JP3617659B2 - Automatic entry / exit parking lot equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic loading / unloading parking lot apparatus for automatically loading / unloading a vehicle having an automatic steering system into / from a parking lot.
[0002]
[Prior art]
Conventionally, when entering a parking lot, a vehicle driver drives a vehicle to a predetermined position, and then moves to a parking shelf by a conveyor or a lift. Further, when leaving, the vehicle moves to a predetermined position by a conveyor or a lift in the reverse procedure of entry, and the driver gets on the vehicle. By the way, development of vehicles equipped with an automatic steering system is progressing. The automatic steering system includes both a vehicle equipped and a road equipped, and detects a sign provided on the road on the vehicle side and travels to a target position. When signs are installed on highways and the like, vehicles for automatic steering systems will rapidly spread.
[0003]
[Problems to be solved by the invention]
Cars entering and leaving the vehicle at a predetermined position in the parking lot are carried out by the driver of each vehicle, and therefore, there are cases in which these vehicles are not smoothly entered or exited by the driver's steering technique. Further, when vehicles equipped with an automatic steering system become widespread, it is necessary to provide a parking lot corresponding to this, and if the vehicle becomes a vehicle of this automatic steering system, the problem of entry / exit by the driver can be solved.
[0004]
The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a parking lot apparatus that automatically enters and exits a vehicle equipped with an automatic steering system.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, according to the first aspect of the present invention, an automatic steering system that inputs a current position and a target position and steers the vehicle to the target position, and wireless communication for vehicles that inputs and outputs information to the automatic steering system. in automatic goods movements parking device for parking the automatic steering passenger vehicle that includes a machine, and a position detector for detecting a position of the automatic steering passenger vehicle, the automatic steering passenger vehicle based on the information of the position detector to the target stop position comprising a guiding device for guiding, an inductive radio communication device that performs wireless communication with the vehicle radio communication device performs input and output of information to the guidance system.
[0006]
Since a position detector for detecting the position of the vehicle when entering or leaving the parking lot is provided, the guidance device detects the current position with respect to the vehicle by the position detector and guides the communication device together with the target position. Send by. The vehicle is calculated and moved by a computer incorporating steering data from this data to the target position. Since the position during movement is also detected by the position detector and transmitted to the vehicle, by using the transmitted data as a feedback value, accurate movement can be achieved and the target position can be reached. This is the same both when entering and leaving.
[0007]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a system according to the present embodiment. Reference numeral 1 denotes an automatic steering passenger car (hereinafter referred to as “vehicle” at the end) provided with an automatic steering system. A mechanical function necessary for automatic steering includes a throttle, a brake, and a steering mechanism, and a sensor that detects a throttle opening, a brake pressure, a steering angle, a vehicle speed, and the like as a sensor that detects the operation of the vehicle. These mechanical functions are operated by an actuator, and the actuator is controlled by a computer that operates based on a detection value of a sensor, a target position, and the like. In addition, an object detection sensor for detecting an approaching object is provided around the vehicle to obtain information outside the vehicle. In addition, the operation panel is equipped with man-machine interfaces such as operation switches for switching between automatic and manual operation, LCD (liquid crystal display) and lamps for displaying each status, and a speaker for alarming, etc., to indicate the target position and current position. Then, an information processing computer that performs automatic steering control is provided, and control is performed mainly using a feedback control system. Reference numeral 2 denotes a vehicle wireless communication device that transmits data and instructions.
[0008]
On the mechanical parking lot side, a position detector 3 for detecting the position of the vehicle 1 and an information processing computer for guiding the vehicle 1 to a stop position from the detected values of the position detector 3 and various data of the parking lot are provided. a guiding device 4 communicates with the car radio communication device 2, the inductive radio communication device 5 for transmitting information between the guiding device 4 and the vehicle 1 is provided.
[0009]
FIG. 2 shows a room in which a vehicle is placed on a moving device such as a lift, and the vehicle is unloaded therefrom. This room is called a warehouse, and entering is called entering and exiting is called exit. When parking, the vehicle 1 enters this room by itself, and when leaving the parking lot, it leaves from this room. The cabinet 6 is surrounded by a surrounding wall 7, and a door 8 that opens to the left and right or up and down is provided on the front. An opening is provided in the center of the floor, and a pallet 9 on which the vehicle 1 is mounted is provided in this opening so as to close the opening. The pallet 9 is moved in a state where the vehicle 1 is mounted on the pallet 9 or in an empty state, the vehicle 1 is moved to the parking shelf and stored, and the vehicle 1 is transported from the parking shelf. The door 8 is opened only when the pallet 9 is set at a predetermined position, and the vehicle 1 is received, opened when the pallet is discharged, and closed in other cases to ensure safety.
[0010]
When entering, the stop area 10 where the vehicle 1 stops is provided in front of the door 8 of the store 6. A position detector 3 for the vehicle 1 is provided in the stop area 10 and the warehouse 6. The outside position detector 3a provided in the stop area 10 outside the room 6 is a sensor that detects a total position such as the position and orientation of the vehicle 1, and a CCD camera, an ultrasonic detector, a laser detector, or the like is used. An image photographed by the CCD camera is processed by an image processing apparatus to analyze the position and orientation. The internal position detector 3b provided in the internal storage 6 is a sensor for detecting whether the vehicle 1 is correctly on a predetermined position of the pallet 9, and a photoelectric switch or the like is used.
[0011]
Next, operation at the time of warehousing will be described. FIG. 3 shows an operation procedure diagram at the time of warehousing, and FIGS. 4 and 5 are operation flow diagrams at the time of warehousing. The driver operates the vehicle 1 to be parked on the front surface of the parking apparatus shown in FIG. 3A, that is, the stop area 10 described with reference to FIG. 2 (S1). In this state, the door 8 is closed. The driver switches the vehicle to the parking mode and gets off with the passenger (S2). The parking device side switches to the guidance mode using the guidance device 4 and starts the warehousing operation (S3). First, the position detector 3a provided outside the warehouse 6 measures the angle and distance of the storage vehicle 1 with respect to the pallet 9 (S4), and the guidance device 4 uses the measured data (pallet position information) and the speed limit value for guidance. It transmits to the vehicle side via the wireless communication device 5 (S5). The vehicle side that has received this information creates a target position based on the pallet position information and starts a warehousing operation (S6). At the same time, the guidance device 4 opens the door 8 to bring it into the state shown in FIG.
[0012]
When the vehicle 1 enters the storage 6 as shown in the state of FIG. 3C, the position detector 3b in the storage is measured, and the position of the storage vehicle 1 on the pallet 9 is detected and sent to the guidance device 4. (S7). The guidance device 4 calculates the approach speed based on the position of the warehousing vehicle moving on the pallet 9 and transmits it to the vehicle side (S8). The vehicle 1 moves forward or backward based on this speed command (S9).
[0013]
In FIG. 5, when it is confirmed from the measured value of the position detector 3b that the vehicle 1 has arrived at a predetermined position, the guidance device 4 transmits a speed command “0” (S10). The vehicle 1 stops when it receives this speed command “0”, detects the wheel speed “0” of the measuring instrument in the vehicle, confirms that the vehicle 1 has stopped, and transmits the speed “0” (S11). ). The guidance device 4 receives this speed “0”, detects the stop position of the vehicle 1 from the measured value of the position detector 3b at this time, and confirms that it has stopped (S12). Further, the measurement value of the position detector 3b is analyzed to check whether the stop position is correct (S13). If it is not correct, the process returns to step S8 to issue a speed command to the vehicle side, and the operations of steps S8 to S12 are repeated.
[0014]
When the guiding device 4 confirms that the vehicle 1 has stopped at the correct position, it transmits a “stop confirmation” (S14). Upon receipt of this, the vehicle 1 locks the brake, stops the engine, and then transmits “completion of warehousing” to the guidance device 4 (S15). Upon receiving this “entry complete”, the guidance device 4 closes the door 8 as shown in the state of FIG. 3D, and enters the preparation for the next vehicle 1 entry or exit vehicle (S16).
[0015]
The above operation is in the case of warehousing, but the reverse is true for warehousing. However, the unloading is an operation of moving from the pallet 9 to a wider stop area 10, and the stop position on the stop area 10 does not require an accurate stop position like the position on the pallet 9, so that the steering becomes easy.
[0016]
【The invention's effect】
As is clear from the above description, the present invention instructs the vehicle having an automatic steering system to command the current position, target position, speed data, etc., and track the movement position and guide it to the target position. It is possible to enter the parking lot safely and reliably without depending on the driver's skill. At the same time, the loading / unloading time can be shortened, and the parking efficiency is improved.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of an embodiment.
FIG. 2 is a diagram showing a state of loading / unloading.
FIG. 3 is a diagram showing a warehousing procedure.
FIG. 4 is a flow chart of warehousing operation.
5 is a warehousing operation flowchart following FIG. 4. FIG.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Vehicle 2 Car radio communicator 3 Position detector 3a Outside position detector 3b Inside position detector 4 Guidance device 5 Guidance radio communicator 6 Warehouse 7 Enclosure 8 Door 9 Pallet 10 Stop area

Claims (1)

An automatic entry system that parks an automatically steered passenger vehicle that includes an automatic steering system that inputs a current position and a target position and steers the vehicle to the target position, and a vehicle radio communication device that inputs and outputs information to and from the automatic steering system. In the exit parking lot device,
The vehicle performs a position detector for detecting a position of the automatic steering cars, a guiding device for guiding the automatic steering passenger vehicle based on the information of the position detector to the target stop position, the input and output of information to the guidance system An automatic entry / exit parking lot apparatus comprising a guidance wireless communication device that performs wireless communication with a wireless communication device.

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