (step S105). ). Here, the control unit 100 first controls the lifting device 6 as shown in FIG. 9(c), and raises the carrier 5 from when the front wheel is gripped by the transfer device 4. As a result, the front wheel of the bicycle B separates from the guide groove 12 and becomes suspended in the air. Next, the control unit 100 moves the transfer device 4 onto the carrier 5 and pulls the bicycle B onto the carrier 5, as shown in FIG. 9(d). The front wheel of bicycle B does not rotate because it is held by the transfer device 4, but when it is moved from the loading/unloading section 1 onto the carrier 5, it is suspended in the air, so the front wheel is not dragged and the resistance is reduced. The bicycle B can be moved onto the carrier 5 by using the bicycle B.

Next, the control unit 100 determines whether the position of the front wheel has moved until the movement of the bicycle B onto the carrier 5 is completed (step S106). Here, the control unit 100 detects the position of the front wheel from the measurement result of the sensor 49, and determines whether the position of the front wheel in the X-axis direction has moved from the position detected in step S104. If the position of the front wheel has moved (YES in step S106), the control unit 100 controls the transfer device 4 to move the bicycle B from the carrier 5 to the storage/unloading section 1 (step S113), and The front wheels are released (step S114), and a warning is given to the user (step S115).

If the position of the front wheel has not moved (NO in step S106), the control unit 100 determines whether the movement of the bicycle B onto the carrier 5 has been completed (step S107). If the movement of bicycle B onto carrier 5 has not been completed (NO in step S107), control unit 100 returns the flow of processing to step S106. When the movement of the bicycle B onto the carrier 5 is completed (YES in step S107), the control unit 100 controls the transfer device 4 to move the bicycle B from the carrier 5 to the storage/unloading section 1. Start (step S108). Next, the control unit 100 determines whether the position of the front wheel has moved until the movement of the bicycle B to the storage/exit section 1 is completed (step S109). Here, the control unit 100 detects the position of the front wheel from the measurement result of the sensor 49, and determines whether the position of the front wheel in the X-axis direction has moved from the position detected in step S104. If the position of the front wheel has moved (YES in step S109), the control unit 100 controls the transfer device 4 to release the front wheel of bicycle B (step S114), and issues a warning to the user (step S115). ).

If the position of the front wheel has not moved (NO in step S109), the control unit 100 determines whether the movement of the bicycle B to the storage unit 1 has been completed (step S110). If the movement of bicycle B to the storage/exit section 1 has not been completed (NO at step S110), the control section 100 returns the flow of processing to step S109. When the movement of bicycle B to the storage/unloading section 1 is completed (YES at step S110), the control section 100 controls the transfer device 4 to release the front wheel of the bicycle B (step S111). Next, the control unit 100 records the width of the front wheel detected in step S103 and the position of the front wheel detected in step S104 in the storage unit (step S112). Here, the width of the front wheel and the front wheel position are recorded in association with the identification information stored in the IC tag 301 attached to the bicycle B.

Next, an example of the operation when the bicycle B is stored in the hangar 2 will be explained. FIG. 12 is a flowchart showing the flow of processing when bicycle B is stored in the hangar 2. When storing bicycle B into the hangar 2, the user places the front wheel of bicycle B in the guide groove 12, sets the rear wheel in the positioning groove 13 as shown in FIG. 9(a), and operates the storage button 204. . When the user operates the warehousing button 204, the control unit 100 starts the process shown in FIG. 12. Note that the positioning groove 13 here constitutes a positioning part for positioning the rear wheel of the bicycle B at the relevant position, similar to the one provided in the guide rail of the storage shelf 3, and has a different shape from the guide groove 12. (For example, groove depth, stepped portion, etc.)

First, the control unit 100 acquires identification information recorded on the IC tag 301 via the antenna 201 (step S201). Next, the control unit 100 controls the door drive unit 14 to open the door 11, and moves the transfer device 4 to a predetermined position in the loading/unloading unit 1, as shown in FIG. 9(b), in the same manner as step S101. (Step S202).

Next, the control unit 100 controls the transfer device 4 to grip the front wheel of the bicycle B with the grips 41a and 41b in the same manner as in step S102 (step S203). Next, the control unit 100 determines whether the width of the front wheel gripped by the transfer device 4 is within a predetermined range (step S204). The determination method in step S204 is the same as that in step S103. If the detected width of the front wheel is not within a predetermined range (NO in step S204), the control unit 100 controls the transfer device 4 similarly to step S114 to release the front wheel of bicycle B (step S224), and a warning is given to the user (step S225). In step S225, the control unit 100 warns the user on the display unit 203 that the bicycle B cannot be stored in the bicycle parking facility 1000.

If the detected width of the front wheel is within a predetermined range (YES in step S204), the control unit 100 determines whether the detected width of the front wheel is within a predetermined range from the registered width of the front wheel (step S205). . Here, the control unit 100 acquires the width of the front wheel stored in the storage unit in association with the identification information acquired in step S201. If the width of the front wheel detected in step S204 is not within the predetermined range from the width of the front wheel acquired from the storage unit (NO in step S205), the control unit 100 controls the transfer device 4 to move the front wheel of bicycle B. It is released (step S224) and a warning is given to the user (step S225).

If the width of the front wheel detected in step S204 is within the predetermined range from the width of the front wheel acquired from the storage unit (YES in step S205), the control unit 100 detects the position of the front wheel, and determines whether the detected position of the front wheel is It is determined whether it is within a predetermined range (step S206). The method of determination in step S206 is the same as that in step S104. If the position of the front wheel is not within a predetermined range (NO in step S206), the control unit 100 controls the transfer device 4 to release the front wheel of bicycle B (step S224), and warns the user. (Step S225).

If the position of the front wheel is within a predetermined range (YES in step S206), the control unit 100 determines whether the detected position of the front wheel is within a predetermined range from the registered front wheel position (step S207). Here, the control unit 100 acquires the position of the front wheel stored in the storage unit in association with the identification information acquired in step S201. If the position of the front wheel detected in step S206 is not within the predetermined range from the position of the front wheel acquired from the storage unit (NO in step S207), the control unit 100 displays an instruction to reset the bicycle B in the positioning groove 13. In step S203, the user is notified (step S217). Next, the control unit 100 controls the transfer device 4 to release the front wheel of the bicycle B (step S218), and moves the transfer device 4 from the loading/unloading section 1 onto the carrier 5 (step S219).

If the detected front wheel position is within the predetermined range from the registered front wheel position (YES in step S207), the control unit 100 controls the transfer device 4 to move the bicycle B to the carrier in the same manner as in step S105. 5 up (step S208). Here, the bicycle B moves onto the carrier 5 as shown in FIGS. 9(c) and 9(d). Here, the control unit 100 first controls the lifting device 6 to raise the carrier 5 from when the front wheel is gripped by the transfer device 4, as shown in FIG. 9(c). As a result, the front wheel of the bicycle B separates from the guide groove 12 and becomes suspended in the air. Next, the control unit 100 moves the transfer device 4 onto the carrier 5 and pulls the bicycle B onto the carrier 5, as shown in FIG. 9(d).

When the movement of the bicycle B onto the carrier 5 is completed, the control unit 100 moves the carrier 5 to the position of the storage shelf 3 stored in the storage unit in association with the identification information acquired in step S201. (Step S209). Here, the control unit 100 searches for storage shelves 3 in which bicycle B is not stored, and determines a storage shelf 3 in which bicycle B is to be stored from among storage shelves 3 in which bicycle B is not stored, according to predetermined rules. Then, the lifting device 6 is controlled to raise the carrier 5 to the stage at the determined position of the storage shelf 3.

The control unit 100 determines whether the position of the front wheel has moved until the movement of the carrier 5 is completed (step S210). Here, the control unit 100 detects the position of the front wheel from the measurement result of the sensor 49, and determines whether the position of the front wheel in the X-axis direction has moved from the position detected in step S206. When the position of the front wheel moves (YES in step S210), the control unit 100 controls the lifting device 6 to stop the movement of the carrier 5 (step S220), and notifies the management device (step S221). In step S221, the control unit 100 transmits, for example, a notification that an abnormality has occurred in storing bicycle B to the management device. Upon receiving this notification, the management device notifies that, for example, an abnormality has occurred in the storage of bicycle B.

If the position of the front wheel has not moved (NO in step S210), the control unit 100 determines whether the movement of the carrier 5 has ended (step S211). If the movement of the carrier 5 has not been completed (NO in step S211), the control unit 100 returns the flow of processing to step S210. When the carrier 5 has moved to the position of the storage shelf 3 stored in the storage unit, the control unit 100 determines that the movement of the carrier 5 has been completed (YES in step S211), and stores the bicycle B. The movement to shelf 3 is started (step S212). Here, the control unit 100 controls the swing device 7 to rotate the carrier 5 so that the bicycle B can be moved to the position of the storage shelf 3 stored in the storage unit, and controls the transfer device 4 to rotate the bicycle B so that the bicycle B can be moved to the position of the storage shelf 3 stored in the storage unit. Move B to storage shelf 3.

FIG. 13 is a diagram showing the operation when moving the bicycle B from the top of the carrier 5 to the storage shelf 3. When moving the bicycle B from the carrier 5 to the storage shelf 3, the control unit 100 controls the lifting device 6 to move the carrier 5 a predetermined height higher than the storage shelf 3, as shown in FIG. 13(a). raise it into position. Next, the control unit 100 moves the transfer device 4 onto the storage shelf 3 to move the bicycle B to the storage shelf 3, as shown in FIG. 13(b). The front wheel of bicycle B does not rotate because it is held by the transfer device 4, but when the carrier 5 is at a higher position than the storage shelf 3 and the rear wheel of bicycle B is moved to the storage shelf 3, the front wheel is suspended in the air. Since it is floating, bicycle B can be moved to storage rack 3 with less resistance without dragging the front wheel.

The control unit 100 determines whether the position of the front wheel has moved until the movement of the bicycle B to the storage shelf 3 is completed (step S213). Here, the control unit 100 detects the position of the front wheel from the measurement result of the sensor 49, and determines whether the position of the front wheel in the X-axis direction has moved from the position detected in step S206. When the position of the front wheel moves (YES in step S213), the control unit 100 stops the movement of the transfer device 4 (step S222), and issues a warning to the administrator (step S223). In step S223, the control unit 100 transmits, for example, a notification to the management device that an abnormality has occurred in storing the bicycle B in the storage shelf 3. Upon receiving this notification, the management device notifies that an abnormality has occurred in the movement of bicycle B to storage shelf 3, for example.

If the position of the front wheel has not moved (NO in step S213), the control unit 100 determines whether the movement of bicycle B to the storage shelf 3 has been completed (step S214). If the movement of bicycle B to storage shelf 3 has not been completed (NO in step S214), control unit 100 returns the flow of processing to step S213. When the transfer device 4 has moved to a predetermined position in the is released (step S215). Here, as shown in FIG. 13(c), the control unit 100 lowers the lifting device 6 to bring the floating front wheel of the bicycle B into contact with the guide rail of the storage shelf 3, and then brings the front wheel of the bicycle B into contact with the guide rail of the storage shelf 3. release. After releasing the front wheel of the bicycle B, the control unit 100 moves the transfer device 4 onto the carrier 5 as shown in FIG. 13(d) (step S216). Here, the control unit 100 stores the position of the storage shelf 3 in which the bicycle B is stored in association with the user's identification information.

Next, an example of the operation when leaving the bicycle B from the hangar 2 will be explained. FIG. 14 is a flowchart showing the flow of processing when leaving the bicycle B from the hangar 2. When the user takes the bicycle B out of the hangar 2, the user holds the IC card 302 over the card reader 202. When the IC card 302 is held over the card reader 202, the control unit 100 starts the process shown in FIG.

First, the control unit 100 acquires the identification information read from the IC card 302 by the card reader 202 (step S301). Next, the control unit 100 moves the carrier 5 to the storage shelf 3 (step S302). Here, the control unit 100 controls the lifting device 6 to move the carrier 5 to the step at the position of the storage shelf 3 stored in the storage unit in association with the identification information acquired in step S301. Further, the control unit 100 controls the turning device 7 to rotate the carrier 5 so that the bicycle B can be moved from the storage shelf 3 at the position stored in the storage unit to the carrier 5.

Next, the control unit 100 controls the transfer device 4 to grip the front wheel of the bicycle B (step S303). Here, the control unit 100 first controls the lifting device 6 so that the upper end of the guide rail 5a of the carrier 5 and the upper end of the guide rail of the storage shelf 3 are at the same height, as shown in FIG. 13(d). to adjust the vertical height of the carrier 5. After moving the transfer device 4 to the storage shelf 3, the control unit 100 controls the transfer device 4 to grip the front wheel of the bicycle B with the grips 41a and 41b as shown in FIG. 13(c). .

Next, the control unit 100 determines whether the width of the front wheel gripped by the transfer device 4 is within a predetermined range (step S304). The determination method in step S304 is the same as that in step S103. If the detected width of the front wheel is not within a predetermined range (NO in step S304), the control unit 100 controls the transfer device 4 to release the front wheel of bicycle B (step S320), and The display unit 203 notifies the user that the vehicle cannot be taken out of the warehouse (step S321). Note that if the detected width of the front wheel is not within a predetermined range, the control unit 100 may prohibit storage and removal of the bicycle B from storage shelves 3 around the bicycle B whose front wheel is held. . Further, the range of storage shelves 3 where storage and removal are prohibited may be arbitrarily settable. Further, if the detected width of the front wheel is not within a predetermined range, the control unit 100 determines whether the difference to the predetermined range is within a predetermined threshold, and if it is not within the threshold, the front wheel is The storage shelves 3 around the held bicycle B are prohibited from storing and taking out the bicycle B, and the user is notified on the display unit 203 that the bicycle B cannot be taken out, and if the value is within the threshold, the bicycle is A notification that an abnormality has occurred in B may be sent to the management device.

If the detected width of the front wheel is within a predetermined range (YES in step S304), the control unit 100 determines whether the detected width of the front wheel is within a predetermined range from the registered width of the front wheel (step S305). . Here, the control unit 100 acquires the width of the front wheel stored in the storage unit in association with the identification information acquired in step S301. If the width of the front wheel detected in step S304 is not within the predetermined range from the width of the front wheel acquired from the storage unit (NO in step S305), the control unit 100 controls the transfer device 4 to move the front wheel of bicycle B. The bicycle B is released (step S320), and the display unit 203 notifies the user that bicycle B cannot be taken out of the garage (step S321).

If the width of the front wheel detected in step S304 is within the predetermined range from the width of the front wheel acquired from the storage unit (YES in step S305), the control unit 100 detects the position of the front wheel, and determines whether the detected position of the front wheel is It is determined whether it is within a predetermined range (step S306). The method of determination in step S306 is the same as that in step S104. If the position of the front wheel is not within a predetermined range (NO in step 306), the control unit 100 controls the transfer device 4 to release the front wheel of bicycle B (step S320), and takes bicycle B out of the garage. The display unit 203 notifies the user that this is not possible (step S321).

If the position of the front wheel is within a predetermined range (YES in step S306), the control unit 100 determines whether the detected position of the front wheel is within a predetermined range from the registered front wheel position (step S307). Here, the control unit 100 acquires the position of the front wheel stored in the storage unit in association with the identification information acquired in step S301. If the front wheel position detected in step S306 is not within the predetermined range from the front wheel position acquired from the storage unit (NO in step S307), the control unit 100 controls the transfer device 4 to move the front wheel of bicycle B. The bicycle B is released (step S320), and the display unit 203 notifies the user that bicycle B cannot be taken out of the garage (step S321).

If the detected front wheel position is within a predetermined range from the registered front wheel position (YES in step S307), the control unit 100 controls the transfer device 4 to move the bicycle B from the storage shelf 3 to the carrier 5. It is moved upward (step S308). Here, the control unit 100 first controls the lifting device 6 to raise the carrier 5 from when the front wheel is gripped by the transfer device 4, as shown in FIG. 13(b). As a result, the front wheel of the bicycle B separates from the guide rail of the storage shelf 3 and becomes suspended in the air. Next, the control unit 100 moves the transfer device 4 onto the carrier 5 and pulls the bicycle B onto the carrier 5, as shown in FIG. 13(a). The front wheel of bicycle B does not rotate because it is held by the transfer device 4, but when it is moved from the storage shelf 3 to the carrier 5, it is floating in the air, so the rear wheel can be rotated without dragging the front wheel. The bicycle B can be moved onto the carrier 5 with less resistance.

When the movement of the bicycle B onto the carrier 5 is completed, the control unit 100 starts moving the carrier 5 to the first floor of the bicycle parking facility 1000 (step S309). The control unit 100 determines whether the position of the front wheels has moved until the movement of the carrier 5 is completed (step S310). Here, the control unit 100 detects the position of the front wheel from the measurement result of the sensor 49, and determines whether the position of the front wheel in the X-axis direction has moved from the position detected in step S306. When the position of the front wheel moves (YES in step S310), the control unit 100 controls the lifting device 6 to stop the movement of the carrier 5 (step S317), and notifies the administrator (step S318). In step S318, the control unit 100 transmits a notification that an abnormality has occurred in leaving the bicycle B to the management device. Upon receiving this notification, the management device notifies that, for example, an abnormality has occurred when bicycle B is taken out of the garage.

If the position of the front wheel has not moved (NO in step S310), the control unit 100 determines whether the movement of the carrier 5 has ended (step S311). If the movement of the carrier 5 has not been completed (NO in step S311), the control unit 100 returns the flow of processing to step S310. When the carrier 5 has moved to the first floor of the bicycle parking facility 1000, the control unit 100 determines that the movement of the carrier 5 has been completed (YES in step S311), and moves the bicycle B to the loading/unloading section 1. (step S312). Here, the control unit 100 controls the turning device 7 to rotate the carrier 5 and controls the transfer device 4 so that the wheels of the bicycle B can be moved to the guide grooves 12 and the positioning grooves 13 of the loading/unloading section 1. to move bicycle B to the storage/unloading section 1.

When moving the bicycle B from the carrier 5 to the storage/unloading section 1, the control unit 100 controls the lifting device 6 so that the upper end of the guide rail 5a of the transporter 5 is in the storage/unloading area. The carrier 5 is raised to a predetermined height so as to be at a higher position than the upper end of the guide groove 12 of the section 1. Next, the control unit 100 moves the transfer device 4 to the warehouse loading/unloading unit 1 as shown in FIG. 9(c). The front wheel of bicycle B does not rotate because it is held by the transfer device 4, but when the carrier 5 is at a higher position than the upper end of the guide groove 12 and the rear wheel of bicycle B moves to the loading/unloading section 1, the front wheel Since it is floating in the air, the bicycle B can be moved to the loading/unloading section 1 by rotating the rear wheel and reducing resistance without dragging the front wheel.

The control unit 100 determines whether the position of the front wheel has moved until the movement of the bicycle B to the loading/unloading section 1 is completed (step S313). Here, the control unit 100 detects the position of the front wheel from the measurement result of the sensor 49, and determines whether the position of the front wheel in the X-axis direction has moved from the position detected in step S306. If the position of the front wheel has moved (YES in step S313), the control unit 100 reduces the moving speed of the transfer device 4 and moves the process to step S314.

If the position of the front wheel has not moved (NO in step S313), the control unit 100 determines whether the movement of the bicycle B to the storage unit 1 has been completed (step S314). If the movement of bicycle B to the storage/unloading section 1 has not been completed (NO at step S314), the control section 100 returns the flow of processing to step S313. When the transfer device 4 has moved to a predetermined position in the is released (step S315). Here, the control unit 100 lowers the lifting device 6 to fit the floating front wheel of the bicycle B into the guide groove 12 of the loading/unloading unit 1, as shown in FIG. 9(b). release. After releasing the front wheel of the bicycle B, the control unit 100 moves the transfer device 4 onto the carrier 5 as shown in FIG. 9(a) (step S316).

According to this embodiment, the gripping parts 41a and 41b do not grip the quick release or disc brake device located near the front wheel, so the front wheel can be gripped stably compared to a configuration in which the axle is gripped. . Further, according to the present embodiment, since the elastic body 413 contacts the front wheel of the bicycle B with its surface, wear of the elastic body 413 can be suppressed compared to a configuration in which the axle is gripped. Furthermore, according to the present embodiment, since bicycle B can be scanned, errors in measuring bicycle B can be suppressed compared to a case where bicycle B is measured manually using a jig. Furthermore, according to the present embodiment, it is possible to detect whether bicycle B has moved while the carrier 5 is being moved, and therefore it is possible to detect an abnormality in bicycle B during movement.

Furthermore, in the present embodiment, the gripping parts 41a and 41b include a second gripping part 412 that is long in the vertical direction and a first gripping part 411 that is long in the horizontal direction, so that the gripping parts 41a and 41b can be used for various sizes of front wheels and various overall lengths. can hold bicycle B. FIG. 15 is a diagram showing a state when front wheels FW of different sizes are gripped. As shown in FIG. 15(a), even if the front wheel FW has a large diameter, the gripping parts 41a and 41b grip the front side and the lower side of the axle of the front wheel FW, so it is difficult to stably grip the front wheel FW. can. Furthermore, according to the present embodiment, as shown in FIGS. 15(b) and 15(c), the front wheel FW is gripped while avoiding the lights and the front fork, so the front wheel FW can be gripped stably. . Furthermore, according to this embodiment, even if the bicycle B has a long overall length as shown in FIG. can grip the front wheel FW. Further, according to the present embodiment, even if the child's bicycle B has a short overall length and a small diameter front wheel FW as shown in FIG. Since the front wheel FW is gripped with the front wheel FW, the front wheel FW can be gripped stably.

Furthermore, according to the present embodiment, when leaving the hangar 2, if the position of the front wheel when the bicycle is held is different from the stored position, it can be determined that an abnormality has occurred in the bicycle B during storage. Furthermore, according to the present embodiment, when leaving the hangar 2, if the width of the front wheels is different from that at the time of registration, it can be determined that the tire air pressure has decreased. Further, according to the present embodiment, the width of the front wheel and the position of the front wheel are recorded at the time of registration, and when the bicycle B is stored, the width of the front wheel and the position of the front wheel are detected and the difference is determined. It can also be determined whether another bicycle B is about to be stored in the warehouse. Further, according to the present embodiment, by detecting the width and position of the front wheel when entering the warehouse, it can be determined that the bicycle B is not correctly set in the entry/exit section 1.

[Modified example]
Although the embodiments of the present invention have been described above, the present invention is not limited to the embodiments described above, and can be implemented in various other forms. For example, the above-described embodiment may be modified as follows to implement the present invention. Note that the above-described embodiment and the following modified examples may be combined. The present invention also includes configurations in which the constituent elements of each embodiment and each modification example described above are combined as appropriate. Moreover, further effects and modifications can be easily derived by those skilled in the art. Therefore, the broader aspects of the present invention are not limited to the above-described embodiments and modifications, and various changes are possible.

In the above-described embodiment, the bicycle parking facility 1000 is an above-ground cylindrical type, but may be an above-ground horizontal type, an underground cylindrical type, an underground horizontal type, or an embedded type in a building.

In the embodiment described above, the sensor that detects the position and width of the front wheel of bicycle B is not limited to 3D-LiDAR, but is, for example, a laser distance meter or an ultrasonic sensor that detects the position and width of the front wheel of bicycle B. may be detected.

In the embodiment described above, the grips 41a and 41b are moved by the link mechanism 43, but the configuration for moving the grips 41a and 41b is not limited to the link mechanism 43, and may include, for example, a linear guide actuator, It may be moved using a ball screw.

In the embodiment described above, when the storage button 204 or the measurement button 205 is pressed, the control unit 100 detects the presence or absence of the bicycle B using the sensor 49, and when the bicycle B is not detected, the control unit 100 guides the bicycle B. The display unit 203 may notify the user to set the grooves 12 and positioning grooves 13.

In the present invention, the sensor 49 may detect the position of the front wheel of the bicycle B in the width direction of the bicycle B. In the configuration in which the position of the front wheel in the width direction is detected, the control unit 100 detects whether the position of the front wheel in the width direction is outside a predetermined range when the bicycle B is held by the transfer device 4 at the time of warehousing or registration of the bicycle B. In this case, the user may be informed that bicycle B cannot be stored in the bicycle parking facility 1000. Further, in the present invention, the position of the front wheel in the width direction detected by the sensor 49 is stored in the storage section, and when the bicycle B is being moved from the loading/unloading section 1 to the carrier 5, and from the storage shelf 3 to the carrier If the position in the width direction moves from the memorized position while the bicycle B is being moved to the bicycle B, the movement of the carrier 5 may be stopped. Further, the position of the front wheel in the width direction detected by the sensor 49 is stored in the storage unit, and if the position of the front wheel in the width direction moves from the memorized position while the transporter 5 is being moved, the transporter 5 is moved. may be stopped. Further, the position of the front wheel in the width direction detected by the sensor 49 is stored in the storage unit, and when the front wheel is gripped by the transfer device 4 when bicycle B is put into storage, the position of the front wheel in the width direction is within a predetermined range from the stored position. If not, the front wheel may be released and the user may be informed that bicycle B cannot be stored in the bicycle parking facility 1000.

1 Loading/unloading section 2 Hangar 3 Storage shelf 4 Transfer device 5 Carrier 5a Guide rail 6 Elevating device 7 Swivel device 11 Door 12 Guide groove 13 Positioning groove 41a, 41b Gripping section 42a, 42b Arm 43 Link mechanism 44 Drive section 45a, 45b shaft 46a, 46b bush 47a, 47b connection part 48 encoder 49 sensor 201 antenna 202 card reader 203 display section 204 storage button 205 measurement button 1000 bicycle parking equipment

Claims (4)

A transport device that grips the front wheel of a bicycle and moves the bicycle in the front and back direction,
a mounting section having a guide section that allows the bicycle to be moved in the front-rear direction;
a gripping portion configured to be movable in the front-rear direction on the mounting portion and configured to move in the width direction of the front wheel to grip the front wheel from both sides in the width direction;
has
The gripping portion includes a first shaped portion below the axle of the front wheel and gripping the front wheel in the width direction from the rear side to the front side of the axle. The conveying device according to claim 1, wherein the gripping portion includes a second shaped portion that grips the front wheel from below to above the axle in a portion in front of the axle of the front wheel when gripping the front wheel. The conveyance device according to claim 1 or claim 2,
a storage/unloading section having a positioning section for positioning a rear wheel of a bicycle at a predetermined position, and an area where the bicycle is stored and taken out;
a storage shelf for storing bicycles, the storage shelf having a positioning part for positioning a rear wheel of the bicycle in a predetermined position;
a lifting device that lifts and lowers the conveyance device;
a control unit that controls the transport device and the lifting device;
Equipped with
The control unit includes:
After controlling the conveying device to grasp the front wheel of the bicycle whose rear wheel has been positioned on the storage shelf or the loading/unloading section, the lifting device is controlled to raise the conveying device and lift the front wheel. moving the bicycle onto the mounting section in a state where the bicycle is
Bicycle parking system. a sensor that detects the front wheel;
a storage unit that stores the position of the front wheel detected by the sensor;
has
The control unit notifies an abnormality when the position of the front wheel detected by the sensor while the bicycle is moving is outside a predetermined range from the stored position.
The bicycle parking system according to claim 3.

Images