JP2024049732A - Door current control device, door current control method, door current control program, and mechanical parking device - Google Patents

Abstract

[Problem] To improve safety. [Solution] A door current control device 80 is applied to a mechanical parking device that includes a boarding/de-boarding room where at least one of vehicles enters and leaves the parking lot, an entrance door provided at the entrance of the boarding/de-boarding room, and a door drive unit 63 that drives the entrance door. The door current control device 80 includes a switch 81 provided on an electric path that connects the door drive unit 63 to a power source 100, and a switch control unit 82 that controls the switch 81. When the entrance door sensor 67 detects that the entrance door is fully open, the switch control unit 82 opens the switch 81 to cut off the power supply to the door drive unit 63. [Selected Figure] Figure 7

Description

This disclosure relates to a door current control device, a door current control method, a door current control program, and a mechanical parking device.

Various methods have been proposed to ensure safety in mechanical parking devices. For example, Patent Document 1 describes, as an example of a door-closing process, that if the authentication information of the user who performed the first authentication operation matches the authentication information of the user who performed the second authentication operation, a safety check is performed, and then when the door-closing button is pressed, the entrance/exit door closes.

JP 2014-139401 A

One of the important challenges is to further improve the safety of mechanical parking equipment and prevent people from becoming trapped inside the equipment as much as possible.

The present disclosure aims to provide a door current control device, a door current control method, a door current control program, and a mechanical parking device that can improve safety.

The door current control device according to the first aspect of the present disclosure is a door current control device applied to a mechanical parking device that includes a boarding/deboarding room where at least one of vehicles enters and leaves the parking lot, an entrance door provided at the entrance/exit of the boarding/deboarding room, and a door drive means that drives the entrance door, and includes a switch provided in an electric circuit that connects the door drive means to a power source, and a switch control means that controls the switch, and when the switch control means detects that the entrance door is fully open, it opens the switch to cut off the power supply to the door drive means.

The door current control method according to the second aspect of the present disclosure is a door current control method applied to a mechanical parking device that includes a boarding/deboarding room where at least one of vehicles enters and leaves the parking lot, an entrance/exit door provided at the entrance/exit of the boarding/deboarding room, a door drive means for driving the entrance/exit door, and a switch provided in an electrical circuit connecting the door drive means to a power source, and when a computer detects that the entrance/exit door is fully open, it opens the switch to cut off the power supply to the door drive means.

The door current control program according to the third aspect of the present disclosure is a door current control program for causing a computer to execute the above-mentioned door current control method.

The mechanical parking device according to the fourth aspect of the present disclosure includes a boarding/deboarding room where a vehicle enters and/or leaves the parking lot, an entrance/exit door provided at the entrance/exit of the boarding/deboarding room, a door drive means for driving the entrance/exit door, and the door current control device.

This disclosure has the effect of improving safety.

A longitudinal cross-sectional view of a mechanical parking device according to one embodiment of the present disclosure. FIG. 1 is a schematic perspective view showing a boarding/deboarding compartment according to an embodiment of the present disclosure. 1 is a diagram showing an example of an installation position and detection range of a range sensor in a boarding/deboarding compartment according to an embodiment of the present disclosure, and an example of a monitoring area outside the boarding/deboarding compartment. FIG. FIG. 2 is a diagram illustrating an example of a configuration of an internal control panel according to an embodiment of the present disclosure. FIG. 2 is a diagram illustrating an example of a configuration of an external operation panel according to an embodiment of the present disclosure. A functional block diagram showing an example of functions provided by a control device of a mechanical parking device according to one embodiment of the present disclosure. 2 is a functional block diagram showing an example of functions of a door current control device according to an embodiment of the present disclosure. FIG. 13 is a flowchart showing an example of a processing procedure of a warehousing process according to an embodiment of the present disclosure. 13 is a flowchart showing an example of a processing procedure of a warehousing process according to an embodiment of the present disclosure. 13 is a flowchart showing an example of a processing procedure of a warehousing process according to an embodiment of the present disclosure. 13 is a flowchart showing an example of a processing procedure of a warehousing process according to an embodiment of the present disclosure. 13 is a flowchart showing an example of a processing procedure of a warehousing process according to an embodiment of the present disclosure. 13 is a flowchart showing an example of a processing procedure of a warehousing process according to an embodiment of the present disclosure. FIG. 13 is a diagram illustrating an example of an unattended confirmation screen according to an embodiment of the present disclosure. 4 is a flowchart illustrating an example of a processing procedure of a door current control method executed by a door current control device according to an embodiment of the present disclosure. This figure shows an example of transitions between an operation lock state, an operation permitted state, an operation locked state, an operation permitted state, a power supply cut-off state to the entrance/exit door, and a power-on state to the entrance/exit door during a warehousing process according to one embodiment of the present disclosure.

Below, a door current control device, a door current control method, a door current control program, and a mechanical parking device according to an embodiment of the present disclosure will be described with reference to the drawings. In the embodiment described below, an elevator-type tower-type mechanical parking device will be described as an example of the mechanical parking device of the present disclosure, but is not limited to this example. The mechanical parking device of the present disclosure may be a vertical circulation type, a flat reciprocating type, a horizontal circulation type, a two-tier type, etc. Also, it may be a conveyor-type or fork-type mechanical parking device that does not use pallets.

1 is a vertical cross-sectional view of a mechanical parking device 1 according to an embodiment of the present disclosure. As shown in FIG. 1, the mechanical parking device 1 is an elevator-type tower-type multi-story parking facility capable of accommodating a plurality of vehicles 2, and includes a parking tower 5 provided with an entrance/exit gate 3 and an entrance/exit door 4. The ground floor of the parking tower 5 is a boarding/disembarking room 7 for entering and exiting the vehicle 2, and a turntable 8 for changing the direction of the vehicle 2 is installed on the floor of the parking tower 5. The turntable 8 is configured such that a rotating plate 10 and a rotating drive unit 11 are provided in a concave pit 9 formed on the floor of the boarding/disembarking room 7. Note that, in this embodiment, the boarding/disembarking room 7 is used for both entering and exiting the parking lot, but is not limited thereto. For example, the boarding/disembarking room may be different for entering and exiting the parking lot, and a boarding/disembarking room dedicated to entering the parking lot and a boarding/disembarking room dedicated to exiting the parking lot may be provided. Also, in this embodiment, one boarding/disembarking room is shown, but multiple boarding/disembarking rooms may be provided.

A vertical elevator passage 13 is formed in the center of the parking tower 5, and a lift 14 (elevator-like transport vehicle) is installed within this passage so that it can move up and down. The lift 14 is suspended at its four corners by multiple wire ropes extending downward from a winch (not shown) installed at the top of the parking tower 5, for example, and can move up and down within the elevator passage 13 when the winch is activated.

On the other hand, vehicle storage shelves 17 (parking spaces) are provided on both sides of the elevator passage 13. These vehicle storage shelves 17 are arranged in multiple levels, one above the other, on either side of the elevator passage 13, and each vehicle storage shelf 17 holds one pallet 18 for loading vehicles. Note that the pillars and other components of the vehicle storage shelves 17 are not shown in the figure.

A transfer mechanism (not shown) is provided on the floor surfaces of the lift 14 and the vehicle storage shelf 17, which allows an empty pallet 18 or a pallet 18 loaded with a vehicle 2 to be smoothly transferred from the lift 14 to the vehicle storage shelf 17, or from the vehicle storage shelf 17 to the lift 14, when the heights of the two floor surfaces are the same.

Figure 2 is a schematic perspective view showing the boarding/disembarking room 7. Inside the boarding/disembarking room 7, there is a space in the center where the pallet 18 is placed, and on the wall in front of the entrance door 4, there is a mirror 24 that allows the driver (user) to check the position of the vehicle 2, and an electronic parking position indicator light 25 that provides guidance on "going forward," "stopping," and "backing up."

Four cameras 35A-35D are installed in the boarding/alighting compartment 7 to capture the interior conditions. In this embodiment, the cameras 35A-35D are, for example, video cameras, and are each attached to a different wall surface (four surfaces) of the boarding/alighting compartment 7. For example, camera 35A is positioned to capture the front of the vehicle 2 parked in the boarding/alighting compartment 7, camera 35B is positioned to capture the rear of the vehicle 2, camera 35C is positioned to capture the left side of the vehicle 2, and camera 35D is positioned to capture the right side of the vehicle 2. Note that the number of cameras installed is not limited to the above, and it is sufficient that at least one camera is installed.

An internal detection sensor (internal detection means) 30 (see FIG. 6) is provided within the boarding/alighting compartment 7 to detect a person (object) within the boarding/alighting compartment. The internal detection sensor 30 may include, for example, a sensor for detecting a person (object) in each of the front, right, left, and rear areas of the boarding/alighting compartment 7. The internal detection sensor 30 may also include a sensor for detecting the stopping position of the vehicle. The internal detection sensor 30 may also include two range sensors 30A and 30B provided at diagonal positions within the boarding/alighting compartment 7.

Figure 3 shows an example of the installation position and detection range of the range measurement sensors 30A and 30B in the boarding/alighting compartment 7. The range measurement sensors 30A and 30B output a search wave W, such as a laser beam or ultrasonic wave, which has the property of hitting a target and reflecting, and while receiving the reflected wave, scan a predetermined angle range in the horizontal direction, and can calculate the position, size, and shape of the detected object based on the obtained angle information and distance information. Based on the sensor data detected by the range measurement sensors 30A and 30B, the position, size, and shape of the vehicle 2 placed at a specified position on the pallet 18 of the boarding/alighting compartment 7 can be detected, and vehicle contour data of the vehicle 2 can be obtained. Here, the vehicle contour data may be two-dimensional data of the vehicle, that is, a planar contour shape, or may be three-dimensional data. In addition, the range measurement sensor can detect not only the contour of the vehicle, but also people and the like in the boarding/alighting compartment.

The interior detection sensor 30 is a sensor used to check whether there is anyone inside the boarding/deboarding compartment, and is not limited to the above example, and any known sensor can be used as appropriate. The above-mentioned cameras 35A to 35D can also be used as the interior detection sensor 30, and in this case, it is possible to check whether there is anyone inside the boarding/deboarding compartment based on image data acquired by the cameras 35A to 35D.
In this embodiment, a case where range measurement sensors 30A and 30B are used as an example of the interior detection sensor 30 will be described.
A detection signal from the internal detection sensor 30 is output to a sensor control unit 57 (see FIG. 6) and a door current control device 80, which will be described later.

As shown in FIG. 2, the entrance/exit detection sensor (exit detection means) 32 is provided at the entrance/exit gate 3 of the boarding/de-boarding room 7 to detect the entrance/exit of a person or vehicle from the boarding/de-boarding room 7. The entrance/exit detection sensor 32 has, for example, a pair of sensors 32A provided inside the entrance/exit gate 3 and a pair of sensors 32B provided outside the entrance/exit gate 3. The sensors 32A and 32B are, for example, a type of sensor that receives a beam transmitted from a transmitter at a receiver. When this beam is blocked by a vehicle 2, a person, etc., the sensor turns on and the detection signal is transmitted to a sensor control unit 57 (see FIG. 6) described later.

The sensor control unit 57 determines that a person or vehicle has left the boarding/alighting compartment 7 when, for example, an ON signal is input from sensor 32A to sensor 32B in that order. The sensor control unit 57 also determines that a person or vehicle has entered the boarding/alighting compartment 7 when, for example, an ON signal is input from sensor 32B to sensor 32A in that order.

The method of detecting the exit of a person or a vehicle from the boarding/alighting compartment 7 is not limited to the above example. For example, instead of the sensor 32A, a sensor for detecting a person in the rear area of the boarding/alighting compartment 7 (a human presence sensor, an over-detection sensor for determining whether the rear part of the vehicle has exceeded a predetermined stopping position, a range sensor, or the like), or a predetermined sensor installed in the boarding/alighting compartment may be used.
2, the sensors 32A and 32B are provided on the inside and outside of the boarding/deboarding room 7, respectively, with the entrance door 4 in between, but this is not limited to this example. For example, the sensors 32A and 32B may both be provided inside the boarding/deboarding room, or may both be provided outside the boarding/deboarding room.

The sensor control unit 57 can also determine whether a person or a vehicle is entering or exiting based on the detection signal of the entry/exit detection sensor 32. For example, when a person is entering or exiting, the on signals are not output from sensors 32A and 32B at the same time. In contrast, when a vehicle 2 is entering or exiting, since the vehicle has a certain length, there is a temporal overlap between the on signals of sensors 32A and 32B. In this way, it is possible to determine whether a person is entering or exiting or a vehicle 2 is entering or exiting depending on the degree of temporal overlap between the on signals of sensors 32A and 32B.

In this embodiment, the entry/exit detection sensor 32 is configured as described above to be able to detect entry and exit, but is not limited to this example. For example, it is sufficient if the sensor is configured to at least detect exit from the boarding/de-boarding room 7. One example is a camera 35.

In addition, an internal reception unit (internal reception means) that receives input information for closing the entrance door 4 is provided inside the boarding/alighting compartment 7. This internal reception unit is mainly operated by the user (e.g., the driver). In this embodiment, an internal operation panel 26 is provided as an example of the internal reception unit. As shown in FIG. 2, the internal operation panel 26 may be provided on each of the right and left sides of the boarding/alighting compartment 7. This allows the user to input input information by operating the internal operation panel 26 closest to the driver's seat, regardless of whether the vehicle is a right-hand drive vehicle or a left-hand drive vehicle. This makes it possible to increase convenience.

Figure 4 is a diagram showing an example of the configuration of the internal operation panel 26. As shown in Figure 4, the internal operation panel 26 has an input unit 260 for a user to perform input operations. The input unit 260 has, for example, an authentication information input unit for receiving authentication information of the user. In this embodiment, an IC card reader 261 is provided as an example of the authentication information input unit, but is not limited to this example. The authentication information input unit may be configured, for example, by a biometric information reading unit that reads so-called biometric authentication information such as a numeric keypad, fingerprint, iris, vein information, face image, etc., a wireless communication unit that receives authentication information via wireless communication (e.g., 3G, 4G, 5G, 6G, wireless LAN, Wifi, LTE, etc.), etc.

The input unit 260 may also include a close door button 263, a re-enter button 264, etc. The input unit 260 may also include a touch panel 262. The display of the touch panel 262 is controlled by the control device 40 described below, and authentication information read by the IC card reader 261 and information input by operating the close door button 263 and the re-enter button 264 by an operator or the like are output to the control device 40. Note that instead of the touch panel 262, a display without an input function may also be provided.

In addition, various input screens and guidance may be displayed on the touch panel 262, and various input information may be input from the touch panel 262 according to the displayed guidance. In this case, the IC card reader 261, the close door button 263, and the re-enter button 264 are substituted by buttons displayed on the touch panel. In this way, the method of inputting various information is not limited to the above example, and any known technology may be adopted as appropriate.

In addition, a notification unit (notification means: not shown) may be provided in the boarding/de-boarding compartment to notify users of information by voice (guidance information for entering and leaving the parking lot, information on the occurrence of an error, etc.). Examples of the notification unit include a speaker and a warning light.

As shown in FIG. 2, an external reception unit (external reception means) that receives input information for closing the entrance door 4 is provided outside the boarding/disembarking compartment 7. This external reception unit is operated by, for example, a user, an administrator, or a maintenance worker. In this embodiment, an external operation panel 22 is provided as an example of the external reception unit. In addition, a monitor 28 is provided near the external operation panel 22 to display real-time images captured by cameras 35A to 35D, which will be described later.

Figure 5 is a diagram showing an example of the configuration of the external operation panel 22. As shown in Figure 5, the external operation panel 22 is housed in a metal housing 43 to protect it from wind and rain and to prevent tampering, and this housing 43 is provided with a lockable lid 44. When an operator operates the external operation panel 22, the operator unlocks the housing 43, opens the lid 44, and accesses the external operation panel 22.

The external operation panel 22 includes, for example, an authentication information input unit for receiving authentication information of a user. In this embodiment, an IC card reader 46 is provided as an example of the authentication information input unit, but is not limited to this example. The authentication information input unit may be configured, for example, by a biometric information reading unit that reads so-called biometric authentication information such as a numeric keypad, fingerprint, iris, vein information, face image, etc., or a wireless communication unit that receives authentication information via wireless communication (for example, 3G, 4G, 5G, 6G, wireless LAN, Wi-Fi, LTE, etc.).

The external operation panel 22 may also be equipped with a touch panel 45, a speaker 47 for providing audio guidance to the operator (e.g., a user) on how to operate the device, an emergency stop button 48 for emergency stopping the operation of the mechanical parking device 1, a microphone, etc.

The touch panel 45 has both a display function and an input function. For example, various kinds of guidance information for performing operations for entering and leaving the parking lot are displayed on the touch panel 45, as well as operation buttons and the like for allowing the operator to perform operations for entering and leaving the parking lot. The display on the touch panel 45 is controlled by a control device (parking device control means) 40, which will be described later, and information input by the operator or the like operating the touch panel 45 is output to the control device 40.

As shown in FIG. 2, outside the boarding/deboarding compartment 7, a storage control light 21 with blue and red lamps is provided above the entrance door 4. Also, outside the boarding/deboarding compartment 7, an external detection sensor (external detection means) 30C is provided to detect people or vehicles in a specified monitoring area provided near the entrance door 4.

An example of a monitoring area is shown in Figure 3. Different monitoring areas are set for the internal door closing mode, in which the door closing operation is performed from the internal operation panel 26, and the external door closing mode, in which the door closing operation is performed from the external operation panel 22. For example, the monitoring area for the internal door closing mode is set to the area K1+K2 in Figure 3, and the monitoring area for the external door closing mode is set to the area K1 in Figure 3. In the external door closing mode, the door closing operation is performed by operating the external operation panel 22, so a certain area in front of the external operation panel 22 is excluded from the monitoring range.

Examples of the external detection sensor 30C include a camera and a range sensor. Examples of the range sensor include a laser scan sensor, for example. Here, in FIG. 2, the external detection sensor 30C is provided at the lower left side of the entrance door 4 when viewed from the front, but the installation position is not limited to this. In other words, the external detection sensor 30C only needs to be placed in a position where it can detect people or vehicles in a specified monitoring area, and multiple external detection sensors may be provided. Furthermore, if one sensor is provided, it should be provided on the opposite side of the entrance door to the external operation panel 22.

In addition, a control device 40 that controls the entire mechanical parking device 1 is installed inside or outside the boarding/disembarking compartment 7. The mechanical parking device 1 also includes a door current control device 80 (see FIG. 7), which will be described later.

Figure 6 is a functional block diagram showing an example of the functions of the control device 40 of the mechanical parking device 1 according to this embodiment. The control device 40 is, for example, an information processing device, and includes a CPU, an auxiliary storage device for storing programs executed by the CPU, a main memory that functions as a work area when each program is executed, and a communication interface for connecting to a network. The control device 40 also includes a comprehensive database 52 in which various data required to control the mechanical parking device 1 is stored. The comprehensive database 52 stores vehicle presence status, pallet shape type, vehicle storage shelf shape type, identification information of people authorized to use the mechanical parking device 1, and contact information of users (e.g., registered email addresses, etc.). People authorized to use the mechanical parking device 1 include users, administrators, maintenance personnel, etc.

The control device 40 also includes a storage unit 41 for storing necessary data in association with the execution of the loading and unloading processes described below. For example, the storage unit 41 stores the user ID (first authentication information) of the user who was successfully authenticated in the first user authentication process, the scan results of the range sensor, the monitoring area, information on various modes, etc.

The auxiliary storage device of the control device 40 stores control programs and the like for controlling each mechanism of the mechanical parking device 1, and the CPU reads the various programs stored in the auxiliary storage device into the main memory and executes them to realize the functions of each section described below. In addition, when executing the programs, the CPU refers to and uses various data stored in the general database 52.

The above control programs may be pre-stored in an auxiliary storage device such as a ROM when the control device 40 is manufactured, or may be downloaded and installed from a server that distributes control programs, etc., after construction, etc. Alternatively, they may be installed via an external storage device. In this way, there are no particular limitations on the method of installing the various programs.

The control device 40 is equipped with a main control unit 50. In addition to the above-mentioned general database 52, the main control unit 50 is connected to an entrance/exit door control unit 55, a conveyor control unit 56, a sensor control unit 57, a camera control unit 58, an image database 59, a vehicle measurement control unit 61, a rotation control unit 62, etc. Furthermore, the main control unit 50 is connected to an internal operation panel 26 and an external operation panel 22, and is configured to enable two-way communication.

The entrance door control unit 55 receives an operation command from the main control unit 50 and controls the door drive unit 63, which drives the entrance door 4 to open and close, thereby opening and closing the entrance door 4. The entrance door control unit 55 also receives a position signal of the entrance door 4 from the entrance door sensor 67 and feeds back this information to the main control unit 50. The door drive unit 63 is configured to include, for example, a motor. Note that various known configurations can be appropriately adopted for the door drive unit 63.

The entrance door sensor 67 may, for example, detect whether the entrance door 4 is fully open or fully closed, and output a detection signal indicating this (door fully open signal, door fully closed signal) to the entrance door control unit 55. A known sensor may be appropriately used as the entrance door sensor 67. The entrance door sensor 67 may also include one or more sensors. For example, a limit switch or the like is one example of the entrance door sensor 67.

The conveyor control unit 56 receives operation commands from the main control unit 50 and controls the lift drive unit 64, which drives the lift 14, thereby controlling the raising and lowering of the lift 14 and the loading and unloading of the pallet 18. The conveyor control unit 56 also receives a position signal of the lift 14 from the conveyor position sensor 68 and feeds that information back to the main control unit 50.

The sensor control unit 57 receives detection signals from the internal detection sensor 30 and the external detection sensor 30C, and outputs the information to the main control unit 50. The sensor control unit 57 also determines whether a person or vehicle has entered or exited based on the detection signal from the entry/exit detection sensor 32, and outputs the determination result to the main control unit 50.

The camera control unit 58 receives an operation command from the main control unit 50 and causes the cameras 35 (35A to 35D) installed inside the boarding/disembarking compartment 7 to capture images, and outputs the image information to the main control unit 50. This image information is stored in the image database 59 for a predetermined period of time. The image database 59 may be provided inside the general database 52 or on the cloud.

The vehicle measurement control unit 61 receives an operation command from the main control unit 50, measures the weight of the vehicle mounted on the lift 14 using the vehicle measuring device 69, and feeds back the information to the main control unit 50 via the vehicle weight sensor 73. This vehicle weight information is used for controlling the lift 14, etc.

The rotation control unit 62 receives an operation command from the main control unit 50 and operates the turntable 8 by controlling the rotation drive unit 11 that rotates the turntable 8. The rotation control unit 62 also receives a rotation position signal of the turntable 8 from the turntable position sensor 71 and feeds that information back to the main control unit 50.

The main control unit 50 operates the mechanical parking device 1 based on feedback from each control unit 55, 56, 57, 58, 61, 62 and input information from the internal operation panel 26 or external operation panel 22. The main control unit 50 also executes a control program for the entry process and a control program for the exit process based on various information exchanged with the internal operation panel 26 and external operation panel 22. Note that the detection signals of the internal detection sensor 30, external detection sensor 30C, and entry/exit detection sensor 32 may be input directly to the main control unit 50 instead of being input to the main control unit 50 via the sensor control unit 57 described above. This makes it possible to implement more rapid control in response to the detection signals.

Figure 7 is a diagram showing an example of the configuration of a door current control device 80 according to this embodiment. As shown in Figure 7, the door current control device 80 includes a switch 81 and a switch control unit (switch control means) 82.

As shown in FIG. 7, each drive unit such as the swivel drive unit 11, the lift drive unit 64, and the door drive unit 63 is supplied with power from a power source 100. A swivel drive breaker 101 is provided on the circuit connecting the power source 100 and the swivel drive unit 11, a lift conveyor breaker 102 is provided on the circuit connecting the power source 100 and the lift drive unit 64, and a door drive breaker 103 is provided on the circuit connecting the power source 100 and the door drive unit 63. When an abnormality such as an overcurrent occurs, the swivel drive breaker 101, the lift conveyor breaker 102, and the door drive breaker 103 are activated to cut off the power supply to the swivel drive unit 11, the lift drive unit 64, and the door drive unit 63. In addition, the swivel drive breaker 101, the lift conveyor breaker 102, and the door drive breaker 103 are restored by the worker after the worker confirms that they are safe, and the power is turned on again.

A switch 81 is provided on an electric circuit connecting the power source 100 and the door drive unit 63, downstream of the door drive breaker 103, in other words, closer to the door drive unit 63. The switch 81 controls the power supply to the door drive unit 63. The switch 81 is, for example, a mechanical switch that switches between turning on and off power to the door drive unit 63, and examples of the switch 81 include a magnet contactor and a magnet switch. The opening and closing of the switch 81 is controlled by a switch control unit 82.
The door current control device 80, more specifically, the switch control unit 82, is communicatively connected to the control device 40, more specifically, the main control unit 50. The switch control unit 82 is configured to receive detection signals from the interior detection sensor 30 and the entrance/exit door sensor 67.

The switch control unit 82 is, for example, an information processing device, and includes a CPU, an auxiliary storage device for storing programs executed by the CPU, a main memory that functions as a work area when each program is executed, a communication interface for sending and receiving information to and from other devices, etc. In addition, the auxiliary storage device of the switch control unit 82 stores a door current control program for controlling the opening and closing of the switch 81, etc., and the CPU reads the program stored in the auxiliary storage device into the main memory and executes it to realize various processes described below.

The door current control program may be stored in advance in an auxiliary storage device such as a ROM when the opening/closing control unit 82 is manufactured, or may be downloaded and installed from a server that distributes the program after construction. It may also be installed via an external storage device. In this way, there are no particular limitations on the method of installing the various programs.

For example, when the opening/closing switch control unit 82 detects that the entrance door 4 is fully open, it opens the opening/closing switch 81 to cut off the power supply to the door drive unit 63. Specifically, when a signal indicating that the entrance door 4 is fully open is input from the entrance door sensor 67, the opening/closing switch control unit 82 opens the opening/closing switch 81 to cut off the power supply to the door drive unit 63.

In addition, the switch control unit 82, for example, determines whether or not there is anyone in the boarding/deboarding compartment, and if it determines that there is no one in the compartment, closes the switch 81 and supplies power to the door drive unit 63, in other words, turns on the power.
For example, the switch control unit 82 may determine whether or not there is no one in the boarding/deboarding compartment based on an output signal from the interior detection sensor 30 for detecting a person in the boarding/deboarding compartment. The switch control unit 82 may also determine that there is no one in the boarding/deboarding compartment when it receives an unmanned confirmation completion signal indicating that the user has confirmed that there is no one in the boarding/deboarding compartment. In this embodiment, the unmanned confirmation completion signal is input to the switch control unit 82 via the control device 40, as described later.

In the present embodiment, the detection signal from the internal detection sensor 30 is directly input to the switch control unit 82 from the internal detection sensor 30, but the present invention is not limited to this configuration. For example, the detection signal from the internal detection sensor 30 may also be input to the switch control unit 82 via the control device 40.
In the present embodiment, the switch control unit 82 is configured by a processor or the like separate from the control device 40, but this is not limited to the example. For example, the control device 40 may have the function of the switch control unit 82.

In this embodiment, as an example, when no person is detected by the internal detection sensor 30 in a specified monitoring area set in the boarding/deboarding compartment, and an unmanned confirmation completion signal is received from the control device 40 indicating that the user has confirmed that no one is present in the boarding/deboarding compartment, the switch control unit 82 determines that no one is present in the boarding/deboarding compartment and closes the switch 81.

〔Warehousing processing〕
Next, an example of a warehousing process executed by the control device 40 at the time of warehousing will be described with reference to the drawings. Figures 8 to 13 are flow charts showing an example of the procedure of the warehousing process executed by the control device 40.

When entering the vehicle, the user first moves the vehicle 2 to the entrance/exit gate 3, gets off, and heads to the external operation panel 22. The user then uses a special key to unlock the vehicle and open the lid 44 of the housing 43. When the control device 40 detects that the lid 44 has been opened (SA1 in FIG. 8), it causes the touch panel 45 of the external operation panel 22 to display a first user authentication screen (SA2).

When a user touches an IC card to the IC card reader 46, the user ID (first authentication information) registered on the IC card is read and transmitted to the control device 40. When the user ID is input (SA3), the control device 40 performs a first user authentication (first authentication) to determine whether the person attempting to enter the vehicle is a pre-registered user (SA4). Specifically, the control device 40 accesses the general database 52 and determines whether the input user ID is registered. As a result, if the first user authentication is unsuccessful (SA5: NO), a message indicating that the user authentication has failed is displayed on the touch panel 45 to notify the user that authentication has failed, and then the first user authentication screen is displayed (SA2).

On the other hand, if the first user authentication is successful (SA5: YES), i.e., if the user ID is registered in the general database 52, the system is set to an operation permission state in which input operations are possible from the touch panel 45 of the external operation panel 22 (SA6), the user ID for which the first user authentication was successful is stored in the memory unit 41 (SA7), and a storage startup confirmation screen is displayed on the touch panel 45 of the external operation panel 22 (SA8).

When the start button is pressed on the warehousing start confirmation screen (SA9), the control device 40 sets the vehicle transport mechanism such as the lift 14 and the mechanical mechanisms such as the entrance/exit door 4 to an operation permission state (SA10) in which operation is possible, and retrieves an empty pallet from the vehicle storage shelf 17. At this time, a warehousing waiting confirmation screen indicating the warehousing waiting state may also be displayed on the touch panel 45.

Next, when the empty pallet arrives at the boarding/exit room 7, the control device 40 displays a door open screen on the touch panel 45 indicating that the entrance door 4 will open (SA11), and opens the entrance door 4. Then, when the entrance door sensor 67 detects that the entrance door 4 is completely open (SA12), the control device 40 sets the operation lock state to lock the operation of the mechanical mechanisms (vehicle transport means such as the lift 14 and the entrance door 4) (SA13 in FIG. 9).

When the entrance door sensor 67 detects that the entrance door 4 is fully open, the entrance door sensor 67 notifies the door power control device 80 (see FIG. 7) of a door full open signal. When the door full open signal is received, the opening/closing switch control unit 82 of the door power control device 80 opens the opening/closing switch 81. This cuts off the power supply to the door drive unit 63 (ST1). Therefore, even if the control device 40 malfunctions and outputs an erroneous door close signal to the door drive unit 63, the entrance door 4 can be prevented from closing.

Next, the control device 40 displays an entrance guide screen on the touch panel 45 that prompts the user to enter the storeroom (SA14 in FIG. 9), and further sets the external operation panel 22 to an operation-locked state in which no input is accepted from the touch panel 45 (SA15). This makes it possible to prevent a third party from entering input from the touch panel 45 while the user is away from the external operation panel 22.

After checking the entry guidance screen, the user gets into vehicle 2, moves vehicle 2 into the boarding/disembarking compartment, and places vehicle 2 on an empty pallet that has been transported into the compartment. When the internal detection sensor 30 detects that the vehicle has been placed in the designated parking position on the empty pallet (SA16), the control device 40 activates the range sensors 30A and 30B. This scans the outline of vehicle 2 placed on the pallet. The control device 40 sets the area other than the outline of the vehicle as the monitoring area and stores it in the memory unit 41 (SA17).

Next, the control device 40 announces to the user to exit the vehicle and displays a second user authentication screen on the touch panel of the internal operation panel 26 to prompt the user to enter authentication information (SA18). Here, the control device 40 may, for example, issue guidance via a speaker in the form of audio to prompt the user to enter authentication information, or, if communication with the onboard device installed in the vehicle is possible, may notify the onboard device via a wireless communication unit.

The control device 40 then determines whether or not exit has been detected by the entrance/exit detection sensor 32 (SA19). As a result, if exit has not been detected (SA19: NO), it determines whether or not a user ID has been input from the internal operation panel 26 (SA20). As a result, if a user ID has not been input (SA20: NO), the process returns to step SA19. In this way, the determination process of steps SA19 and SA20 is repeated until exit is detected by the entrance/exit detection sensor 32 or a user ID is input from the internal operation panel 26.

As a result, if the entry/exit detection sensor 32 detects the exit of a person without the user ID being entered into the internal operation panel 26 (SA19: YES), the system transitions to an external door close mode in which the door is closed from the external operation panel 22 (SA21). On the other hand, if the user ID is entered into the internal operation panel 26 (SA20: YES), the system transitions to an internal door close mode in which the door is closed from the internal operation panel 26 (SA22).

[External door closed mode]
Next, the exterior door closing mode will be described with reference to FIGS.
In the external door closed mode, the control device 40 performs guidance to prompt the user to input authentication information on the touch panel 45 of the external operation panel 22. For example, the control device 40 causes the touch panel 45 to display a second user authentication screen and prompts the user to input authentication information (SB1 in FIG. 10).

As a result, when a user or the like touches an IC card to the IC card reader 46 and inputs authentication information (second authentication information) (SB2), the control device 40 performs second user authentication (SB3). In the second user authentication (second authentication), it is determined whether the received user ID (second authentication information) is a pre-registered user ID.

As a result, if the second user authentication is successful (SB4: YES), a matching process is performed to determine whether the user ID (first authentication information) input in the first user authentication is the same as the user ID (second authentication information) input in the second user authentication (SB5). In the matching process, it is determined whether the person who opened the entrance door 4 is the same as the person who closes it. Note that the determination of whether they are the same person is not limited to this example. For example, if the authentication information input in the first user authentication and the authentication information input in the second user authentication have a "predetermined correspondence", it may be determined that they are the same person. For example, authentication information linked to a user ID that was successfully authenticated in the first user authentication is stored, and if authentication information identical to this authentication information is input in the second user authentication, it may be determined that they are the same person. Examples of authentication information linked to a user ID include a password that is temporarily issued when the first user authentication is successful, and authentication information (e.g., biometric authentication information) that the user further inputs after the first user authentication is successful. In this way, known techniques can be used as appropriate for the matching process. If the matching process is successful (SB6: YES), proceed to step SB7.

On the other hand, if the second user authentication is not successful (SB4: NO) or if the matching process is not successful (SB6: NO), the process returns to step SB1 and the second user authentication screen is displayed. At this time, a notification that the authentication or matching has failed may be displayed.

In step SB7, the control device 40 sets the external operation panel 22 to an operation permitted state. Next, the control device 40 displays an unmanned confirmation screen on the touch panel 45 to prompt the user to check whether there is anyone in the boarding/deboarding compartment, and provides guidance to prompt the user to perform the unmanned confirmation (SB8 in FIG. 11). FIG. 14 shows an example of the unmanned confirmation screen. As shown in FIG. 14, the unmanned confirmation screen displays guidance, etc., encouraging the user to confirm that there is no one in the boarding/deboarding compartment using the unmanned confirmation button BT1 and a real-time image displayed on the monitor 28 (see FIG. 2), and then operate the unmanned confirmation button BT1.

When the unmanned confirmation button BT1 is pressed on the unmanned confirmation screen (SB9), the control device 40 sends an unmanned confirmation completion signal to the door current control device 80 (SB10). Next, the control device 40 causes the touch panel 45 of the external operation panel 22 to display a door close screen for closing the entrance door 4 (SB11). On the door close screen, for example, a door close button is displayed, and guidance is displayed encouraging the user to check again whether there is anyone in the boarding/deboarding compartment before operating the door close button.

When the close door button is pressed on this door close screen (SB12), the control device 40 checks whether there is anyone in the boarding/de-boarding compartment based on the detection signal from the interior detection sensor 30 (SB13). Specifically, it determines whether a person is detected in the monitoring area set in step SA17 of FIG. 9. In other words, it determines whether a person is detected in the monitoring area excluding the vehicle portion from the interior area of the boarding/de-boarding compartment. At this time, the control device 40 may issue guidance encouraging people to evacuate from the boarding/de-boarding compartment 7 from an alarm unit such as a speaker.

As a result, if it is not possible to confirm that there is no occupant in the boarding/deboarding compartment (SB13: NO), the determination is repeated until it is confirmed that there is no occupant. On the other hand, if there is a confirmation that there is no occupant in the boarding/deboarding compartment (SB13: YES), the external detection sensor 30C checks whether there is no occupant in a specified monitoring area set outside the boarding/deboarding compartment 7 (SB14). Here, in the external door closing mode, it is assumed that the door closing operation is performed from the external operation panel 22, so the area K1 in Figure 3 is set as the monitoring area. At this time, the control device 40 may issue guidance to evacuate from the monitoring area K1 from an alarm unit such as the speaker 47.

If it is not possible to confirm that there is no occupant in the monitoring area K1 (SB14: NO), the process returns to step SB13 and repeats the determination until there is no occupant in the monitoring area set inside or outside the boarding/disembarking compartment. On the other hand, if there is no occupant in the monitoring area K1 (SB14: YES), the switch control unit 82 (see FIG. 7) closes the switch 81 and supplies power to the door drive unit 63 (ST2). Details of the opening and closing control of the switch 81 by the switch control unit 82 will be described later.

When the control device 40 detects that no one is present in the monitoring area K1 (SB14: YES), it determines that safety is ensured inside and outside the boarding/deboarding compartment near the entrance door, and starts closing the door (SB15). When the control device 40 detects that the entrance door 4 is fully closed (SB16), it erases the user ID (first authentication information) stored in the memory unit 41 (SB17), and ends the storage process.

The control device 40 may continuously check for unoccupied persons inside and outside the boarding/deboarding room based on the detection signals of the internal detection sensor 30 and the external detection sensor 30C until the entrance/exit door 4 is completely closed. At this time, the control device 40 may also issue guidance prohibiting entry into the boarding/deboarding room and guidance encouraging people to leave the monitored area from an alarm unit such as a speaker 47.

[Internal door closed mode]
Next, the inner closing door mode will be described with reference to FIGS.
In the internal closed door mode, the control device 40 performs second user authentication (SC1) using the user ID input from the internal operation panel 26 in step SA20 of Fig. 9. In the second user authentication (second authentication), it is determined whether the received user ID (second authentication information) is a user ID that has been registered in advance.

As a result, if the second user authentication is successful (SC2: YES), a matching process is then performed (SC3) to determine whether the user ID (first authentication information) entered in the first user authentication is the same as the user ID (second authentication information) entered in the second user authentication. The matching process is the same as in the external closed door mode described above, so a description thereof will be omitted. If the matching process is successful (SC4: YES), the process proceeds to step SC5.

On the other hand, if the second user authentication is not successful (SC2: NO) or if the matching process is not successful (SC4: NO), the process returns to step SC1 and the second user authentication screen is displayed. At this time, a notification may be given that the authentication or matching has failed.

In the internal door closing mode, if the second user authentication fails or if the matching process fails, an error determination may be made, operation from the internal operation panel 26 may be disabled, and a transition may be made to an external operation mode using the external operation panel 22. In this case, an announcement may be made through a speaker or the like to the effect that operation from the internal operation panel 26 is not possible and that the door closing operation will be performed using the external operation panel 22. In this case, the control device 40 may perform processing according to the external door closing mode described above.

On the other hand, if the matching process is successful in step SC4 (SC4: YES), the control device 40 sets the internal operation panel 26 to an operation permitted state (SC5), displays an unmanned confirmation screen on the touch panel 262 to allow the user to perform an unmanned check inside the boarding/deboarding compartment, and provides guidance to the user to perform the unmanned check (SC6).

When the unmanned confirmation button is pressed on the unmanned confirmation screen (SC7), the control device 40 sends an unmanned confirmation completion signal to the door current control device 80 (see FIG. 7) (SC8). Next, the control device 40 displays a door close screen for closing the entrance door 4 on the touch panel 262 of the internal operation panel 26 (SC9 in FIG. 13). On the door close screen, for example, guidance is displayed that encourages the user to check again whether there is anyone in the boarding/deboarding compartment before operating the door close button 263.

When the close door button 263 is pressed by a user (SC10), the control device 40 judges whether or not the exit of a person is detected by the entry/exit detection sensor 32 within a predetermined period of time (SC11). In other words, it judges whether or not the user has exited the boarding/alighting room 7 within a predetermined period of time after the close door button 263 is pressed. At this time, the control device 40 may issue guidance from the speaker to promptly exit the boarding/alighting room 7.

As a result, if the exit of a person is not detected within the specified period (SC11: NO), the second user authentication screen is displayed again on the touch panel 262 of the internal operation panel 26 (SA18 in FIG. 9). In this case, if the exit of a person is not detected within the specified period after the close door button 263 is pressed, an error is determined, operation from the internal operation panel 26 is disabled, and a transition to an external operation mode using the external operation panel 22 may be made. In this case, an announcement may be made through a speaker or the like that operation from the internal operation panel 26 is not possible and that the door closing operation will be performed using the external operation panel 22. In this case, the control device 40 may perform processing according to the external door closing mode described above.

On the other hand, if exit is detected within a predetermined period of time after the close door button 263 is pressed (SC11: YES in FIG. 13), the system checks whether there is anyone in the boarding/de-boarding compartment based on the detection signal from the interior detection sensor 30 (SC12). Specifically, it is determined whether a person has been detected in the monitoring area set in step SA17 in FIG. 9. In other words, it is determined whether a person has been detected in the monitoring area excluding the vehicle portion from the interior area of the boarding/de-boarding compartment.

As a result, if it is not possible to confirm that there is no occupant in the boarding/deboarding compartment (SC12: NO), the determination is repeated until it is confirmed that there is no occupant. On the other hand, if there is a confirmation that there is no occupant in the boarding/deboarding compartment (SC12: YES), the external detection sensor 30C checks whether there is no occupant in a specified monitoring area set outside the boarding/deboarding compartment 7 (SC13). Here, in the case of the internal closed door mode, it is assumed that the user will not operate the external operation panel 22, so the monitoring area is set to the area K1+K2 in Figure 3. At this time, the control device 40 may issue guidance to encourage the occupant to evacuate from the monitoring area from an alarm unit such as the speaker 47.

If it is not possible to confirm that there is no occupant in the monitoring area K1+K2 (SC13: NO), the process returns to step SC12 and repeats the determination until there is no occupant in the monitoring area set inside or outside the boarding/disembarking compartment. On the other hand, if there is confirmed that there is no occupant in the monitoring area K1+K2 (SC13: YES), the switch control unit 82 (see FIG. 7) closes the switch 81 and supplies power to the door drive unit 63 (ST2).

When the control device 40 detects that no one is present in the monitoring area K1+K2 (SC13: YES), it determines that safety is ensured inside and outside the boarding/deboarding compartment near the entrance door, and starts closing the door (SC14). When the control device 40 detects that the entrance door 4 is fully closed (SC15), it erases the user ID (first authentication information) stored in the memory unit 41 (SC16), and ends the storage process.

Until the entrance door 4 is completely closed, the control device 40 may continuously check whether there is anyone inside or outside the boarding/deboarding room based on the detection signals of the internal detection sensor 30 and the external detection sensor 30C. At this time, the control device 40 may issue guidance to prohibit entry into the boarding/deboarding room and guidance to encourage evacuation from the monitored area from an alarm unit such as a speaker 47. In addition, in the case of the internal door closing mode, when the control device 40 detects that the entrance door 4 is completely closed, it may send a message indicating that the door has been closed to the information distribution destination of the user that has been registered in advance.

Although a series of steps for the inventory process according to this embodiment have been described above, the steps and processing content are merely examples, and processing can be added, omitted, or the steps changed as appropriate.

For example, in the above-mentioned warehousing process, when an unmanned confirmation input is made from the external operation panel 22, a closed door screen is displayed on the touch panel 45. However, a process for making a safety check be performed before the closed door screen is displayed may be added. For example, before step SB11 in FIG. 11, a safety check screen for making the user perform a safety check may be displayed on the touch panel 45, and after the user inputs the safety check, the closed door screen may be displayed. The same applies to the internal closed door mode. That is, before step SC9 in FIG. 13, a safety check screen for making the user perform a safety check may be displayed on the touch panel 262, and after the user inputs the safety check, the closed door screen may be displayed. By making the user perform a safety check in this way, safety can be improved.

In addition, the processing procedures for the process related to unattended confirmation, the process related to safety confirmation, the process related to door closing, the process related to second user authentication, and the matching process are not limited to the above examples. For example, the order of these processes can be changed as appropriate. In addition, these processing procedures can be appropriately combined with known processing procedures.

In addition, in the above-mentioned warehousing process, the external monitoring area (K1, K1+K2 in FIG. 3) is also checked for unoccupied, but this process may be omitted. In other words, if the internal detection sensor 30 confirms that no one is present, the system may be configured to start closing the door.

In addition, in the above-mentioned warehousing process, the outline of the vehicle is detected by the range sensors 30A and 30B, and the monitoring area within the boarding/de-boarding compartment is set based on the detection results, but this is not limited to the example. For example, since the installation position of the pallet within the boarding/de-boarding compartment is fixed, the area excluding the area of the pallet from the entire boarding/de-boarding compartment may be set as the monitoring area.

[Door current control process]
Next, an example of a door energization control process executed by the door energization control device 80 at the time of warehousing will be described with reference to the drawings. Fig. 15 is a flowchart showing an example of a process procedure of a door energization control method executed by the door energization control device 80, specifically, the opening/closing control unit 82.

First, when the control device 40 starts the storage process, the switch control unit 82 determines whether the entrance door 4 is detected as fully open by the entrance door sensor 67 (SD1). As a result, if the entrance door 4 is not detected as fully open (SD1: NO), the switch control unit 82 enters a standby state until the entrance door 4 is detected as fully open. On the other hand, if the entrance door 4 is detected as fully open (SD1: YES), the switch control unit 82 opens the switch 81 (SD2). This cuts off the power supply from the power source 100 (see FIG. 7) to the door drive unit 63 (state ST1 in FIG. 8).

Then, the switch control unit 82 judges whether or not an unmanned vehicle confirmation completion signal has been received from the control device 40 (SD3). As a result, if the unmanned vehicle confirmation completion signal has not been received (SD3: NO), the system enters a standby state until the unmanned vehicle confirmation completion signal is received. On the other hand, if the unmanned vehicle confirmation completion signal has been received (SD3: YES), the system then judges whether or not the monitoring area is unmanned (SD4). For example, the switch control unit 82 judges whether or not a person (object) has been detected in the monitoring area set in step SA17 of FIG. 9 based on the detection signal of the internal detection sensor 30, and also judges whether or not a person (object) has been detected in the monitoring area K1 (external door closed mode) or the monitoring area K1 + K2 (internal door closed mode) set outside the boarding/deboarding room 7.

As a result, if a person is detected in the monitored area (SD4: NO), the system will enter a standby state until no person is detected. On the other hand, if no person is detected in the monitored area (SD4: YES), in other words, if it is confirmed that no one is present in the monitored area inside or outside the boarding/disembarking compartment, the switch control unit 82 closes the switch 81 (SD5) and ends this process. This causes power to be supplied to the door drive unit 63, and the entrance/exit door 4 is powered on (state ST2 in Figures 11 and 13), making it possible to close the door.

The above-described process steps and process contents of the door current control process are merely examples, and processes can be added, omitted, or the process steps can be changed as appropriate.
For example, after determining that the monitored areas inside and outside the boarding/disembarking compartments are unoccupied based on the detection signals from the internal detection sensor 30 and the external detection sensor 30C, it may be determined whether or not an unoccupied confirmation completion signal has been received.

In addition, the conditions for closing the switch are not limited to the above example. For example, the switch 81 may be closed when either one of the following conditions is met: it is determined that the monitoring area is unoccupied based on the detection signals from the internal detection sensor 30 and the external detection sensor 30C, or an unoccupied confirmation completion signal is received.
In this case, either the process of confirming that the unattended confirmation completion signal has been received (SD3) or the process of confirming whether the monitored area is unattended (SD4) may be omitted.

In addition, when both unattended confirmation and safety confirmation are performed in the warehousing process, it may be determined whether a safety confirmation completion signal has been received instead of an unattended confirmation completion signal. Also, it may be determined whether a door close instruction signal has been received instead of an unattended confirmation completion signal.

Figure 16 is a diagram showing an example of the transitions between the operation locked state, operation permitted state, driving locked state, driving permitted state, entrance door 4 power supply cut-off state, and entrance door 4 power-on state in the above-mentioned storage process. As shown in Figure 16, the operation locked state and driving locked state are maintained until the first authentication is successful. In this state, if the first authentication is performed and successful, the state changes from the operation locked state to the operation permitted state. When a start command is input in the operation permitted state, the state changes to the operation permitted state, a call process is performed, and when the lift arrives at the boarding/deboarding room, a door opening process is performed and the entrance door 4 opens.

When the entrance door 4 is fully open, the switch 81 is opened, cutting off the power supply to the entrance door 4. This reliably prevents the entrance door 4 from closing during the period when there is a possibility that users or others may enter the boarding/deboarding compartment. Furthermore, when the entrance door 4 is fully open, the operation permitted state changes to an operation locked state, and the operation permitted state changes to an operation locked state. This makes it impossible to operate the mechanical parking device, and it becomes impossible to accept input operations from the touch panel 45 of the external operation panel 22.

In this state, the user gets into the vehicle and moves it onto the pallet. The user then leaves the boarding/disembarking compartment and moves back to the external operation panel 22. While the user is performing the storage operation, the operation is locked, preventing a third party from inputting data from the external operation panel 22.

Next, the second authentication is performed, and if the second authentication is successful, the operation lock state changes to the operation permission state. In this operation permission state, unmanned confirmation and door closing instruction are performed, and further, when unmannedness in the monitoring area is confirmed by the internal detection sensor 30 and the external detection sensor 30C, the switch 81 is turned on to supply power to the entrance door 4, and the power is turned on. This makes it possible to close the entrance door 4 after confirming safety. Furthermore, the operation lock state changes to the operation permission state. Then, when a door closing instruction is input in the operation permission state, the door closing process is performed and the operation permission state changes to the operation lock state. Then, when the door closing process is completed and the entrance door 4 is fully closed, the operation permission state is entered, allowing the lift, etc. to be raised and lowered, and the storage process is started. Then, when the storage process is completed, the operation permission state changes to the operation lock state, and the state before the first authentication was performed is restored.

[Shipping process]
The leaving process is the same as the various processes in the entering process described above, except that screens specialized for entering, such as the entering start confirmation screen, the entering guide screen, etc., are changed to screens specialized for leaving, such as the leaving start confirmation screen, the leaving guide screen, etc., that in the pallet calling process, an empty pallet is called when entering, whereas a pallet on which a vehicle is placed is called when leaving, and that the monitoring area in which the interior detection sensor 30 checks for unattended vehicles is set to the entire area inside the boarding/departing compartment. Therefore, detailed explanations will be omitted here.

In this embodiment, as shown in FIG. 4, a re-enter button 264 is provided on the internal operation panel 26. This re-enter button 264 is a button for re-entering a vehicle that has been recalled from the hangar in the internal door closed mode. This re-enter button 264 is a button that can be operated when inputting a door close command in the internal door closed mode (SC10 in FIG. 13). When the re-enter button 264 is pressed when leaving the garage, the subsequent processing is carried out in the same way as when entering the garage, except that the monitoring area when detecting an unoccupied vehicle in the boarding and disembarking compartment is the area excluding the outline of the vehicle in the boarding and disembarking compartment, as in the case of entering the garage. Other than that, it is the same, and a description thereof will be omitted here.

The method of controlling the door current by the door current control device 80 when leaving the warehouse is the same as when entering the warehouse, so a detailed explanation will be omitted here.

As described above, according to the door current control device, door current control method, door current control program, and mechanical parking device of this embodiment, a switch 81 is provided in the electrical circuit connecting the door drive unit 63 and the power source 100, and when the fully open state of the entrance door 4 is detected, the switch 81 is opened to cut off the power supply to the door drive unit 63.

The entrance door 4 can be reliably prevented from closing during the period when there is a possibility that users or the like may enter the boarding/deboarding compartment. In other words, according to this embodiment, the power supply to the door drive unit 63 that drives the entrance door 4 is itself cut off, so it is possible to more reliably prevent the entrance door 4 from closing compared to a case in which the closing operation of the entrance door 4 is stopped by software processing. This makes it possible to further improve safety.

Although the present disclosure has been described above using the above embodiment, the technical scope of the present disclosure is not limited to the scope described in the above embodiment. Various modifications or improvements can be made to the above embodiment without departing from the gist of the disclosure, and forms with such modifications or improvements are also included in the technical scope of the present disclosure. In addition, the flow of the entry process, exit process, and door power control process described in the above embodiment is one example, and it is possible to delete unnecessary steps, add new steps, or rearrange the order of processes without departing from the gist of the present disclosure.

For example, although an upward-opening door has been described as the entrance door 4, this is not limited thereto. For example, the entrance door 4 may be a door that opens horizontally or a door that opens downward (a type that is stored in the ground).

In addition, although the internal operation panel 26 has been described as an example of the internal reception unit (internal reception means), the present invention is not limited to this example. For example, the internal reception unit (internal reception means) may be realized as a wireless communication unit, and may be configured to receive various input information input from a mobile terminal carried by the user in the wireless communication unit, thereby allowing input of authentication information, input of unmanned confirmation, input of safety confirmation, input of door closing instruction, etc. Also, an in-vehicle device may be used instead of the mobile terminal.
Examples of the mobile terminal include a smartphone, a tablet terminal, and a remote controller.

In addition, in each of the above-mentioned embodiments, the external operation panel 22 and the internal operation panel 26 are controlled by the control device 40, but this is not limited to the example. For example, an operation panel control device may be provided for each of the external operation panel 22 and the internal operation panel 26, and the above-mentioned processing may be realized by the exchange of information between the operation panel control device and the control device 40. In this case, for example, the storage processing and collation processing of authentication information (user ID) performed by the control device 40 may be executed by the operation panel control device provided for each of the external operation panel 22 and the internal operation panel 26. In other words, the device configuration related to the specific control system for realizing the above-mentioned storage processing and shipping processing is not limited to the above-mentioned configuration, and various configurations may be realized by taking into account known technologies.

The door current control device, door current control method, door current control program, and mechanical parking device described in each of the above-described embodiments can be understood, for example, as follows.

The door current control device (80) according to the first aspect of the present disclosure is a door current control device applied to a mechanical parking device (1) that includes a boarding/deboarding room (7) where at least one of vehicles enter and exit the parking lot, an entrance/exit door (4) provided at the entrance/exit of the boarding/deboarding room, and a door drive means (63) that drives the entrance/exit door, and includes a switch (81) provided in an electric circuit that connects the door drive means to a power source (100), and a switch control means (82) that controls the switch, and when the switch control means detects that the entrance/exit door is fully open, it opens the switch to cut off the power supply to the door drive means.

This makes it possible to reliably prevent the entrance door from closing during the period when there is a possibility that users or the like may enter the boarding/deboarding compartment. In other words, since the power supply itself to the door drive means that drives the entrance door is cut off, it is possible to more reliably prevent the entrance door from closing compared to when the closing operation of the entrance door is stopped by software processing. This makes it possible to further improve safety.

In the door current control device (80) according to the second aspect of the present disclosure, in the first aspect described above, the switch control means may determine whether or not the passenger compartment is unoccupied, and if it is determined that the passenger compartment is unoccupied, close the switch and supply power to the door drive means.

This allows the entrance doors to be closed only after safety has been confirmed.

In the door current control device (80) according to the third aspect of the present disclosure, in the second aspect described above, the opening and closing control means may determine whether or not the passenger compartment is unoccupied based on an output signal from an internal detection means (30) for detecting a person in the passenger compartment.

This makes it possible to confirm that no one is inside the boarding/deboarding compartment before closing the boarding/deboarding compartment door.

In the door current control device (80) according to the fourth aspect of the present disclosure, in the second aspect described above, the opening and closing control means may determine that the passenger compartment is unoccupied when it receives an unoccupied confirmation completion signal indicating that the user has confirmed that there is no one in the passenger compartment.

This makes it possible to confirm that no one is inside the boarding/deboarding compartment before closing the boarding/deboarding compartment door.

The door current control method according to the fifth aspect of the present disclosure is a door current control method applied to a mechanical parking device (1) that includes a boarding/deboarding room (7) for entering and/or exiting a vehicle, an entrance/exit door (4) provided at the entrance/exit of the boarding/deboarding room, a door drive means (63) for driving the entrance/exit door, and a switch (81) provided in an electrical circuit that connects the door drive means to a power source (100), and when the entrance/exit door is detected to be fully open, a computer opens the switch to cut off the power supply to the door drive means.

This ensures that the entrance door is prevented from closing during periods when passengers or other people may enter the boarding/deboarding compartment. This makes it possible to prevent people from becoming trapped inside the boarding/deboarding compartment.

The door current control program according to the sixth aspect of the present disclosure is a door current control program for causing a computer to execute the above-mentioned door current control method.

This ensures that the entrance door is prevented from closing during periods when passengers or other people may enter the boarding/deboarding compartment. This makes it possible to prevent people from becoming trapped inside the boarding/deboarding compartment.

The mechanical parking device (1) according to the seventh aspect of the present disclosure includes a boarding/deboarding room (7) for entering and/or exiting a vehicle, an entrance/exit door (4) provided at the entrance/exit of the boarding/deboarding room, a door driving means (63) for driving the entrance/exit door, and the door current control device according to the first aspect.

This ensures that the entrance door is prevented from closing during periods when passengers or other people may enter the boarding/deboarding compartment. This makes it possible to prevent people from becoming trapped inside the boarding/deboarding compartment.

The mechanical parking device (1) according to the eighth aspect of the present disclosure may be configured in the seventh aspect above so that the door current control device (80) determines whether the boarding/de-boarding compartment is unoccupied, and if it determines that the compartment is unoccupied, closes the switch (81) and supplies power to the door drive means.

This makes it possible to confirm that no one is inside the boarding/deboarding compartment before closing the boarding/deboarding compartment door.

The mechanical parking device (1) according to the ninth aspect of the present disclosure may be the eighth aspect described above, which includes an internal detection means (30) for detecting a person in the boarding/deboarding compartment, and the door current control device (80) may determine whether or not the boarding/deboarding compartment is unoccupied based on an output signal from the internal detection means.

It will be possible to close the boarding/deboarding compartment doors only after confirming that no one is inside.

The mechanical parking device (1) according to the tenth aspect of the present disclosure may be provided with a parking device control means (40) that controls the door drive means in the seventh or eighth aspect, and the door current control device (80) may be configured to be able to communicate with the parking device control means.

By providing a door current control device as a separate component from the parking device control means, it is possible to improve safety.

The mechanical parking device (1) according to the eleventh aspect of the present disclosure may be configured such that in the tenth aspect, the door current control device (80) determines that the space inside the boarding/deboarding compartment is empty when it receives an empty space confirmation completion signal from the parking device control means (40) indicating that the user has confirmed that there is no one inside the space.

It will be possible to close the boarding/deboarding compartment doors only after confirming that no one is inside.

The mechanical parking device (1) according to the twelfth aspect of the present disclosure, in the eighth aspect described above, includes an internal detection means (30) for detecting a person in the boarding/deboarding compartment, and a parking device control means (40) for controlling the door drive means (63). When the internal detection means does not detect a person in the boarding/deboarding compartment and an unmanned confirmation completion signal indicating that the user has confirmed that no person is in the boarding/deboarding compartment is received from the parking device control means, the door current control device (80) may determine that no person is in the boarding/deboarding compartment and close the switch (81).

In this way, the unattended determination is made based on both the signal from the internal detection means and the user's confirmation that there is no one present, which further improves safety.

The mechanical parking device (1) according to the thirteenth aspect of the present disclosure, in the above eleventh or twelfth aspect, may include an external reception means (22) that is provided outside the boarding/deboarding compartment and receives input information from a user, and the parking device control means (40) may output the unattended confirmation completion signal to the door current control device (80) when input information indicating that the user has confirmed that no one is present in the boarding/deboarding compartment is received by the external reception means.

Users can input information through an external reception means installed outside the boarding and disembarking area, which can increase safety.

The mechanical parking device (1) according to the 14th aspect of the present disclosure, in the 11th or 12th aspect described above, is provided with an internal reception means (26) that is provided in the boarding/de-boarding compartment and receives input information from a user, and the parking device control means (40) outputs the unattended confirmation completion signal to the door current control device (80) when input information indicating that the user has confirmed that there is no one in the boarding/de-boarding compartment is received by the internal reception means.

Users can input information into the internal reception means installed inside the boarding and disembarking compartment, which increases convenience.

1: Mechanical parking device 3: Entrance/exit gate 4: Entrance/exit door 7: Boarding/disembarking room 17: Vehicle storage shelf 18: Pallet 22: External operation panel 26: Internal operation panel 28: Monitor 30: Internal detection sensor (internal detection means)
30A: Range sensor 30B: Range sensor 30C: External detection sensor (external detection means)
32: Entry/exit detection sensor 35: Camera 40: Control device (parking device control means)
41: Memory unit 45: Touch panel 46: IC card reader 47: Speaker 50: Main control unit 52: General database 55: Entrance door control unit 57: Sensor control unit 58: Camera control unit 59: Image database 63: Door driving unit (door driving means)
67: Entrance door sensor 80: Door current control device 81: Switch 82: Switch control unit (switch control means)
100: Power source 101: Swing drive breaker 102: Lift conveyor breaker 103: Door drive breaker 260: Input unit 261: IC card reader 262: Touch panel 263: Door close button 264: Re-enter button

Claims (14)

A door current control device applied to a mechanical parking device including a boarding/deboarding room for entering and exiting at least one of a vehicle, an entrance/exit door provided at an entrance/exit of the boarding/deboarding room, and a door driving means for driving the entrance/exit door,
a switch provided in an electric circuit connecting the door driving means and a power source;
A switch control means for controlling the switch is provided.
The open/close control means is a door current control device that opens the open/close switch to cut off the power supply to the door drive means when the entrance door is detected to be fully open. The door current control device according to claim 1, wherein the switch control means determines whether the passenger compartment is unoccupied, and when it is determined that the passenger compartment is unoccupied, closes the switch and supplies power to the door drive means. The door current control device according to claim 2, wherein the opening and closing control means determines whether the passenger compartment is unoccupied based on an output signal from an internal detection means for detecting a person in the passenger compartment. The door current control device according to claim 2, wherein the opening and closing device control means determines that the passenger compartment is unoccupied when it receives an unoccupied confirmation completion signal indicating that the user has confirmed that the passenger compartment is unoccupied. A door current control method applied to a mechanical parking device including a boarding/deboarding room for entering and exiting at least one of a vehicle, an entrance door provided at an entrance of the boarding/deboarding room, a door drive means for driving the entrance door, and a switch provided in an electric circuit connecting the door drive means to a power source,
A door current control method in which, when the entrance door is detected to be fully open, a computer opens the switch to cut off the power supply to the door drive means. A door current control program for causing a computer to execute the door current control method described in claim 5. A boarding and disembarking room for at least one of entering and leaving the vehicle;
An entrance door provided at the entrance of the boarding/deboarding room;
A door driving means for driving the entrance door;
A mechanical parking device comprising the door current control device according to claim 1. The mechanical parking device according to claim 7, wherein the door current control device determines whether the passenger compartment is unoccupied, and when it determines that the passenger compartment is unoccupied, closes the switch and supplies power to the door drive means. An internal detection means for detecting a person in a boarding/deboarding compartment is provided,
The mechanical parking device according to claim 8, wherein the door current control device determines whether or not there is anyone inside the boarding/de-boarding compartment based on an output signal from the internal detection means. A parking device control means for controlling the door driving means,
The mechanical parking system according to claim 7, wherein the door current control device is configured to be able to communicate with the parking system control means. The mechanical parking device according to claim 10, wherein the door current control device determines that the space inside the boarding/deboarding compartment is unoccupied when it receives an unoccupied confirmation completion signal from the parking device control means, the signal indicating that the user has confirmed that the space inside the boarding/deboarding compartment is unoccupied. An internal detection means for detecting a person in the boarding/deboarding compartment;
A parking device control means for controlling the door driving means,
The mechanical parking device described in claim 8, wherein the door current control device determines that there is no one in the boarding/deboarding compartment and closes the switch when the internal detection means does not detect a person in the boarding/deboarding compartment and receives an unmanned confirmation completion signal from the parking device control means indicating that the user has confirmed that there is no one in the boarding/deboarding compartment. An external reception means is provided outside the boarding/disembarking room and receives input information from a user;
The mechanical parking device as described in claim 11, wherein the parking device control means outputs the unmanned confirmation completion signal to the door current control device when input information indicating that a user has confirmed that there is no one in the boarding/de-boarding space is received by the external receiving means. An internal reception means is provided in the boarding/deboarding compartment and receives input information from a user,
The mechanical parking device as described in claim 11, wherein the parking device control means outputs the unmanned confirmation completion signal to the door current control device when input information indicating that a user has confirmed that there is no one in the boarding/disembarking space is received by the internal receiving means.