JP5024150B2 - Inspection method for parking lots and pallets in mechanical parking lots - Google Patents

Description

  The present invention relates to a parking room / pallet inspection method for a mechanical parking lot.

  In general, the structure of a mechanical parking lot (planar reciprocating pallet type mechanical parking lot), as shown in FIG. 1, is an example of an entrance 3 for entering a vehicle and an exit for exiting the vehicle. The exit 4, the lift device 2 for transporting the vehicle between the entrance / exit entrance (entrance entrance 3, exit exit 4) and each parking floor, the traveling carriage 5 for transporting the vehicle at each parking floor, It consists of a parking room 6 arranged along the runway of the traveling carriage 5 for storage.

  The warehousing operation of the vehicle will be explained. When the vehicle entered the warehousing port 3 stops on the pallet 1 at the warehousing port 3 and all the occupants leave and the device is activated, the pallet 1 is loaded by the conveying device. It is transferred from the mouth 3 onto the lift device 2. The lift device 2 on which the vehicle is mounted moves to the parking floor where the vehicle is stored and stops at the predetermined parking floor. And a vehicle is transferred on the traveling cart 5 in each parking floor by the conveying apparatus of the pallet 1. The traveling carriage 5 on which the vehicle is mounted travels to the front of a predetermined parking room 6 and stops, and the pallet 1 loaded with the vehicle is stored in the parking room 6 by the pallet transport device, and the warehousing is completed. The unloading operation is the reverse of the unloading operation, and the vehicle is unloaded from the unloading port 4.

  In such a pallet-type mechanical parking lot, spaces for storing the pallet 1 are provided in the upper and lower tiers in each of the entrance 3, exit 4, lift device 2, traveling cart 5, and parking room 6. The method of processing the empty pallet by sequentially exchanging the pallet on which the vehicle is mounted and the empty pallet between the devices is called a double pallet method.

  First, the vehicle that has entered the warehouse 3 is placed on the upper pallet, and the pallet is exchanged with the lower empty pallet of the lift device 2. That is, the upper pallet on the warehousing port 3 is transferred to the upper tier of the lift device 2, and the empty pallet on the lower tier of the lifting device 2 is transferred to the lower tier of the warehousing port 3. Next, the lift device 2 arriving at the parking floor performs the same pallet exchange with the traveling carriage 5. Then, as shown in FIG. 2, the traveling carriage 5 exchanges the same pallet with the parking room 6, and the pallet (upper pallet) 1 a on which the vehicle is placed is stored in the upper stage of the parking room 6. The empty pallet (lower pallet) 1b stored in the lower stage is transferred to the traveling carriage 5.

  A plurality of pallet traversing rollers (sprockets) 22 are attached to the pair of front and rear traversing frames 21 of the parking chamber 6 in two vertical lines, and the pallet 1 traverse pallet traverse As the contact surface with the roller 22, the horizontal roller receiving collar is installed so as to be flush with the upper surface of the pallet. By driving the pallet horizontal roller 22, the upper pallet 1 a and the lower pallet 1 b as described above Is exchanged.

  Depending on the parking lot, even if an earthquake or the like occurs, a pallet lock mechanism such as that described in Patent Document 1 prevents the pallet 1 stored in the parking chamber 6 from dropping from the parking chamber 6. It is supposed to be retained.

  FIG. 3 is a view showing the pallet locking mechanism 7, FIG. 3 (a) is a plan view, FIG. 3 (b) is a side view, FIG. 3 (c) is an enlarged view of the main part of FIG. FIG.3 (d) is an AA arrow line view of FIG.3 (c).

  As shown in FIGS. 3A to 3D, a pallet lock hole (lock hole) 8 is formed at the frame end of the pallet 1, and the lock hole 8 is fitted to the parking chamber 6 side. A pallet lock pin 9 is provided. Two lock pins 9 are provided for the upper pallet 1a and the lower pallet 1b, and these two lock pins 9 are connected to each other so as to advance and retreat simultaneously.

  As shown in FIG. 3D, here, the lock hole (lock pin insertion port) 8 is an oval hole, and the cross section of the lock pin 9 is circular. For example, the major axis dimension D1 of the lock hole 8 is 60 mm, the minor axis dimension D2 is 33 mm, and the diameter d of the lock pin 9 is 25 mm.

  In the mechanical parking lot as described above, in order to confirm that the pallet 1 is normally stored in the parking room 6 at the time of maintenance such as test run inspection and periodic inspection at the time of mechanical parking lot construction, An operator who performs maintenance performs an inspection operation as follows while the pallet 1 is conveyed between the traveling carriage 5 and the parking chamber 6 for each parking chamber 6 by manual operation.

(A) Visually check whether the insertion position of the pallet lock pin 9 is normal (a) Visually check if there is a delay in the insertion operation of the pallet lock pin 9 (c) Check whether the stop position of the traveling cart 5 is appropriate Confirm with
Japanese Patent Laid-Open No. 11-172948

  However, maintenance of a mechanical parking lot is generally performed once a month, and there are many workers who perform maintenance, and the same worker inspects and confirms the same parking room and pallet in the same parking lot every month. However, there are variations in quality due to the disparity of the judgment criteria by the workers.

  In addition, the number of parking rooms and pallets is the same as the number of cars that can be parked in the parking lot, so it takes a long time to inspect and confirm, so forgetting to record the inspection results or inspecting and checking all parking rooms and pallets. It may not be confirmed.

  Furthermore, since the apparatus is operated manually, there is a risk that an operator may be caught in the apparatus.

  The present invention has been made in view of the above circumstances, and in a mechanical parking lot, it is possible to accurately and efficiently inspect and confirm that a pallet is normally stored in each parking room. It aims at providing the inspection method of the parking room and pallet of a mechanical parking lot.

  In order to solve the above problems, the present invention has the following features.

  [1] A plurality of parking floors including a traveling carriage, a traveling path of the traveling carriage, and a plurality of parking rooms arranged along the traveling path are provided in a plurality of levels in the vertical direction. A lift device that moves up and down between the loading and unloading floors provided with a mouth is installed, and a machine that sequentially transfers vehicles by pallets between the loading and unloading port, the lift device, the traveling carriage, and the parking room In a mechanical parking lot equipped with a mechanism for fixing a pallet stored in the parking room by inserting a lock pin installed in the parking room into a lock pin insertion port of the pallet, In addition, a lock pin insertion position measuring means, a lock pin insertion operation time measuring means, and a traveling carriage stop position measuring means are installed on the traveling carriage and any one pallet. The lock pin insertion position, the lock pin insertion operation time, and the stop position of the traveling carriage are measured, and based on the measured values, it is inspected and confirmed that the pallet is normally stored in the parking room. A method for inspecting a parking lot / pallet in a mechanical parking lot.

  [2] The lock pin insertion position measuring unit is a unit that captures an image of a visual field including the lock pin insertion port into which the lock pin is inserted, and measures a relative position between the lock pin and the lock pin insertion port by image analysis. The method for inspecting a parking room / pallet of a mechanical parking lot as described in [1] above.

  [3] The mechanical parking lot according to [1] or [2], wherein the lock pin insertion operation time measuring unit is a unit that measures a lock pin insertion operation time using a photoelectric sensor. Parking room / pallet inspection method.

  [4] The traveling cart stop position measuring means includes a field of view including one end of a pallet mounted on the traveling cart and an end of the parking chamber adjacent thereto when the traveling cart completes moving to a predetermined parking chamber. [1] to [3], which are means for measuring a relative position between one end portion of a pallet mounted on the traveling carriage and an end portion of a parking room adjacent thereto by image analysis. The inspection method of the parking room and pallet of the mechanical parking lot in any one of.

  In the present invention, a lock pin insertion position measuring means, a lock pin insertion operation time measuring means, and a traveling carriage stop position measuring means are installed on the traveling carriage and any one pallet, and based on the measurement results of these measuring means. Since each parking room is inspected and confirmed that the pallet is normally stored, the inspection criteria are unified and quality is improved. In addition, the operation time for trial operation, inspection, and maintenance can be shortened, and further, since manual intervention by workers can be reduced, safety can be improved.

  An embodiment of the present invention will be described with reference to the drawings.

  In this embodiment, a lock pallet insertion position measuring means, a lock pin insertion operation time measuring means, and a traveling trolley stop position measuring means are installed on a traveling carriage and an arbitrary pallet in a double pallet mechanical parking lot. Based on the measurement results of these measuring means, it is inspected and confirmed that the pallet is normally stored in each parking room.

  4 and 5 are explanatory views of the lock pin insertion position measuring means, FIG. 6 is an explanatory view of the lock pin insertion operation time measuring means, FIGS. 7 and 8 are explanatory views of the traveling carriage stop position measuring means, and FIG. It is a block diagram of the whole measurement and inspection system. 10 is an explanatory diagram of an operation procedure for continuously measuring and inspecting each parking room using this measurement / inspection system, and FIGS. 11 and 12 are for automatically performing the operation procedure of FIG. 10 unattended. It is a flowchart of the software.

(A) Lock pin insertion position measurement In order to inspect and confirm that the insertion position of the pallet lock pin 9 is normal, a visual sensor (CCD camera and illumination) is attached to any one pallet 1 as shown in FIG. Device) 10 is attached, and the visual sensor 10 captures the field of view including the lock pin hole 8, and measures and confirms the insertion position of the lock pin 9 (relative position between the lock pin 9 and the lock hole 8) by image analysis. I am doing so. Note that the data collection device (also an image processing device) for the visual sensor 10 is arranged on the traveling carriage 5 because of the installation space.

  Then, when performing inspection / confirmation of the insertion position of the lock pin 9, as shown in FIG. 5, the position of the lock pin 9 is represented by the center position O point of the circular cross section, and the horizontal direction of the O point (X direction) ) And a position in the vertical direction (Y direction), the distance Xs from the base point M in the water X direction of the lock hole 8 and the distance Ys from the base point N in the Y direction are calculated, and the calculated distance Xs, Deviations ΔX (= Xs−Xo) and ΔY (= Ys−Yo) between Ys and preset reference values Xo and Yo are obtained. If the deviations ΔX and ΔY are within a predetermined range, the lock pin It is determined that the insertion position of 9 is normal.

For example, as in the example described above, when the major axis dimension D1 of the lock hole 8 is 60 mm, the minor axis dimension D2 is 33 mm, and the diameter d of the lock pin 9 is 25 mm,
−5 mm <ΔX <5 mm, −3 mm <ΔY <3 mm
If it is satisfied, it is determined that the insertion position of the lock pin 9 is normal.

  Incidentally, the procedure of measuring the lock pin insertion position is as follows, as shown in FIG.

  (1) First, the shape of the lock hole 8 and the reference positions Xo and Yo of the lock pin 9 are preset.

  (2) Next, the visual sensor 10 captures an image of the visual field including the lock pin hole 8, transmits the image data to the data collection device S1, and the position Xs of the lock pin 9 by image processing in the data collection device S1. Ys is calculated, and deviations ΔX and ΔY from the reference values Xo and Yo are digitized.

  (3) Next, the numerical data calculated by the data collection device S1 passes through the onboard control board (PLC: programmable logic controller) S2 on the traveling carriage 5 and the ground control board (PLC) S3 fixed on the ground. Then, it is transmitted to the data collection personal computer S4, where it is determined whether or not the insertion position of the lock pin 9 is normal based on the values of the deviations ΔX and ΔY.

  These data are recorded and stored in the data collection personal computer S4.

(B) Measurement of lock pin insertion operation time In order to inspect and confirm that the insertion operation time of the pallet lock pin 9 is normal, as shown in FIG. The insertion operation time of the lock pin 9 is measured using a timer inside the control panel (PLC) S2.

  As shown in FIG. 6, the pallet lock mechanism 7 includes an electric cylinder 7a, a link 7b, a spring 7c, a proximity switch 7d, and a proximity switch 7e. A reflection plate 12 is attached to the lock pin 9, and the photoelectric sensor 11 is turned on / off (sensor on / sensor off) by the reflection plate 12.

  Then, as shown in FIG. 6A, when the electric cylinder 7a is extended and the proximity switch 7d is turned on, the lock pin 9 is retracted against the repulsive force of the spring 7c and The lock is released. At that time, the reflected light from the reflecting plate 12 is input to the photoelectric sensor 11, and the photoelectric sensor 11 is turned on.

  On the other hand, as shown in FIG. 6B, when the electric cylinder 7a contracts and the proximity switch 7e is turned on, the lock pin 9 is advanced by the repulsive force of the spring 7c and inserted into the lock hole 8. A lock is made. At that time, the position of the reflector 12 is out of the field of view of the photoelectric sensor 11, and the photoelectric sensor 11 is in a sensor-off state.

  Here, as shown in FIG. 9, after the lock pin insertion operation start command by the onboard control panel (PLC) S2, the time Ts until the photoelectric sensor 11 enters the sensor off state is set as the onboard control panel (PLC). Time is measured by the timer in S2, and the measured lock pin insertion operation time Ts is transmitted to the data collection personal computer S4 via the ground control panel (PLC) S3. Then, the measured lock pin insertion operation time Ts is compared with a preset lock pin insertion operation time reference value To. If the insertion operation time Ts is within the reference value To (Ts ≦ To), the lock is performed. The pin insertion operation time is determined to be normal.

  These data are recorded and stored in the data collection personal computer S4.

(C) Traveling cart stop position measurement In order for the pallet 1 to be normally stored in the parking chamber 6, as a precondition, the traveling cart 5 on which the pallet 1 is mounted stops at an appropriate position with respect to the parking chamber 6. There is a need.

  Therefore, in order to inspect and confirm that the stop position of the traveling carriage 5 is normal, as shown in FIG. 7A, a plan view and as shown in FIG. A visual sensor (CCD camera and lighting device) 13 is attached to the traveling carriage 5, and the visual field including the end of the pallet 1 on the traveling carriage 5 and the transverse frame 21 of the parking room 6 is captured by the visual sensor 13. The stop position of the traveling carriage 5 is measured and confirmed by analysis.

  That is, the distance ΔZ from the transverse frame 21 of the parking room 6 to the end of the pallet 1 on the traveling carriage 5 is measured, and if the distance ΔZ is within a predetermined range (for example, −3 mm <ΔZ <3 mm). The stop position of the traveling carriage 5 is determined to be normal.

  Incidentally, the procedure of the traveling carriage stop position is as follows, as shown in FIG. That is, the image data picked up by the visual sensor 13 is transmitted to the data collecting device S1, the distance ΔZ is digitized by image processing in the data collecting device S1, and the digitized data is converted into the onboard control panel (PLC) S2. Then, the data is transmitted to the data collection personal computer S4 via the ground control panel (PLC) S3. Based on the value of the distance ΔZ, it is determined whether or not the stop position of the traveling carriage 5 is normal.

  These data are recorded and stored in the data collection personal computer S4.

  Here, in the above description, the visual sensor 13 is used to measure the stop position of the traveling carriage 5. However, as shown in FIG. 8, the absolute distance of the traveling carriage 5 from a fixed point is measured using a laser distance meter 14. Thus, the stop position of the traveling carriage 5 may be measured.

  In FIG. 9, both the visual sensor 13 and the laser distance meter 14 are described as the traveling carriage stop position measuring means, but either one may be used.

(D) Continuous automatic measurement As shown in FIG. 10, the lock pin insertion position measurement, the lock pin insertion operation time measurement, and the traveling carriage stop position measurement described above are performed for a parking room in which no vehicle is stored at that time. It carries out continuously while repeating the running / stopping of the traveling carriage 5 and the movement of the pallet 1.

  At that time, measurement / inspection processing is automatically performed unattended based on software (program) shown in FIG. 11 as an overall flowchart and as shown in FIG.

  Thus, in this embodiment, on the traveling carriage 5 and one pallet 1, the lock pin insertion position measuring means (visual sensor 10), the lock pin insertion operation time measuring means (photoelectric sensor 11), and the traveling carriage stop. Since the position measuring means (visual sensor 13) is installed and based on the measurement results of these measuring means, it is inspected and confirmed that the pallet is normally stored in each parking room. Is unified and leads to quality improvement. In addition, the operation time for trial operation, inspection, and maintenance can be shortened, and further, since manual intervention by workers can be reduced, safety can be improved.

  In the above, it is preferable that the lock pin insertion position measuring means (visual sensor 10) and the traveling carriage stop position measuring means (visual sensor 13) are detachable and portable.

  Further, in this embodiment, the description has been made with respect to a double pallet type mechanical parking lot, but the present invention is not limited thereto, and can also be applied to a single pallet type mechanical parking lot.

It is explanatory drawing of a mechanical parking lot. It is explanatory drawing of the pallet replacement | exchange by a double pallet system. It is explanatory drawing of a pallet lock mechanism. It is explanatory drawing of the lock pin insertion position measuring means in one Embodiment of this invention. It is explanatory drawing of the lock pin insertion position measuring means in one Embodiment of this invention. It is explanatory drawing of the lock pin insertion operation time measurement means in one Embodiment of this invention. It is explanatory drawing of the traveling cart stop position measuring means in one Embodiment of this invention. It is explanatory drawing of the traveling cart stop position measuring means in one Embodiment of this invention. 1 is a configuration diagram of an entire measurement / inspection system according to an embodiment of the present invention. It is explanatory drawing of the operation | movement procedure of the continuous measurement in one Embodiment of this invention. It is a flowchart of the continuous automatic measurement in one Embodiment of this invention. It is a flowchart of the continuous automatic measurement in one Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Pallet 1a Upper pallet 1b Lower pallet 2 Lifting device 3 Warehousing port 4 Outlet port 5 Traveling cart 6 Parking chamber 7 Parking chamber pallet lock mechanism 7a Electric cylinder 7b Link 7c Spring 7d Proximity switch 7e Proximity switch 8 Lock hole 9 Pallet lock pin 10 Visual sensor (for measuring lock pin insertion position)
11 Photoelectric sensor 12 Reflector 13 Visual sensor (for measuring the traveling carriage stop position)
14 Laser rangefinder 21 Parking frame traversing frame 22 Pallet traversing roll (sprocket)
S1 Data collection device S2 Onboard control panel PLC
S3 Ground control panel PLC
S4 Data collection personal computer

Claims (4)

  A plurality of parking floors including a traveling carriage, a traveling path of the traveling carriage, and a plurality of parking rooms arranged along the traveling path are provided in a plurality of levels in the vertical direction, and each parking floor and a vehicle entrance / exit are provided. A mechanical parking lot in which a lift device is installed to move up and down between the loading and unloading floors, and the vehicles are sequentially transferred by a pallet between the loading / unloading port, the lifting device, the traveling carriage, and the parking room. In a mechanical parking lot having a mechanism for fixing a pallet stored in the parking room by inserting a lock pin installed in the parking room into a lock pin insertion port of the pallet, And an arbitrary one pallet, a lock pin insertion position measuring means, a lock pin insertion operation time measuring means, and a traveling carriage stop position measuring means are installed, and by these measuring means, for each parking room, Measure the pin insertion position, lock pin insertion time, and stop position of the traveling cart, and check and confirm that the pallet is normally stored in the parking room based on the measured values Inspection method for parking lots and pallets in a mechanical parking lot.   The lock pin insertion position measuring means is means for imaging a visual field including a lock pin insertion opening into which the lock pin is inserted, and measuring a relative position between the lock pin and the lock pin insertion opening by image analysis. The inspection method of the parking room and pallet of the mechanical parking lot according to claim 1.   The said lock pin insertion operation time measuring means is a means which measures the insertion operation time of a lock pin using a photoelectric sensor, The parking room and pallet of the mechanical parking lot of Claim 1 or 2 characterized by the above-mentioned. Inspection method.   The traveling carriage stop position measuring means captures an image of a visual field including one end of a pallet mounted on the traveling carriage and an end of a parking room adjacent thereto when the traveling carriage completes moving to a predetermined parking compartment. The means for measuring a relative position between one end portion of a pallet mounted on the traveling carriage and an end portion of a parking room adjacent thereto by image analysis. Inspection method for parking lots and pallets in mechanical parking lots.

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