JP3160824B2 - Stop position correction device for parking pallets - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking position pallet stop position correcting device for correcting a shift of a stop position of a laterally movable pallet provided in a parking lot.

[0002]

2. Description of the Related Art In order to make effective use of the parking lot site,
Recently, parking lots are becoming three-dimensional. For example, there are many multi-level three-dimensional parking lots in which a vehicle is mounted on a pallet, the pallet is wound up from above, and the pallet is stored in a plurality of levels. 7 and 8 show an example of the multi-level three-dimensional parking lot 1, and the parking lot 1 shown in this figure is of a four-stage type.

On the first floor of the parking lot building 2 of the parking lot 1, that is, on the first level, pallets 4 carrying the vehicle 3 are arranged in each parking space so as to be movable, that is, laterally movable. Further, a plurality of horizontal frames 5 are attached to the second to fourth steps corresponding to the second to fourth floors of the parking lot building 2.

[0004] A part of the horizontal frame 5 is attached to the vehicle 3 at a width and an interval for raising and lowering the vehicle 3, and a pallet 6 for raising and lowering is suspended on the horizontal frame 5 via a wire rope 7 so as to be able to move up and down.

The lifting and lowering of the lifting pallet 6 is performed by hoisting a wire rope 7 attached to the lifting pallet 6 by a lifting motor (not shown) provided on the horizontal frame 5.

A roller (not shown) is provided on the bottom surface of the second and third horizontal frames 5, and a horizontal drive motor (not shown) is connected to the roller. When the lateral running motor is operated, the rollers roll on the rails, and the hoisting and lowering pallet 6 wound up together with the horizontal frame 5 runs laterally.

Further, as shown in FIG. 9, lateral running rollers 8 are also provided on the left and right bottom surfaces of the first stage pallet 4 on the vehicle loading / unloading side and the back side. One of the horizontal running rollers 8 is connected to a horizontal running motor 9.
By operating the, the horizontal running roller 8 rolls on the horizontal running rail 11 provided on the floor 10 (see FIG. 7) of the parking lot building 2. As a result, the pallet 4 can be moved sideways in accordance with the state of loading and unloading of the vehicle 3.

Since the second-stage and third-stage pallet 6 and the first-stage pallet 4 are provided so as to be able to move sideways, for example, when the third-stage pallet 6 is moved up and down, The first stage pallet 4 and the second stage pallet 6 automatically move sideways, and the third stage pallet 6 and the second stage pallet 6 may interfere with each other. In addition, the third-stage pallet 6 can be reliably moved up and down without interference between the third-stage pallet 6 and the first-stage pallet 4.

In order to surely stop the first-stage pallet 4 at a position where the vehicle 3 can be loaded and unloaded, the stop position of the pallet 4 is detected on the floor 10 opposite to the side where the pallet 4 is loaded and unloaded. The sensor 12 for performing the operation is mounted. The pallet 4 is provided with a striker 13 which is a member to be detected by the sensor 12. The sensor 12 is connected to an operation control unit 14 connected to the lateral running motor 9.

Since the position where the pallet 4 stops when the sensor 12 detects the striker 13 is the correct position for carrying the vehicle in and out of the pallet 4, the vehicle 3 may be carried in and out of the pallet 4 at this position. .

The operation control unit 14 moves the pallet 4 sideways,
When the sensor 12 detects the striker 13,
The present invention for generating a stop signal for stopping the sensor 12 in addition to run the lateral is so when deviated from the striker 13, and outputs an operation stop signal for stopping the operation of the entire pallet 4. Reference numeral 15 denotes an entry guide for facilitating entry of the vehicle 3.

[0012]

In the prior art described above, when a vehicle is to be loaded on a pallet,
The pallet may be shifted laterally from the approach guide. In such a case, there is a problem that the vehicle cannot be loaded on the pallet because the width of the pallet on the loading / unloading side does not correspond to the width of the vehicle (the pallet on the right side of FIG. L).

[0013] Such a shift of the pallet is caused by pushing the pallet by the driving force of the wheels when the vehicle is carried out of the pallet. If the pallet shifts, the striker comes off the sensor, and the entire machine is displaced. Operation stops, the pallet cannot be moved, and eventually the vehicle cannot be brought into the pallet.

Further, when a vehicle is carried into the pallet, the pallet may be displaced by the driving force of the wheels at the time of carrying in, and the striker may come off the sensor. In this case, as in the case described above, the entire operation of the machine is stopped, the pallet cannot move, and there is a problem that the vehicle cannot be carried out. When the vehicle cannot be carried in and out in this way, there is a problem that a user is greatly troubled.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional problems. Even if the stop position of the pallet shifts, the sensor detects the member to be detected and automatically corrects the shift. It is an object of the present invention to provide a parking position pallet stop position correcting device that ensures that a vehicle is carried in and out of a pallet.

[0016]

According to the present invention, there is provided a parking lot in which a pallet for mounting a vehicle is moved by a driving motor along a rail laid in advance. A pallet, a plurality of sensors arranged along one of the pallet movement path and the pallet along the rail, and a detected member provided on the other of the movement path or the pallet and detected by the sensor And detecting the position of the pallet based on signals from the plurality of sensors when the detected member and the sensor are displaced when the pallet stops, determining the moving direction of the pallet, and detecting the detected moving direction. Detection control means for generating a rotation control signal for the motor in accordance with A timer for operating the detection control means after a predetermined measuring time when at least one of the detected members is detected and another sensor is not detecting the detected member; A pallet movement switch for interrupting a timer and operating the detection control means is additionally provided.

[0017]

According to the present invention, when the sensor and the detected member are displaced after the vehicle is carried in and out, the detected member is first detected by at least one of the plurality of sensors. Is determined. If it is detected, it is determined whether another sensor is detecting the detected member. If another sensor is detecting the detected member, all sensors have detected the detected member, and no pallet displacement has occurred. Completion is performed.

If at least one sensor is detecting the member to be detected and another sensor is not detecting the member to be detected, a timer measures a predetermined measuring time, and Later, the detection control means is activated, a rotation control signal is generated for the motor in accordance with the direction of movement of the pallet detected by the detection control means based on the signal of the sensor, the motor is rotated, and other sensors are affected. The pallet is moved in a direction for detecting the detection member.

If another sensor detects the detected member, all of the plurality of sensors have detected the detected member, so that no pallet displacement has occurred, and the motor stops rotating. Thus, the preparation for the pallet vehicle loading / unloading operation is completed.

In addition, if a vehicle is loaded or unloaded while the timer for measuring a predetermined measurement time is operating due to a shift, if the user operates the pallet movement switch, the timer is interrupted and detected. The control means operates to generate a rotation control signal of the motor in accordance with the moving direction of the pallet, and the motor rotates to move the pallet in a direction in which another sensor detects the member to be detected.

Further, when at least one sensor has not detected the detected member and another sensor has detected the detected member, a timer measures a predetermined measuring time, and after the measuring time, The detection control means is operated, and a rotation control signal is generated for the motor in accordance with the direction of movement of the pallet detected by the detection control means based on the signal of the sensor, the motor rotates, and at least one sensor is detected. The pallet is moved in the direction in which the member is detected.

When the at least one sensor detects the detected member, all of the plurality of sensors have detected the detected member, so that no pallet displacement has occurred, and the motor stops rotating. The operation is stopped, and preparation for the vehicle loading / unloading operation of the pallet is completed.

Further, even when at least one sensor does not detect the member to be detected, and when another sensor detects the member to be detected, the vehicle is stopped during the operation of the timer for measuring the measurement time. If the user operates the pallet movement switch when the pallet is loaded or unloaded, the timer is interrupted, the detection control means is activated, and the pallet can be moved.

If a plurality of sensors are provided and at least one of the sensors detects a member to be detected, the stop position of the pallet can be corrected without stopping the operation of the machine. Can be stopped at an accurate position for carrying in / out the vehicle. Thus, it is possible to carry the vehicle in and out of the pallet.

Further, if the detected member has not been detected by at least one of the sensors and the other sensor has not detected the detected member, an error message signal is output. This state does not occur because at least one sensor detects the member to be detected.

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to FIGS. The same members as those in FIGS. 7 to 9 are denoted by the same reference numerals, and detailed description thereof will be omitted. In FIG. 1, what is indicated by reference numeral 4 is a pallet on which the vehicle 3 is placed, which is disposed in the parking lot building 2 (see FIGS. 7 and 8) of the parking lot 1.

The pallets 4 are provided in each of the first-stage parking spaces of the multi-level three-dimensional parking lot building 2.
Lateral rollers 8 are provided on the left and right sides of the bottom surface of the pallet 4 on the vehicle loading / unloading side and on the left and right sides.

A driving motor, that is, a laterally running motor 9 is connected to one of the laterally traveling rollers 8, and by operating the laterally traveling motor 9, the laterally traveling roller 8 is moved to the parking lot 1. The pallet 4 rolls on the lateral running rail 11 which is a rail previously laid on the floor 10 of the vehicle, and the pallet 4 runs laterally in the left-right direction in FIG.

At the center of the end of the pallet 4 opposite to the side where the pallet 4 is carried in and out of the vehicle 3, a striker 16, which is a member to be detected, extending downward is attached. On the other hand, on the floor 10 of the parking lot 1 where the pallet 4 moves,
Two sensors 17 are arranged in line along 11. This sensor
Reference numeral 17 designates two pallets 4 each. The striker 16 provided on the pallet 4 has a length detected by the two sensors 17. In the drawing, what is indicated by reference numeral 15 is an approach guide.

As shown in FIGS. 7 and 8, a horizontal frame 5 is provided in the upper part of the second or higher stage of the parking lot building 2, and some of the horizontal frames 5 The lifting pallet 6 is suspended so as to be movable up and down. The lifting pallet 6 is raised and lowered by the operation of a hoisting motor (not shown) provided on the horizontal frame 5.

A horizontal traveling roller 8 is provided on the horizontal frame 5 having the pallet 6 for elevating and lowering. The horizontal traveling roller 8 is operated by a lateral traveling motor (not shown) so that the horizontal frame 5 is moved. Pallet 6 for lifting
Is to run sideways.

Next, a circuit for controlling the transverse drive motor 9 of the pallet 4 based on a signal from the sensor 17 will be described with reference to FIG. Two sensors 17 provided on each pallet 4 are connected to a detection control unit 18, and the detection control unit 18 is connected to a motor control unit 19.

The detection control unit 18 detects the moving direction of the pallet 4 based on the signal of the sensor 17, and the motor control unit
Numeral 19 is for generating a rotation control signal for the laterally traveling motor 9 in accordance with the detected moving direction to rotate the laterally traveling motor 9. The detection controller 18 and the motor controller 19 constitute a detection controller 20.

The motor control unit 19 is connected to a laterally traveling motor 9 mounted on the pallet 4, and the laterally traveling motor 9 is connected to the laterally traveling roller 8 of the pallet 4. Further, the detection control unit 18 is provided with a timer 21 and an pallet movement switch 22 for manually operating the laterally moving motor 9 of the pallet 4 when the vehicle 3 is carried in or out while the timer 21 is counting. Panel 23 is connected.

On the operation panel 23, in addition to the pallet movement switch 22, a numeral key 2 for inputting a number relating to the movement of the pallet 4 is provided.
4, a message display 25 for generating a message or the like to the outside when one of the two sensors 17 does not detect the striker 16, and a speaker
26 are provided (see FIG. 3).

The stop position of the pallet 4 when the vehicle 3 is carried in is the position at which the sensors 17 arranged in two rows detect the strikers 16 at the same time. In this case, the sensors 17 arranged in two rows and the center line of the pallet 4 Is the position that matches the middle part of. Therefore, the two sensors 17 are simultaneously
Is detected, the vehicle 3 can be immediately carried in.

Also, two sensors 17 are simultaneously
If the vehicle 3 is not detected, the operation of all the machines in the parking lot 1 stops, so that such a state does not occur even if a shift occurs when the vehicle 3 is carried in and out. Only to be able to detect striker 16,
In order to ensure that the center line of the stopped pallet 4 is located at an intermediate position between the two sensors 17, the mounting interval between the two sensors 17, the width of the striker 16, and the like are taken into consideration.

Next, the operation of this embodiment will be described with reference to the flowchart of FIG. When the vehicle 3 is carried into the pallet 4 or when the vehicle 3 is carried out of the pallet 4 (step 1), first, the right sensor 17a (see FIG. 6) of the two sensors 17 Is detected,
That is, it is determined whether the switch is ON (step 2).

If the right sensor 17a is ON, it is determined whether the left sensor 17b is ON (step 3). If the left sensor 17b is ON,
Then, the process jumps to 18 to complete the preparation for carrying in / out the vehicle.

In step 2, the right sensor
17a is turned ON, and in step 3, the left sensor 17b does not detect the striker 16, ie, the vehicle 3
When the pallet 4 is carried in and out, the pallet 4 is pushed by the driving force of the wheels and the like, and shifts rightward as in the pallet 4 on the right shown in FIG. 6, and the sensor 17b on the left does not detect the striker 16; If is not ON, a message or the like is displayed on the display 25 of the operation panel 23 (step 4).

Along with the display of the message, a timer 21 for measuring a predetermined measuring time (for example, 5 minutes) starts (step 5). Next, it is determined whether the timer 21 has timed out (step 6).

As shown in FIG. 6, when the right sensor 17a of the two sensors 17 detects the striker 16 and turns on, and the left sensor 17a does not detect the striker 16 and does not turn on, the detection control unit The moving direction of the pallet 4 is detected by 18 (see FIG. 4) based on the signal of the sensor 17;
In the pallet on the right side of FIG. 6, a lateral running of the pallet 4 in the left direction is detected, and a rotation control signal of the horizontal running motor 9 according to the detected horizontal running in the left direction is transmitted to the motor control unit.
Generated from 19.

When the timer 21 has timed out, the lateral running motor 9 rotates left (step 7), whereby the pallet 4 runs leftward in the horizontal direction.

In step 5, the timer 21 starts, and in step 6, it is determined whether the timer 21 has timed out. If not, it is determined whether the pallet movement switch 22 has been turned on. (Step 8).

That is, if the vehicle 3 is carried in or out while the timer 21 is counting, it is determined whether the pallet movement switch 22 of the operation panel 23 on which the message is displayed is manually pressed (step 8).

When the pallet movement switch 22 is turned on ,
Without waiting for the time to elapse, the lateral traveling motor 9 is controlled by the rotation control signal of the lateral traveling motor 9 generated by the motor control unit 19.
Rotates left (step 7), whereby the pallet 4 runs leftward. If it is determined in step 8 that the pallet movement switch 22 is not turned on, the process returns to step 6.

On the other hand, in step 2, the right sensor
17a does not detect the striker 16 and does not turn on, and furthermore, in step 9, if the left sensor 17b detects the striker 16 and turns on, that is, the pallet 4 drives the wheels of the vehicle 3 Etc., for example,
When the shift is opposite to the right pallet 4 in FIG. 6 and the pallet 4 shifts to the left, the right sensor 17a is not turned on and the left sensor 17b is turned on, a message is displayed on the operation panel 23. (Step 10).

Then, a timer 21 for measuring a predetermined measuring time (for example, 5 minutes) is started (step 21).
11). Next, it is determined whether the timer 21 has timed out (step 12).

When the timer 21 has timed out, the lateral traveling motor 9 rotates clockwise (step 13), whereby the pallet 4 laterally travels rightward.

In step 11, the timer 21 starts, and in step 12, it is determined whether the timer 21 has timed out. If not, it is determined whether the pallet movement switch 22 has been turned ON. (Step 14).

That is, when the vehicle 3 is carried in or out while the timer 21 is counting, it is determined whether the pallet movement switch 22 of the operation panel 23 on which the message is displayed is manually pressed.

When the pallet movement switch 22 is turned on,
Without waiting for the time to elapse, the lateral traveling motor 9 is controlled by the rotation control signal of the lateral traveling motor 9 generated by the motor control unit 19.
Rotates to the right (step 13), whereby the pallet 4 runs to the right. If the pallet movement switch 22 is not turned on in step 14, the process returns to step 12.

In step 13, when the laterally running motor 9 rotates rightward and the pallet 4 runs rightward, and in step 7, the laterally running motor 9 rotates leftward and the pallet 4 moves leftward. When the vehicle runs sideways, it is determined whether the sensors 17 on both sides are turned on (step 15).

When the sensors 17 on both sides are turned on, the message is erased (step 16), and the rotation of the transverse motor 9 stops (step 17). When the rotation of the transverse motor 9 stops, preparation for carrying in and out the vehicle is completed (step
18). In step 15, both sensors 17 are turned on.
If not, return to step 2.

In step 2, the right sensor
If 17a is not turned on and, in step 9, the left sensor 17b is not turned on, an error message is output by the operation panel 23 and the operation of the machine is stopped. In the case of this embodiment, the sensor 17 and the striker 16 are provided so that this state does not occur.

In this embodiment, a sensor 17 is mounted on the floor 10 of the parking lot 1 and a striker 16 which is detected by the sensor 17 is mounted on the pallet 4.
The sensor 17 is mounted on the pallet 4 and the striker 16 is mounted on the floor 10 of the parking lot 1.

[0057]

According to the present invention, as described above, even if the pallet deviates from an accurate stop position when the vehicle is carried in and out, the detected member is detected by at least one of the sensors. So that the parking lot can be operated.

The member to be detected is at least one of the sensors.
If the time is detected by one of the sensors and not detected by another sensor, a timer for measuring a predetermined measurement time is started, and after a predetermined measurement time of the timer, a signal from the motor control unit is used. Since the motor rotates and the deviation is automatically corrected, the pallet is always stopped at a position where the vehicle can be loaded and unloaded, and the vehicle can be reliably loaded and unloaded. This can avoid inconvenience to the user.

When a vehicle is loaded or unloaded while the timer for measuring a predetermined measurement time is running due to a shift, if the user operates the pallet movement switch, the timer is interrupted. As a result, the detection control means is operated, and the pallet can be aligned with the position for loading / unloading the vehicle.

[Brief description of the drawings]

FIG. 1 is a top view showing one embodiment of the present invention.

FIG. 2 is a side view of the pallet of FIG.

FIG. 3 is a front view showing an example of an operation panel used in the embodiment.

FIG. 4 is a circuit diagram for moving a pallet.

FIG. 5 is a flowchart of the operation of the pallet of the embodiment.

FIG. 6 is a top view showing a part of the pallet shown in FIG. 1 shifted.

FIG. 7 is a side view illustrating a multi-stage multi-story parking lot.

FIG. 8 is a front view of the one shown in FIG. 7;

FIG. 9 is a top view showing a part of the conventional pallet shifted.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Parking lot 4 Pallet 9 Side running motor 10 Floor 11 Side running rail 16 Striker 17 Sensor 20 Detection control means 21 Timer

Claims (1)

(57) [Claims] In a parking lot where a pallet for mounting a vehicle is moved by a driving motor along a rail laid in advance, the rail is provided on one of a pallet and a moving path of the pallet or the pallet. A plurality of sensors arranged side by side, a detected member provided on the other of the moving path or the pallet and detected by the sensor, and the detected member and the sensor are shifted when the pallet is stopped. Detecting a position of the pallet based on signals from the plurality of sensors, determining a moving direction of the pallet, and generating a rotation control signal for the motor in accordance with the detected moving direction; and If necessary, at least one of the sensors detects the member to be detected and the other sensor A timer for activating the detection control means after a predetermined measurement time when the detected member is not detected; and a pallet movement for interrupting the timer during the operation of the timer and activating the detection control means. A parking position pallet stop position correcting device characterized by adding a switch.