JP5138410B2 - Parking equipment and program - Google Patents

Description

  The present invention relates to a parking device having a restriction on the height of a vehicle to be stored.

  A parking device having a plurality of parking spaces on the top and bottom is known (for example, see Patent Document 1). FIG. 7 shows an example of a three-dimensional parking apparatus having two upper and lower tiers and three horizontal parking spaces. The parking device 1 shown in FIG. 7 is a two-stage system including an upper stage (ground floor) F1 which is an incoming / outgoing stage (entrance / exit plane) and a lower stage (basement floor) F2 below, and a triple structure of R1 to R3. It is said that.

  The parking device 1 includes traversing pallets P1 and P2 and elevating pallets Z1 to Z3 that serve as parking spaces. The transverse pallets P1 and P2 move only in the horizontal direction (horizontal direction), and the elevating pallets Z1 to Z3 move only in the vertical direction. That is, the traversing pallet P1 can move between the stations R1 and R2, and the traversing pallet P2 can move between the stations R2 and R3. The elevating pallets Z1 to Z3 can be moved up and down between the upper stage F1 and the lower stage F2 in each of the stations R1 to R3.

  FIG. 7 shows a state where the short roof cars W1 and W2 are parked on the lifting pallet Z1 and the traversing pallet P2. A short roof vehicle is a vehicle having a relatively low vehicle height, such as a sedan type passenger car. A vehicle having a relatively high vehicle height, such as a one box car or an RV car, is called a high roof car.

  In the parking device 1 shown in FIG. 7, for example, if the short roof vehicle W1 is to be delivered, first the elevator pallet Z2 is lowered to the lower stage F2, and then the traversing pallet P1 is traversed in the portion where the elevator pallet Z2 in FIG. Further, the lifting pallet Z1 is moved up to the space of the upper stage F1 (the position of the station R1) vacated by the traversing of the traversing pallet P1, and the short roof car W1 is moved to the ground floor. Then, the driver gets into the short roof car W1 that has moved to the upper stage F1 together with the pallet Z1, and the short roof car W1 is released from the parking device 1.

  Further, for example, in the state shown in FIG. 7, when the vehicle is parked on the traversing pallet P1 and the lifting pallet Z2 and the lifting pallet Z3 is vacant, in order to enter the lifting pallet Z3, first, the lifting pallet Z2 is moved. The lower pallet P2 is lowered, and as a result, the traversing pallet P2 is traversed to the position of the vacant upper stage F1 of the series R2, and as a result, the elevating pallet Z3 is raised to the position of the vacant upper stage F1 of the series R3. Call to. Then, the vehicle is stored in the lift pallet Z3 moved to the position of the series R3 in the upper stage F1.

JP 2006-200180 A (abstract)

  By the way, in the parking apparatus 1 as shown in FIG. 7, the height dimension of the lower stage F2 necessary for accommodating a high roof vehicle (for example, a one-box type vehicle) may not be ensured due to the cost and the space that can be secured. . In such a case, a method is adopted in which the upper stage F1 is used for a tall high roof car and a short short roof car (for example, a normal passenger car), and the lower stage F2 is dedicated to a short roof car. When this method is employed in the example of FIG. 7, the lift pallets Z1 to Z3 are dedicated to the short roof car.

  If a high roof car is stored in the lift pallets Z1 to Z3 dedicated to the short roof car, the high roof car parked on the lift pallet when the lift pallet is lowered and the traverse pallet P1 or P2 is traversed thereon. An accident occurs in which the traversing pallet P1 or P2 comes into contact with the top of the pallet.

  For example, it is assumed that a high roof car is received in the lifting pallet Z2 by mistake. At the stage of warehousing, the lifting pallet Z2 remains in the upper stage F1, so no problem occurs. Therefore, if the user who has received the high roof car on the lifting pallet Z2 does not notice that the user has entered the pallet prohibited from warehousing, a situation of leaving the place occurs.

  Then, assume that another user leaves the short roof vehicle W1 when a predetermined time has elapsed. At this time, if the user does not notice that the high roof car is in the lift pallet Z2 where the high roof car is prohibited, the lift pallet Z2 on which the high roof car is placed descends to the lower stage F2, and then the upper stage F1. An operation of moving the traversing palette P1 to the series R2 is performed. At this time, the traversing pallet P1 comes into contact with the upper part of the high roof car on the lift pallet Z2 lowered to the lower stage F2, and the above-described contact accident occurs.

  In order to prevent the occurrence of this type of accident, an indication is made on the upper surface of the lift pallets Z1 to Z3 dedicated to the short roof vehicle that informs the user that it is dedicated to the short roof vehicle. A method of displaying at the position that the elevating pallets Z1 to Z3 are dedicated to the short roof car is employed.

  However, there are cases where the user overlooks the display and puts the high roof car into the lift pallets Z1 to Z3. In addition, when a user who does not normally use the parking device 1 uses the parking device 1, the user may not be aware of this, and may similarly store the high roof car in the lift pallets Z <b> 1 to Z <b> 3.

  In some cases, a trunk or luggage is placed on the roof of a short roof car, and the height is substantially the same as that of a high roof car. In this case, even a short roof car must be handled in the same manner as a high roof car and should not be moved into the lift pallets Z1 to Z3. However, the user may not be aware that his / her car is in such a state and may cause the short roof car to enter the elevating pallets Z1 to Z3.

  In such a background, the present invention provides a technique for preventing the occurrence of problems caused by warehousing of a high roof car or a vehicle that can be regarded as a high roof car on a pallet that should not be accepted as a high roof car or a vehicle that can be regarded as a high roof car. For the purpose.

The invention according to claim 1 is a first object detection sensor disposed at a first height, a second height higher than the first object detection sensor, and the first object detection sensor. A second object detection sensor disposed at a position away from the object detection sensor in the loading / unloading direction; and the second object detection based on outputs of the first object detection sensor and the second object detection sensor. And a determination device for determining entry of a high-height vehicle having a height dimension equal to or higher than the height of the sensor, and the first object detection sensor is disposed relatively on the front side in a direction in which the entry is performed. The second object detection sensor is disposed relatively on the rear side, and the determination device is configured such that the second object detection device is an object while the first object detection sensor is detecting an object. From not detecting the object to detecting the object And row, then, when the first object detecting device and the second object detecting device continues to detect the same time the object for a predetermined time, it determines that the high vehicle height the vehicle has receipts Features.

  According to the first aspect of the present invention, there are used two object detection sensors that have a difference in height and are displaced in the vehicle entry / exit direction. Since the first object detection sensor is at a relatively low position, the first object detection sensor detects the vehicle when it enters the vehicle, whether it is a short roof vehicle or a high roof vehicle. On the other hand, since the second object detection sensor is arranged at a position higher than the first object detection sensor, the vehicle having the highest portion lower than the height position is not detected.

  In addition, the following two cases are included in the concept of a high-height vehicle. One of them is a vehicle having a height equal to or higher than the second height. The other is that the height of the vehicle does not reach the second height, but due to trunks on the roof, luggage, fittings, etc. (eg antennas and ski carriers fixed to the roof) It is a vehicle that needs to be handled as a vehicle having a height equal to or higher than the second height. An example of this high-height vehicle is a high-roof vehicle in which the position of the roof is at a position higher than the second height.

  Therefore, by setting the minimum height to be handled as a high roof vehicle and setting the height as the second height, the second object detection sensor detects the receipt of a high roof vehicle (and a vehicle to be treated as a high roof vehicle). And it can be set as the detection which does not detect the receipt of a short roof vehicle. Note that the minimum height value (second height value) handled as the high roof car differs depending on the construction property. However, generally, the lowest height value (second height value) to be handled as a high roof vehicle is selected from the range of about 150 cm to 180 cm.

  Further, the lower limit of the first height is a value of the height of the bottom surface (lower surface) of the vehicle (the distance of the gap between the bottom surface of the vehicle and the ground). This lower limit value may be determined by conducting market research, selecting the largest value from the target vehicle types, and adopting that value. Further, the upper limit of the first height is the value of the lowest height of the bonnet (or the portion corresponding thereto) of the vehicle to be parked. The value of the upper limit of the first height may be surveyed and the smallest value selected from the target vehicle types may be selected and used. In general, the first height is in the range of 30-60 cm.

  In addition, the horizontal positions of both sensors are arranged at intervals along the approach direction of the vehicle. By making this interval larger than the horizontal dimension of an object (for example, a person) that is not erroneously detected, erroneous detection is performed. It is possible to avoid detecting an object (for example, a person) that is not desired as a high roof car. That is, even if both sensors detect an object, if both sensors are not in the detection state at the same time, it is because the detected object is an object having a size shorter than the arrangement interval in the horizontal direction of both sensors. It can be identified as an object.

  As the object detection sensor, a photoelectric sensor using light, a contact sensor detecting physical contact, an ultrasonic sensor using ultrasonic reflection, or the like can be used. As the photoelectric sensor, a photoelectric sensor having a light emitting part and a light receiving part and detecting that an object blocks a light beam is generally used. In addition, a photoelectric sensor that detects light reflection can be used.

  As described above, the height of the first object detection sensor from the parking surface is a range between the height of the front bonnet (or a portion corresponding thereto) and the bottom of the vehicle body. Accordingly, the first object detection sensor detects the side surface of the vehicle that has entered the vehicle. For this reason, the first object detection signal is continuously output over a predetermined time when the vehicle is stored.

  Therefore, by setting the detection by the second object detection sensor in a state where the detection output of the first object detection sensor is continuing as a condition, it is possible to reliably determine the entry of the high vehicle. For this reason, it is possible to avoid the inconvenience of erroneously judging that an intrusion of a non-vehicle (for example, a person) into the parking apparatus is warehousing with higher accuracy.

According to the first aspect of the present invention, the first object detection device reacts first and then the second object detection device reacts when the high-height vehicle enters the vehicle. At this time, detection of an object by the second object detection device is started in a state where the object detection state of the first object detection device is maintained, and a period during which object detection is simultaneously performed in both detection devices The determination is made to continue for a predetermined time. By doing so, it is possible to more reliably detect warehousing of high-height vehicles.

  For example, if the low-height vehicle is received, the second object detection device does not react, so the above condition is not satisfied. Further, for example, in the case of a human intrusion, the first object detection device may react first, and then the second object detection device may react, but the first object detection device and the second object detection may occur. Since the devices are separated from each other in the horizontal direction, both detection devices do not react to a person at the same time by appropriately setting the separation distance. Furthermore, by making it a condition for determination that both detection devices continue to react simultaneously for a predetermined time, it is possible to prevent a situation in which a person is erroneously detected as a high-height vehicle with higher accuracy.

The invention according to claim 2 is characterized in that, in the invention according to claim 1, when it is determined that a high-height vehicle has been received, a notification device for notifying that effect is further provided. According to the third aspect of the present invention, when a high-height vehicle is received, this is notified. For this reason, it is possible to prevent the occurrence of an accident caused by not noticing that a high-height vehicle has entered a pallet for which entry is prohibited.

  As a notification device, notification by voice, visual notification by lighting of a light, transmission of a notification signal to a control system that controls the operation of the parking device, transmission of a notification signal to a management center that manages the parking device, parking The hardware which transmits the alerting signal to the maintenance company of an apparatus, and the transmission of the alerting signal to other emergency management systems can be mentioned.

In the invention according to claim 2 , the notification device is a sound generation device and / or a light emitting device, and the determination device outputs the high-height vehicle based on outputs of the first object detection sensor and the second object detection sensor. When the arrival of a high vehicle is determined, a warning sound is issued from the sound generator and / or the light emitting device is turned on. In this state, the determination device When the delivery is determined, a configuration in which the warning sound from the sound generator and / or the lighting of the light emitting device is stopped may be added.

  According to this configuration, using a sensing system that detects the entry of a high-height vehicle, the exit of the high-height vehicle from the pallet is detected. Then, when a high vehicle is received, a warning sound or warning light is emitted to notify the driver of the arrival of the high vehicle. Then, when the driver recognizes the warning sound or the warning light and further notices the meaning and causes the vehicle to leave the vehicle, the warning is detected and / or the lighting of the light emitting device is stopped. In this way, when the cause of the problem is solved, it is not necessary to perform an operation for issuing a warning sound and / or stopping the lighting of the light-emitting device, and uselessly issuing a warning sound and / or It is possible to prevent the light emitting device from being turned on.

In a second aspect of the present invention, the notification device is a sound generation device and / or a light-emitting device, and further includes a third object detection sensor that detects whether the vehicle is in the warehouse, and the determination device includes a third object detection device. Based on the output of the sensor, it is determined whether the vehicle is entering or leaving the vehicle, and if it is determined that a high-height vehicle has been received, a warning sound is generated from the sound generator. And / or the light-emitting device is turned on, and in this state, when the determination device determines that the high-height vehicle is leaving based on the output of the third object detection sensor, the warning sound from the sound generator A configuration in which the alarming and / or the lighting of the light emitting device is stopped may be added.

The invention described in claim 3 is characterized in that, in the invention described in claim 1 or 2 , further comprising an operation restriction device for restricting the operation of the parking device when it is determined that a high-height vehicle is received. To do. According to the seventh aspect of the present invention, the operation of the parking device is restricted when a high-height vehicle enters the pallet where entry of the high-height vehicle is prohibited. For this reason, the accident which arises due to the receipt of the high-height vehicle is prevented.

  Restrictions on the operation include processing to prevent the pallet from being lowered, processing to disable movement of other pallets that are likely to come into contact with high-height vehicles, processing to disable operation of the entire parking device, and storage Examples include a process for preventing the operation of the warehousing gate when there is a gate, a process for preventing a parking completion operation, and the like. In addition, a mechanism is known that allows the user to insert a key into the operation panel and thereby operate the parking device. In this mechanism, the process that prevents the key from being removed is adopted as a process that restricts the above operation. You can also One of these operation restrictions may be executed, or a combination of a plurality of operations may be executed.

In the invention according to claim 3 , the determination device is a high vehicle vehicle having a height dimension equal to or higher than the height of the second object detection sensor based on the outputs of the first object detection sensor and the second object detection sensor. A determination may be made to add a configuration in which the restriction of the operation of the parking device by the operation restriction device is released when the determination device determines that the vehicle is to be discharged.

  According to this configuration, a high-height vehicle is received on a pallet where entry of a high-height vehicle is prohibited, and the vehicle is unloaded from the pallet in a state where the operation of the parking device is restricted. In conjunction with this, the operation restriction state of the parking device is released. Thereby, when the cause of the problem is solved, it is not necessary to perform a separate operation to cancel the operation restricted state, and high convenience can be obtained.

The invention according to claim 3 further includes a third object detection sensor for detecting whether or not the vehicle is stored, and the determination device is in a state where the vehicle is stored based on the output of the third object detection sensor or In a state in which the state where the vehicle is leaving is determined and the operation of the parking device is restricted by the operation restriction device, the operation of the parking device by the operation restriction device is determined when the decision device determines that the vehicle is out. A configuration in which the restriction is released may be added.

  According to this configuration, the departure of the high vehicle is determined using a sensor different from that for detecting the high vehicle, and the restriction on the operation of the parking device by the operation restriction device is released based on the result. .

According to a fourth aspect of the present invention, there is provided a program that is read and executed by a computer that controls the operation of the parking apparatus, the output from the first object detection sensor disposed at a first height, and the first Output from a second object detection sensor which is a second height higher than that of the first object detection sensor and which is disposed at a position away from the first object detection sensor in the loading / unloading direction. A determination step for determining the receipt of a high-height vehicle having a height dimension equal to or higher than the height of the second object detection sensor, and a notification step for notifying the result of the determination step, and the entry is performed. In the direction, the first object detection sensor is relatively disposed on the near side, the second object detection sensor is disposed relatively on the rear side, and the determination step includes the first object detection Sensor detects object In the state where the second object detection device detects no object in the second object detection device, and then the first object detection device and the second object detection device. Is a program that determines that the high-height vehicle has been received when the object is continuously detected for a predetermined time . In this program, even if a notification is received, a step of prohibiting at least a part of the operation of the parking device and a step of canceling the notification and / or the prohibition when the vehicle is released are determined. Good.

According to the fourth aspect of the present invention, a device that detects the entry of a vehicle into a pallet where entry of a high-height vehicle is prohibited, and performs various measures such as notification to the user and operation restriction. The control computer that controls the operation of the parking device can be caused to perform the operation of notifying the user of the above. This program is stored in the storage device of the control computer, for example. The program can be provided to the parking apparatus using a line, or can be stored in an external storage medium and provided to the control computer from the external storage medium.

  ADVANTAGE OF THE INVENTION According to this invention, the technique which prevents generation | occurrence | production of the problem resulting from warehousing of the vehicle which can be regarded as the high roof vehicle or the high roof vehicle to the pallet which should not be allowed to enter the vehicle which can be regarded as a high roof vehicle or a high roof vehicle can be provided.

(1) First embodiment (configuration of the embodiment)
Hereinafter, an example of a parking apparatus using the present invention will be described. Drawing 1 is a side view showing the outline of the portion of the raising / lowering pallet in the parking device of an embodiment. In addition, the outline of the basic structure of the whole parking apparatus is the same as the case of the front view shown in FIG. The movement of each pallet is the same as that shown in FIG.

  FIG. 1 shows an elevating pallet Z2 located on the upper stage F1, which is a loading / unloading surface (a loading / unloading floor). In this example, the case where the loading / unloading surface is the ground surface will be described. Further, FIG. 1 shows a state in which the liftable pallet Z2 can be lifted and lowered (relay R2 in FIG. 7) as viewed from the side, but portions other than the operation panel 9 and the control panel 10 are in other stations. The configuration is the same.

  Hereinafter, the configuration shown in FIG. 1 will be described in detail. In the configuration shown in FIG. 1, the pallet Z2 is moved up and down by a lifting drive device (not shown). This elevating drive device has a mechanism in which a chain is driven by an elevating motor, and a pallet Z2 suspended from the chain moves up and down.

  FIG. 1 shows pallet position detection sensors 1 and 2. The pallet position detection sensors 1 and 2 are contact sensors and are arranged on each floor. The pallet position detection sensors 1 and 2 are disposed at six positions (see FIG. 7) where the pallet is movable. From the outputs of these pallet position detection sensors, the positions of the transverse pallets P1 and P2 and the lift pallets Z1 to Z3 shown in FIG. 7 are grasped. This process is performed by a control computer built in the control panel 10 described later.

  In this example, the vehicle enters the parking section 30 of the upper stage F2 where the lifting pallet Z2 is located (the parking section at the position of the station R2 in the upper stage F1 of FIG. 7) from the right side of the figure. The parking section is a concept indicating a three-dimensional position where the size of the pallet coincides with the size of the pallet in the horizontal direction and the pallet stops for storage or storage of vehicles.

  An operation panel 9 is disposed in the vicinity of the entrance of the parking section 30 where the vehicle enters. The operation panel 9 is an operation means operated by a user, and various operation switches and display devices necessary for the operation are arranged. In this example, one operation panel 9 is arranged in the entire parking apparatus. A control panel 10 that controls the operation of the entire parking apparatus is arranged on the side opposite to the entrance of the parking section 30 based on signals from various sensors. In this example, one control panel 10 is arranged in the entire parking apparatus.

  In FIG. 1, an object detection sensor S1 (31), which is an example of a first object detection sensor, is disposed on the entrance side of the parking section 30 where the pallet Z2 is located. FIG. 2 is a conceptual diagram showing a state of arrangement of the object detection sensors. FIG. 2 conceptually shows a state in which the pallet Z2 in the state of FIG. 1 is viewed from above. In the state shown in FIG. 2, the position of the pallet Z <b> 2 matches the parking section 30. As a matter of course, the transverse pallets P1 and P2 (see FIG. 7) can be stopped in the parking section 30.

  The object detection sensor S1 (31) is a kind of photoelectric sensor, and includes a light emitting unit 31a and a light receiving unit 31b arranged with an optical axis 31c in a direction orthogonal to the loading / unloading direction as shown in FIG. ing. The light emitting unit 31a uses an LED as a light emitting source, and the light receiving unit 31b uses a photodiode as a light receiving element. When the object blocks the optical axis 31c that connects the two, the output of the light receiving unit 31b changes, whereby the object is detected by the photoelectric sensor S1 (31).

  The position of the object detection sensor S1 (31) in the direction in which the vehicle is stored is the front side of the parking section 30 where the elevating pallet Z2 is located when viewed from the vehicle receiving side (right side in the figure). In this example, the object detection sensor S1 (31) is disposed at a position 25 cm away from the front edge of the lift pallet Z2 when viewed from the direction in which the vehicle enters.

  The position of the object detection sensor S1 (31) in the height direction is set to a height of 50 cm from the parking surface of the parking section 30 (the surface of the lift pallet Z2 in FIG. 1). This is based on the fact that the height of the bonnet (or the portion corresponding to the bonnet) of a general vehicle that is assumed to be stored in the present embodiment is higher than about 60 cm. This is because the height is set. By arranging the object detection sensor S <b> 1 (31) at this height, it is possible to surely detect a vehicle entering the parking section 30.

  An object detection sensor S2 (32), which is an example of a second object detection sensor, is disposed on the parking section 30 side of the object detection sensor S1 (31). The position of the object detection sensor S2 (32) in the direction in which the vehicle is stored is a position 75 cm into the parking section 30 when viewed from the vehicle receiving side (the right side in the figure). The object detection sensor S2 (32) has the same configuration as the object detection sensor S1 (31), and its optical axis is parallel to the object detection sensor S1 (31). FIG. 2 shows an arrangement state of the object detection sensor S2 (32) viewed from above.

  The height position of the object detection sensor S2 (32) is 170 cm from the parking section 30. This height is determined from the allowable value of the ceiling height of the lower stage F2 (see FIG. 7). Therefore, this value varies depending on the property. In this example, 170 cm is the minimum height to be handled as a high roof vehicle, that is, the second height. A vehicle having a vehicle height lower than 170 cm is treated as a short roof vehicle. In this example, even if the vehicle height of the vehicle itself is lower than 170 cm, a vehicle having a vehicle height of 170 cm or more by mounting a trunk, luggage or a fixed antenna on the roof, Treat as a high roof car.

  An object detection sensor S3 (33), which is an example of a third object detection sensor, is disposed on the far side (left side in the drawing) of the parking section 30. The object detection sensor S3 (33) is the same photoelectric sensor as the object detection sensors S1 (31) and S2 (32), and as shown in FIG. Is set diagonally. The height from the parking surface is the same as that of the object detection sensor S1 (31). According to this arrangement, the vehicle stored in the parking section 30 can be reliably captured on the optical axis of the object detection sensor S3 (33). For this reason, it is possible to reliably detect the vehicle that has entered the parking section 30. In addition, it is possible to reliably detect the vehicle exit from the parking section 30. The detection information in S3 (33) is used to determine whether or not the pallet can be moved up or down or traverse.

  An alarm 34 and a light 35 are arranged on the parking area 30 in the direction of entry. The alarm device 34 is a speaker that generates an alarm sound accompanied by a sound notification when a high roof car is stored in a lift pallet located in the parking section 30. The light 35 emits blinking light toward the driver's seat when the high roof car is stored in the lift pallet located in the parking section 30 and visually notifies. As the notification means, only one of the alarm device 34 and the light 35 can be used. Instead of the light 35, a device that generates a visual effect that is visually noticeable, such as a rotating lamp, can be used.

(Control system configuration)
Hereinafter, an example of a control system for controlling the configuration shown in FIG. 1 will be described. FIG. 3 is a block diagram illustrating an example of a control system. An operation panel 9 shown in FIG. 3A includes an operation unit 17, a display unit 18, and a control unit 19. The operation unit 17 includes various switches for operating the parking device. The display unit 18 is a display that displays information necessary for operation. The display unit 18 can also be used for notifying means by using the display function. The control unit 19 has an interface function for exchanging data with the control panel 10.

  The control panel 10 includes a control unit 20 that controls the overall operation. The control unit 20 has a built-in control computer. Based on the control instruction signal from the operation panel 9 and further signals from the object detection sensors S1 (31) to S3 (33) and the pallet position detection sensors 1 and 2, The elevator motor 41 and the traverse motor 42 are controlled.

  Hereinafter, a detailed example of the control unit 20 will be described. FIG. 3B shows an example of the control unit 20. The control unit 20 includes a CPU 22 that also functions as a determination unit, a memory 23 that stores various data, and an input / output interface circuit 24 for the control unit 20 to exchange data with the outside. The CPU 22 is a central processing circuit that executes processing procedures to be described later, and has a function of performing various determinations to be described later. The memory 23 stores data necessary for processing performed by the CPU 22.

  Returning to FIG. 3A, the lifting motor 41 is a motor that lifts and lowers the lifting pallet Z2. Although the description is simplified in FIG. 3, in this example, there are two lifting motors for moving Z1 and Z3 shown in FIG. Further, although one of the traverse motors is indicated by reference numeral 42, there are two traverse motors for moving the traverse pallets P1 and P2 in FIG. Further, the set of pallet position detection sensors 1 and 2 is also arranged for three stations R1 to R3 shown in FIG. The operation of these motors is controlled by a drive signal from the drive unit 21.

  Moreover, the control part 20 is provided with the function which calculates | requires the positional relationship of the pallet in the whole parking apparatus from the output of pallet position detection sensor S1 (31) and S2 (32), and recognizes which pallet is in which position. Further, the control unit 20 controls the operation of the alarm device 34 and the lamp 35.

(High roof vehicle detection principle)
In the configuration shown in FIG. 1, the receipt of a high roof vehicle can be detected. The principle of this detection will be described below. FIG. 4 is a principle diagram showing the detection principle of a high roof vehicle. FIG. 4 shows a state in which the high roof vehicle H and the short roof vehicle S are parked rearward on the lift pallet Z2 located in the parking section 30.

  Hereinafter, the state in which the high roof vehicle H enters the elevating pallet Z2 will be described in time series. As shown in FIG. 4 (A), when the warehousing of the back of the high roof vehicle starts, first, the object detection sensor S1 (31) detects the vicinity of the lower part of the vehicle body of the high roof vehicle H (the height portion near the bumper). . The same applies to a short roof vehicle. When the high roof vehicle H further backs, the upper portion of the high roof vehicle is detected by the object detection sensor S2 (32) (FIG. 4B).

  The object detection sensor S1 (31) and the object detection sensor S2 (32) are separated from each other by 100 cm in the longitudinal direction of the parking section 30 (the direction in which the vehicle moves when entering the warehouse). Therefore, when the high roof vehicle H is detected by the object detection sensor S2 (state of FIG. 4B), the object detection sensor S1 (until the front end of the high roof vehicle H passes in front of the object detection sensor S1 (31). 31) and S2 (32) simultaneously output detection signals. Further, since the speed of the vehicle when entering the garage is extremely low, the time during which this simultaneous output is performed is a predetermined length in seconds.

  On the other hand, when the short roof vehicle S enters, since the uppermost portion passes below the object detection sensor S2 (32), the short roof vehicle is not detected by the object detection sensor S2 (32) (FIG. 4 ( C)).

  Therefore, the detection by the object detection sensor S1 (31) is performed first, and then the detection by the object detection sensor S2 (32) is performed in the state where the detection by the object detection sensor S1 (31) is performed, and the object detection sensor S1 (31) and the detection of the object detection sensor S2 (32) can be determined as receipt of a high roof vehicle when the time in which detection is simultaneously performed is in seconds. At this time, since the positions of the object detection sensor S1 (31) and the object detection sensor S2 (32) in the horizontal direction are shifted by 100 cm, the detection state does not occur when a person passes. Therefore, it is possible to avoid a situation in which a person is erroneously detected as a high roof car. The above is the basic principle of the mechanism for detecting the receipt of a high roof car.

(Operation 1 of the embodiment)
A specific example of the operation of the configuration shown in FIGS. 1 and 2 will be described in detail below. FIG. 5 is a flowchart showing an example of the operation. The operation procedure shown in FIG. 5 is stored as an operation program in the control computer in the control unit 20 of FIG. 3, and the procedure shown in FIG. 5 is executed according to this operation program.

  Here, as shown in FIG. 1, the case where the raising / lowering pallet Z2 is selected and a vehicle is received there is demonstrated. First, the user operates the operation panel 9 (see FIGS. 1 and 3) to select the pallet Z2. When the pallet Z2 is selected, the elevating pallet Z2 is moved (or not moved at the original position shown in FIG. 1), and the state shown in FIG. 1 is obtained. When the designated pallet has moved to a position where it can be stored, the process of FIG. 5 is started (step S501).

  When the process is started, it is determined whether or not the designated pallet is a pallet in which entry of the high roof vehicle is prohibited. In this example, the elevating pallets (elevating pallets Z1 to Z3 in FIG. 7) are high-roof car warehousing pallets. In this case, the determination in step S502 is YES, and the process proceeds to step S503. If the target pallet is a pallet that is not prohibited from entering the high roof car (in this case, the transverse pallets P1 and P2 in FIG. 7), the process is terminated (step S512).

  In step S503, it is determined whether or not the object detection sensor S1 (31) has detected an object. If the object detection sensor S1 (31) detects an object, the process proceeds to step S504, and if not, the process proceeds to step S511. . In step S511, it is determined whether an operation end operation has been performed on the operation panel 9. If the operation end operation has been performed, the processing procedure of FIG. 5 is ended (step S512). Otherwise, the process returns to the previous stage of step S503.

  In step S504, whether the state in which the object detection sensor S1 (31) has detected the object is maintained from the determination in step S503, and whether the object detection sensor S2 (32) has shifted from the non-detection state to the detection state. It is determined whether or not. In this case, if the object detection sensor S1 (31) is in the detection state and the object detection sensor S2 (32) is shifted from the non-detection state to the detection state, the determination in step S504 is YES, and if not, the determination in step S504 is performed. Becomes NO.

  If the determination in step S504 is YES, the process proceeds to step S505, and if not, the process proceeds to the previous stage of step S503. In step S505, it is determined whether or not the object detection sensor S1 (31) and the object detection sensor S2 (32) are both in the object detection state for 2 seconds. Here, outputs indicating the detection states of both sensors are output at the same time, and if the time has elapsed for 2 seconds, the process proceeds to step S506, and if not, the process proceeds to the previous stage of step S503.

  The time of 2 seconds is determined based on the speed of the vehicle entering the vehicle and the interval between the object detection sensor S1 (31) and the object detection sensor S2 (32). If this time is too long, the incoming high roof car passes in front of the object detection sensor S1 (31) and the object detection sensor S2 (32) before the determination in step S505 becomes YES, and the incoming of the high roof car is detected. Can not. Moreover, if this time is too short, the possibility of erroneously detecting an object other than a high roof vehicle as a high roof vehicle increases. This time is important for reliably detecting the entry of the high roof car and preventing erroneous detection, but is also related to the interval between the object detection sensor S1 (31) and the object detection sensor S2 (32). Therefore, it is preferable to determine experimentally.

  In step S506, it is determined that a high roof car (HR car) is being received, and then the process proceeds to step S507. In step S507, a notification process and an operation prohibition process are executed. In the notification process, an alarm 34 (see FIG. 1) announces “Please confirm that the vehicle cannot be stored” along with an alarm sound, and the light 35 blinks. The operation prohibition process is a process in which all subsequent movements of the pallet cannot be performed.

  When it is determined that the vehicle that has entered (or is about to enter) the elevator pallet Z2 (see FIG. 1) has been delivered in the state in which step S507 has been executed (step S508), the process is performed in step S507. The notification process and the operation prohibition process are canceled (step S510), and the process ends (step S512). When it is not possible to confirm the exit of the warehousing vehicle, it is determined whether or not a notification process and an operation prohibition process release operation have been performed by operating the operation panel 9 (step S509). If the operation is performed, the process proceeds to step S510, the notification process and the operation prohibition process are canceled, and the process ends (step S512). If the release operation cannot be confirmed in step S509, the process returns to the previous stage of step S508.

  Hereinafter, the determination in step S508 will be described. FIG. 6 is a flowchart showing the processing content of step S508 of FIG. When the process of step S508 is started (step S601), it is determined whether the object detection sensor S1 (31) is in an object detection state (step S602). If the object detection sensor S1 (31) is in the object detection state, the process proceeds to step S603; otherwise, the process proceeds to step S509 in FIG.

  In step S603, it is determined whether flag 1 is ON. The flag 1 indicates that the object detection sensor S1 (31) is in the object detection state (ie, ON), the object detection sensor S2 (32) is changed from the object non-detection state to the detection state (ie, OFF → ON), and Turns ON when the state is maintained for 2 seconds. Once the flag 1 is turned ON, the condition that the object detection sensor S1 (31) is in the object detection state (that is, ON) and the object detection sensor S2 (32) is in the object detection state (that is, ON). ON is maintained while is satisfied, and when this condition is not satisfied, it is OFF.

  In step S603, if flag 1 is ON, the process proceeds to step S604, and if not, the process proceeds to step S605. In step S605, it is determined whether or not 2 seconds have passed in the detection state of the object detection sensor S2 (32). If YES, the flag 1 is turned on (step S606), and the process proceeds to step S604. In step S605, if the object detection sensor S2 (32) is in the detection state and 2 seconds have not passed, the process proceeds to step S509 in FIG.

  In step S604, it is determined whether or not flag 2 is ON. The flag 2 indicates that the object detection sensor S1 (31) is in the object detection state (that is, ON) and the object detection sensor S3 (33) is in the object non-detection state (that is, OFF). Is turned ON when the state changes from the non-detection state of the object to the detection state (that is, from OFF to ON). Once the flag 2 is turned ON, the object detection sensor S1 (31) is in the object detection state (ie, ON), the object detection sensor S3 (33) is in the object non-detection state (ie, OFF), the object detection sensor While S2 (32) satisfies the condition of the object detection state (that is, ON), it remains ON. When this condition is no longer satisfied, it becomes OFF.

  In step S604, if flag 2 is ON, the process proceeds to step S607, and if not, the process proceeds to step S608. In step S608, it is determined whether or not the object detection sensor S3 (33) is in an object non-detection state. If YES, the process proceeds to step S609; otherwise, the process proceeds to step S509 in FIG.

  In step S609, it is determined whether or not the object detection sensor S2 (32) has shifted from the object detection state to the non-detection state. If YES, the flag 2 is turned ON (step S610), and further to step S607. move on. If the determination in step S609 is no, the process proceeds to step S509 in FIG.

  In step S607, it is determined whether or not the object detection sensor S2 (32) is in a non-detection state and the object detection sensor S3 (33) is in a non-detection state. If YES, the process proceeds to step S611. If NO in step S509, the flow advances to step S509 in FIG.

  In step S611, it is determined whether or not the object detection sensor S1 (31) has shifted from a state in which an object has been detected to a non-detection state. If YES, the process proceeds to step S510 in FIG. The process proceeds to step S509 in FIG.

  Hereinafter, a specific example of the above processing procedure will be described. Consider a case where a one-box type HR vehicle is stored in the lift pallet Z2 in FIG. Then, after the warehousing is completely performed, it is assumed that the user notices that the warehousing is on the warehousing prohibited pallet and the vehicle is ejected. In this case, the flags 1 and 2 are OFF before the user leaves the store. Then, when the vehicle starts to be delivered and the vehicle is completely delivered, in the process, step S602 in FIG. 6 is YES, step S603 is NO, step S605 is YES, step S604 is NO, step S608 is YES, step S609. YES, step S607 is YES, step S611 is YES, step S508 in FIG. 5 is YES, and the process proceeds to step S510 in FIG.

  Further, an HR vehicle as shown in FIG. 4 tries to enter the lifting pallet Z2 in FIG. 1, and at the stage of FIG. 4 (B), the user notices that the entry is into the entry prohibited pallet, and the vehicle is released. Suppose that In this case, the flag 1 is ON and the flag 2 is ON before the user enters the leaving operation. Then, when the vehicle starts to be delivered and the vehicle is completely delivered, step S602 in FIG. 6 is YES, step S603 is YES, step S604 is YES, step S607 is YES, step S611 is YES, and FIG. Step S508 in Step 5 becomes YES, and the process proceeds to Step S510 in FIG.

(Other configurations)
In FIG. 1, an example in which the parking floor F <b> 1, which is an entry / exit surface, is the ground surface is described. However, the configuration of FIG. The provided parking apparatus 1 shown in FIG. 7 can also be installed.

  Although the parking apparatus 1 shown in FIG. 7 having the configuration of FIG. 1 has two upper and lower stages, the present invention can be applied to an upper and lower three-stage parking apparatus. In this case, in the case of a triple structure, for example, three pallets that can be moved up and down between the upper stage and the middle stage (in / out surface) are arranged in the upper stage, and a pallet that can be raised and lowered between the middle stage and the lower stage in the lower stage. Three are arranged, and two traversing pallets are arranged in the interruption. Then, the three pallets that can be moved up and down between the interruption and the lower stage are pallets prohibited from entering the HR vehicle. In the case of these three stages, the middle stage is the entry / exit floor, the stage above the entry / exit floor is the upper stage, and the stage below the entry / exit floor is the lower stage.

  As the object detection sensor S2 (32), a photoelectric sensor that detects an object from a change in the intensity of a light beam on the optical axis may be used. Thereby, the detection failure by the influence of a window can be prevented. Moreover, the same effect can also be acquired by using the detection light of object detection sensor S2 (32) for the wavelength which is easy to be shielded with a window glass. Moreover, it can also be set as the structure which prevents the detection failure of S2 by the open part of a window by arranging two or more object detection sensors S2 (32) on the line of the entering / exiting direction.

  The direction of the optical axis of the object detection sensor S1 (31) and / or S2 (32) is not limited to the direction orthogonal to the direction of loading / unloading, but like the optical axis of the object detection sensor S3 (33) in FIG. In a horizontal plane, you may incline with respect to the direction of loading / unloading. Further, the direction of the optical axis of the object detection sensor S1 (31) and / or S2 (32) may be inclined with respect to the horizontal plane. For example, when the direction of the optical axis of S2 (32) is not parallel to the horizontal plane (pallet surface) but inclined, the roof of the HR vehicle can be reliably detected, for example, the window is opened. Even in this case, it is possible to reliably detect the HR vehicle.

  The object detection sensor S1 (31) and / or S2 (32) may be used for other purposes. As an example of such a case, an example in which S1 is used as a safety confirmation sensor that detects whether or not there is a person in front of the parking section 30 can be given. Moreover, this invention can also be utilized for the parking apparatus provided only with the raising / lowering pallet. For example, it can be used for a parking device that has an obstacle at the top of the parking device and cannot accept HR vehicles.

  INDUSTRIAL APPLICABILITY The present invention can be used for a parking device provided with a lifting pallet and a traversing pallet.

It is a side view which shows the one part outline | summary of a parking apparatus. It is a top view which shows the arrangement | positioning state of an object detection sensor. It is a block diagram which shows the outline | summary of a control system. It is a principle figure for demonstrating the principle which detects the high roof vehicle stored in the parking apparatus. It is a flowchart which shows the operation | movement procedure of embodiment. It is a flowchart which shows a part of operation | movement procedure of embodiment. It is a front view which shows the outline | summary of the general parking apparatus which can apply this invention.

  DESCRIPTION OF SYMBOLS 1 ... Pallet position detection sensor, 2 ... Pallet position detection sensor, 9 ... Operation panel, 10 ... Control panel, 30 ... Parking area, 31 ... Object detection sensor S1, 31a ... Light emission part, 31b ... Light reception part, 31c ... Optical axis 32 ... Object detection sensors S2, 33 ... Object detection sensors S3, 17 ... Operation part, 18 ... Display part, 19 ... Control part, 20 ... Control part, 21 ... Drive part, 22 ... CPU, 23 ... Memory, 24 ... Input / output interface, 34 ... alarm, 35 ... light, 41 ... lifting motor, 42 ... transverse motor.

Claims (4)

A first object detection sensor disposed at a first height;
A second object detection sensor having a second height higher than that of the first object detection sensor and disposed at a position away from the first object detection sensor in the loading / unloading direction;
A determination device for determining the receipt of a high-height vehicle having a height dimension equal to or higher than the height of the second object detection sensor based on outputs of the first object detection sensor and the second object detection sensor. ,
In the direction in which warehousing is performed, the first object detection sensor is disposed relatively on the near side, and the second object detection sensor is disposed relatively on the rear side,
In the state where the first object detection sensor detects an object, the determination device shifts from a state where the second object detection device does not detect an object to a state where an object is detected, and then The parking is characterized in that, when the first object detection device and the second object detection device continue to detect an object simultaneously for a predetermined time, it is determined that the high vehicle has arrived. apparatus. The parking apparatus according to claim 1 , further comprising a notification device that notifies the fact that the high-height vehicle has been received. If the goods receipt of the high vehicle height the vehicle has been determined, the parking apparatus according to claim 1 or 2, further comprising an operation limiting device for limiting the operation of the parking system. A program that causes a computer that controls the operation of the parking device to read and execute the program,
An output from a first object detection sensor arranged at a first height, a second height higher than the first object detection sensor, and with respect to the first object detection sensor Based on the output from the second object detection sensor arranged at a position distant in the loading / unloading direction, it is determined whether a high vehicle having a height dimension higher than the height of the second object detection sensor is received. A determination step;
A notification step for notifying the result of the determination step,
In the direction in which warehousing is performed, the first object detection sensor is disposed relatively on the near side, and the second object detection sensor is disposed relatively on the rear side,
In the determination step, in the state where the first object detection sensor is detecting an object, the state is shifted from a state where the second object detection device is not detecting an object to a state where an object is detected, and then A program for determining that a vehicle with a high vehicle height has been received when the first object detection device and the second object detection device continue to detect objects simultaneously for a predetermined time. .

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