JP2884125B2 - Vehicle moving device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle moving apparatus which is used in a parking facility such as a multistory parking lot and moves a vehicle by using a conveyor, and in particular, stops the vehicle at a predetermined position on the conveyor. The present invention relates to a vehicle moving device capable of being driven.

[0002]

2. Description of the Related Art For example, a conventional general vehicle moving device employed for transferring a vehicle in a multi-story parking lot or the like is provided with a plurality of pallets of equal size for mounting the vehicle. The vehicle is moved by moving each pallet with the pallet mounted. As described above, in the conventional vehicle moving device in which the vehicle is moved by moving the pallet on which the vehicle is mounted, since the pallets are equal in size, the pallet is moved by a predetermined amount calculated in advance. Thus, the vehicle on the pallet can be stopped at a predetermined position.

On the other hand, recently, in order to suppress cost increase and weight increase due to the use of pallets, as disclosed in Japanese Patent Application Laid-Open No. 2-210171, a conveyor provided for each vehicle storage section has been disclosed. A vehicle moving device is used in which a vehicle is mounted directly on the transporting and moving unit and the conveyor is driven to transfer the vehicle on the transporting and moving unit to a predetermined parking space.

[0004]

However, as described above, in a vehicle moving device in which a vehicle is directly mounted on a conveyor moving portion of a conveyor, a conventional vehicle moving device in which all pallets having the same size need to be moved. Unlike the device, in order to stop the vehicle at a uniform position, the stop position of the vehicle must be adjusted for each vehicle having a different vehicle width or length. Such adjustment can be performed by an operator, but it is difficult to perform the operation quickly, and there is a problem that it is difficult to perform a highly reliable operation.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and is directed to a vehicle moving device which moves a vehicle and stops the vehicle within a predetermined space by driving a conveyor on which the vehicle is mounted. It is an object of the present invention to provide a vehicle moving device capable of accurately stopping a vehicle at a predetermined position irrespective of dimensions such as a width of the vehicle.

[0006]

In order to achieve the above object, a vehicle moving device according to the present invention detects that the vehicle moved by the conveyor is at a first predetermined position on a transport path of the conveyor. Vehicle detection means, conveyance distance detection means for detecting the conveyance distance by the conveyor,
Vehicle size calculating means for calculating the transport distance detected by the transport distance detecting means as the size of the vehicle while the vehicle detecting means detects the vehicle at the first predetermined position; Comprises a planned transport distance calculating means for calculating a planned transport distance from a second predetermined position on the transport path of the conveyor to a stop position in a predetermined space, and wherein the transport distance detecting means detects The conveyor is stopped when the transport distance from the second predetermined position matches the planned transport distance.

According to a second aspect of the present invention, the predetermined position of the vehicle is the center of the vehicle determined based on the size of the vehicle detected by the vehicle size detecting means.

According to a third aspect of the present invention, in the vehicle moving device according to the first aspect, the second predetermined position on the conveyor coincides with a predetermined position of the vehicle when the vehicle detecting means stops detecting the vehicle. It is.

[0009]

In the vehicle moving apparatus according to the first aspect, the vehicle detecting means is provided on the first conveyor on the conveyor path by the vehicle size detecting means.
The conveyance distance of the conveyor detected by the conveyance distance detecting means while detecting the vehicle at the predetermined position is detected as the size of the vehicle. By driving the conveyor, when a predetermined portion of the vehicle is conveyed from a second predetermined position on the conveyance path of the conveyor to a stop position, a conveyance distance detecting unit detects the second predetermined position from the second predetermined position. The transport distance matches the expected transport distance calculated by the arithmetic means, the drive of the conveyor is stopped, and the vehicle stops at a position where the predetermined position matches the stop position on the conveyor.

In the vehicle moving device of the second aspect, the vehicle can be stopped in a state where the center of the vehicle coincides with the stop position.

In the vehicle moving device according to the third aspect, the time when the vehicle size detecting means detects the size of the vehicle may be the time when the detection of the transport distance from the second predetermined position is started.

[0012]

FIG. 1 shows a schematic configuration of a vehicle moving apparatus according to the present invention. The vehicle moving device shown in FIG.
1, 21, motors 31 and 32, encoder 40, photodetector 50, controller 60, transfer commander 70, and motor drive circuit 80. The vehicle moving device of the embodiment shown in FIG. 1 is a device for transferring an automobile from a carrier to a parking space in a parking facility such as a multi-story parking lot as shown in FIG. Below, the outline of the parking lot equipment shown in the said FIG. 10 is shown.

The parking facility shown in FIG. 10 is provided with a guide rail 100 extending from the entrance / exit opening to the back of the parking lot. On this guide rail 100, a transport carriage 101 on which the automobile A can be mounted runs. ing. Transport cart 101
Is a conveyor 11, which can transfer the vehicle to a position corresponding to the front wheels and a position corresponding to the rear wheels of the mounted vehicle in a direction orthogonal to the traveling direction of the carrier 101.
12 are provided. In addition, the parking lot equipment includes a plurality of parking spaces 104 defined along the traveling route on the side of the traveling route of the transport vehicle 101. In each parking space 104, conveyors 21 and 22 corresponding to the conveyors 11 and 12 of the transport cart 101 are provided, respectively. These conveyors 21 and 22 can also transfer the vehicle in a direction orthogonal to the traveling direction of the carrier 101, similarly to the conveyors 11 and 12.

When a car is to be stored in the parking facility, the car A is first placed on the carrier 101 at the entrance / exit, and then the carrier 101 is loaded with no car. The vehicle is driven to a position adjacent to an arbitrary parking space 104. And the conveyors 11, 1
2 and the conveyors 21 and 22 are driven,
The vehicle A on the transport trolley 101 is transferred to the parking space 104.

On the other hand, when a car is to be taken out of the parking lot facility, the carrier 101 is first moved to a position adjacent to a predetermined parking space 104. Next, the conveyors 21 and 22 and the conveyors 11 and 12 are driven,
After the vehicle on the parking space 104 is transferred onto the transport trolley 101, the transport trolley 101 is caused to run toward the entrance.

As is apparent from the above description, the vehicle moving apparatus according to the embodiment of the present invention shown in FIG. 1 includes the conveyors 11 and 12 of the transport carriage 101 and the conveyors 21 and 12 of the parking space 104 in the parking lot facility shown in FIG. 22. That is, the vehicle moving device according to the embodiment transfers the conveyors 11 and 12 and the conveyors 21 and 22 when transferring the vehicle from the transport trolley 101 to the parking space 104.
2 is a device that controls the driving of the vehicle 2 to stop the vehicle at a predetermined position in the parking space 104. However, in FIG. 1, only the conveyor 11 and the conveyor 21 are shown for simplicity, and the conveyors 12 and 22 are omitted. Hereinafter, the vehicle moving device shown in FIG. 1 will be described in detail.

The conveyors 11 and 21 are known roller-type conveyors, and are arranged side by side in a direction perpendicular to the traveling direction with their rotation axis directions aligned in parallel with the traveling direction of the carrier 101. Multiple conveyor rollers 11
1 and 211 are provided. Sprockets (not shown) are provided on the rotating shaft of the conveyor roller 111, and the chains 11 meshing with these sprockets are provided.
2 (FIG. 1), the respective conveyor rollers 111 are interlocked. Sprockets (not shown) are also provided on the rotating shaft of the conveyor rollers 211, and the conveyor rollers 211 are interlocked via a chain 212 (FIG. 1) that meshes with these sprockets. That is, when the chain 112 is rotated, each of the conveyor rollers 111 rotates in conjunction with each other, and when the chain 212 is rotated, each of the conveyor rollers 211 rotates in conjunction with each other. Therefore, the amount of rotation of the conveyor rollers 111 and 211 is the amount of transport movement by the conveyors 11 and 21.

The motor 31 is a reversible servomotor which serves as a drive source for the conveyor 11 of the carrier 101.
The drive shaft of the motor 31 is connected to the chain 112 via a chain 113. That is, the motor 31
Is transmitted to the conveyor roller 111 via the chains 113 and 112. The motor 31 is also transmitted to a conveyor roller (not shown) of the other conveyor 12 of the carrier 101 via a chain transmission mechanism (not shown).
1 and the conveyor 11 and the conveyor 1
2 conveys the conveyed article at the same speed.

The motor 32 is a reversible servomotor which serves as a drive source for the conveyor 21 in the parking space 104. The drive shaft of the motor 32 is connected to the chain 212 via a chain 213. That is, the driving force of the motor 32 is transmitted to the conveyor roller 211 via the chains 213 and 212.
The motor 32 is also transmitted to a conveyor roller (not shown) of the other conveyor 22 in the parking space 104 via a chain transmission mechanism (not shown). The conveyor 22 conveys the conveyed articles at the same speed.

The motor 31 and the chains 112, 11
3 or the chain transmission mechanism including the motors 32 and the chains 212 and 213, the movement speed of the conveyors 11 and 12 when the motor 31 is operated and the motor 32
Are operated so that the moving speeds of the conveyors 21 and 22 when operating are the same. .

The rotation detector 40 is a known encoder mounted on a rotation shaft (not shown) of the motor 32,
The rotation angle of the motor 32, that is, the rotation amount is detected.
The rotation amount of the motor 32 detected by the rotation detector 40 is
The control unit 60 controls the rotation of the motor 32.

The photodetector 50 comprises a light emitting section 51 and a light receiving section 52, and as shown in FIG. 10 or FIGS. 2 to 7, a first predetermined position on the transport path by the conveyors 21 and 22 on the parking space 104 side. The light emitting unit 51 and the light receiving unit 52 are arranged so as to face K1. The predetermined position K1 is, as shown in FIG. 8, the front and rear wheels F of the automobile A on the conveyors 11 and 12 of the transport vehicle 101,
This is a position where the side edge of the vehicle A passes after being transferred onto the conveyors 21 and 22 by transportation by these conveyors 11 and 12. That is, this photodetector 50
From one side edge of the vehicle A passing through the first predetermined position K1 to the other side edge passing through the first predetermined position K1, the light output from the light emitting unit 51 is the vehicle A And outputs a detection signal of the vehicle A. The detection signal output from the photodetector 50 is
Given to.

The control section 60 includes a vehicle size calculating means 61 and a planned transport distance calculating means 62. Vehicle size detecting means 61
Detects the width of the vehicle based on the rotation amount of the motor 32 obtained by the rotation detector 40 and the detection signal of the vehicle A output from the photodetector 50. Based on the width of the vehicle A detected by the vehicle size detecting means 61 and the output result of the rotation detector 40, the planned transport distance calculating means 62 determines the center line CL2 in the width direction of the vehicle A at a second predetermined position described later. The expected transport distance from K2 to the stop position at the center of the parking space 104 is calculated. In the control unit 60, the rotation amount of the motor 32 is determined by the rotation ratio (gear ratio) of the drive shaft of the motor 32 and the conveyor roller 211.
It is converted into the transport distance of the conveyors 21 and 22. Other functions of the control unit 60 will be described in detail later in the description of the flowchart of FIG.

The transfer command section 70 issues a command to transfer the entered car A from the transport trolley 101 to an arbitrary parking space 104 according to the operation of the worker.

The motor drive circuit 80 drives the motor 32 in accordance with a command from the transfer command section 70, and stops driving the motor 32 in accordance with the calculation result of the control section 60.

The procedure for moving a vehicle in the vehicle moving apparatus will be described below with reference to the flowchart of FIG.

First, in step S1, the transport vehicle 1
From 01, it is determined whether or not a transfer command to the corresponding storage space 104 has been issued from the transfer command unit 70.
If a transfer command has been issued, the process proceeds to step S2.

In step S2, the motors 31, 32 are driven to drive the conveyors 11, 12, and the conveyors 21, 22.

In step S3, it is determined whether or not the detection signal of the photodetector 50 is rising. Conveyor 2
The car A on which the detection light H of the photodetector 50 is
When the detection signal rises by interrupting the process, the process proceeds to step S4. When the detection signal is not at the time of rising,
That is, the process proceeds to step S5 while the falling state is maintained or while the rising state is maintained after the detection signal has risen.

In step S4, the control unit 60
The first transport amount P1 of the conveyors 21 and 22 from the start of the conveyors 21 and 22 to the rising of the detection signal is calculated. This first reference position P1
Is calculated, the process proceeds to step S5.

In step S5, the control unit 60
It is determined whether the detection signal of the photodetector 50 is falling. In other words, the vehicle is conveyed from the state where the detection light H of the photodetector 50 is blocked by the vehicles on the conveyors 21 and 22, and the light detector 50 is
Is detected when the detection light H is switched to the light transmitting state between the light emitting unit 51 and the light receiving unit 52. When the time point of switching to the light transmitting state is detected, the process proceeds to step S6. If the detection signal is not in the falling state, that is, while the detection signal is in the rising state or in the falling state, the process proceeds to step S10.

In step S6, the control unit 60
The second movement of the conveyors 21 and 22 from the start of the conveyors 21 and 22 to the fall of the detection signal
Is calculated. After calculating the second reference position P2, the process proceeds to step S7.

In step S7, the difference between the first reference position P1 and the second reference position P2 is calculated by the vehicle size calculation unit 61 of the control unit 60, and the difference between the first reference position P1 and the second reference position P2 is calculated. Width D of the car mounted on
(See FIG. 5).

In step S8, at the time when the detection signal of the photodetector 50 falls in the planned transport distance calculating section 62 of the control section 60, the center line CL in the width direction of the vehicle is detected.
2 on the transport path through which the second predetermined position K2 passes
Then, the remaining transport movement amount Lr of the vehicle by the conveyors 21 and 22 until the center line CL2 in the width direction of the vehicle coincides with the center line CL1 of the parking space 104 is calculated. The remaining transport movement amount Lr is determined by the distance L (between the vehicle width D obtained in step S8 and the center position CL1 in the width direction of the parking space 104 and the setting position of the photodetector 50, which can be known in advance. (See FIG. 5).
= L- (D / 2).

In step S9, the control unit 60
In step S8, a flag is set to notify that the remaining transport distance Lr has been calculated.

In step S10, it is determined whether or not the control unit 60 has set a flag indicating that the remaining transport movement amount Lr has been calculated. Step S3
If the flag has been set after going through the routine from step S9 to step S11. If the flag has not been set, that is, if the rise of the detection signal of the photodetector 50 has not yet been detected in step S3, or even if the rise of the detection signal has been detected in step S3, the detection of the photodetector 50 in step S5 If the fall of the detection signal has not been detected yet, the process proceeds to step S11.

In step S11, the control unit 60 calculates the actual transport movement amounts of the conveyors 21 and 22 from the time when the detection signal of the photodetector 50 falls, with the remaining transport movement amount Lr calculated in step S7. It is determined whether or not they match. If the actual transfer amount does not match the remaining transfer amount Lr, the process returns to step S2, and if it does, the process proceeds to step S12.

In step S12, the motor drive circuit 80
, A command is issued to stop driving the conveyors 11, 12, 21, and 22.

Steps S1 to S1 as described above
According to the flowchart of FIG. 2, the car A on the conveyors 11, 12 is transferred onto the conveyors 21, 22 by driving the conveyors 11, 12, 21, 22 in step S2.

As shown in FIG. 2, until the detection light H of the photodetector 50 is blocked by the automobile A, the photodetector 5
Since the rise of the detection signal of 0 is not detected, the process proceeds from step S3 to step S5. In addition, since the falling of the detection signal of the photodetector 50 is not detected, step S
The process proceeds from Step 5 to Step S10. Further, in this case, since the flag indicating that the remaining transport movement amount Lr has been calculated is not set, the process returns from step S10 to step S2, and the drive of the conveyors 21 and 22 is continued in step S2.

As shown in FIG. 3, when the car A is detected by the photodetector 50, the detection signal of the photodetector 50 rises, so that the process proceeds from step S3 to step S4. , 22 first
Is calculated. When the detection signal of the photodetector 50 rises, the photodetector 50 is set in step S5.
Is not detected. Therefore, the process proceeds from step S5 to step S10. Also at this time, since the flag has not been set yet, the process returns from step S10 to step S2, and the drive of the conveyors 21 and 22 is continued in step S2.

As shown in FIG. 4, while the car A is detected by the photodetector 50, the process proceeds from step S3 to step S5, and the rising of the detection signal of the photodetector 50 is detected. At the same time. That is, the drive of the conveyors 21 and 22 is continued by step S2.

When the state where the car A is detected by the photodetector 50 is changed to a state where the car A is not detected by the photodetector 50 as shown in FIG.
That is, when the detection signal of the photodetector 50 falls, the process proceeds from step S3 to step S5, and then proceeds from step S5 to step S6 to execute the following routine. That is, in step S6, the second reference position P
2 is calculated, the vehicle width D is calculated in step S7, the remaining transfer distance Lr is calculated in step S8, and a flag is set to notify that the remaining transfer distance Lr has been calculated in step S9. Since the flag is set in step S9 as described above, the process proceeds from step S10 to step S11. When the detection signal of the photodetector 50 falls, since the conveyors 21 and 22 have not moved by the remaining transport movement amount Lr, it is determined in step S
The process returns from step 11 to step S2, and the driving states of the conveyors 21 and 22 are continued in step S2.

As shown in FIG. 6, the center line CL2 of the car A on the conveyors 11 and 12 in the width direction from the fall of the detection signal of the photodetector 50 becomes the center line of the parking space 104.
Step S3, step S5,
The driving states of the conveyors 21 and 22 are continued by repeating the routine of step S10, step S11, and step S2.

After the flags are set as described above, the driving of the conveyors 21 and 22 is continued, so that the center line CL2 of the car A on the conveyors 21 and 22 in the width direction is aligned with the center line of the parking space 104. If it matches CL1, the process proceeds from step S11 to step S12, in which the driving of the conveyors 21 and 22 is stopped.

In the manner described above, the center line CL2 in the width direction of the car A is set to the center line of the parking space 104 regardless of the width of the car A entering the parking facility.
The vehicle can be stopped in the parking space 104 in a state where the parking space 104 matches the CL1.

Note that the vehicle moving device of the above-described embodiment is designed such that when the vehicle A enters the parking lot facility, the transport vehicle 1
When the vehicle A is transferred from 01 to the parking space 104, the vehicle moving device stops the vehicle A at a predetermined position in the parking space 104 (a position where the center line CL2 coincides with the center line CL1). Even when an automobile is transferred from the parking space 104 to the transport trolley 101 at the time of unloading, the vehicle position detecting means such as a photodetector for detecting the automobile moving by the conveyors 11 and 12 of the transport trolley 101 is newly provided. The vehicle moving device can be substantially the same as the vehicle moving device of the above embodiment.

Further, in the vehicle moving apparatus of the above embodiment, the vehicle is stopped in a state where the center line in the width direction of the vehicle is a predetermined position of the vehicle, and the center line in the width direction coincides with the center line of the parking space. Although the predetermined position of the vehicle is not necessarily the center line in the width direction of the vehicle, it may be, for example, the center line in the length direction of the vehicle.

[0049]

According to the first aspect of the present invention, the vehicle can be stopped in a state where a predetermined portion of the vehicle matches a stop position on the conveyor. Therefore, despite the fact that the vehicle is directly mounted on the conveyor and conveyed, the vehicle can be accurately stopped at a uniform position in a predetermined space regardless of the size of the vehicle.

According to the second aspect, the vehicle can be stopped in a state where the center of the vehicle coincides with the center of the predetermined space.

According to the third aspect, when the size of the vehicle is detected, the planned transport distance can be calculated.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a vehicle moving device according to the present invention.

FIG. 2 is an explanatory diagram illustrating a moving process of a vehicle by a vehicle moving device.

FIG. 3 is an explanatory view showing a moving process of a vehicle by a vehicle moving device.

FIG. 4 is an explanatory view showing a moving process of the vehicle by the vehicle moving device.

FIG. 5 is an explanatory view showing a moving process of the vehicle by the vehicle moving device.

FIG. 6 is an explanatory view showing a moving process of the vehicle by the vehicle moving device.

FIG. 7 is an explanatory view showing a moving process of the vehicle by the vehicle moving device.

FIG. 8 is an explanatory diagram showing a first predetermined position.

FIG. 9 is a flowchart showing a procedure up to stopping the vehicle in a parking space.

FIG. 10 is an explanatory view schematically showing a parking facility provided with the vehicle moving device of FIG. 1;

[Explanation of symbols]

 21, 22 Conveyor 40 Transport distance detecting means 50 Photodetector 60 Control unit 61 Vehicle size calculating means 62 Scheduled transport distance calculating means 80 Motor drive circuit A Vehicle

Claims (3)

(57) [Claims] 1. A vehicle moving device that drives a conveyor on which a vehicle is mounted to move the vehicle and stop the vehicle within a predetermined space, wherein the vehicle that is moved by the conveyor conveys the conveyor. A vehicle detecting means for detecting that the vehicle is at a first predetermined position on a route; a conveying distance detecting means for detecting a conveying distance by the conveyor; and the vehicle detecting means detecting a vehicle at the first predetermined position. A vehicle size calculating means for calculating a transport distance detected by the transport distance detecting means as a size of the vehicle, and a second predetermined position of the vehicle on a transport path of the conveyor.
A scheduled transport distance calculating means for determining a scheduled transport distance from a predetermined position to a stop position in the predetermined space,
And the conveyor is stopped when a transport distance from the second predetermined position detected by the transport distance detecting means matches the planned transport distance. 2. The vehicle moving device according to claim 1, wherein the predetermined location of the vehicle is a center of the vehicle obtained based on a size of the vehicle detected by the vehicle size detecting means. 3. The vehicle according to claim 1, wherein the second predetermined position on the conveyor is a position that coincides with a predetermined position of the vehicle when the vehicle detection unit stops detecting the vehicle. Moving equipment.