JP5226610B2 - Vehicle mounting abnormality detection system - Google Patents

Description

  The present invention relates to a vehicle mounting abnormality detection system suitable for application to a mechanical parking facility.

  There are various types of mechanical parking facilities. For example, in the case of a pallet-type mechanical parking facility, a facility for transporting the vehicle between the passenger compartment and the parking space with the vehicle mounted on a pallet (carriage) is provided. Briefly, in the pallet type mechanical parking facility, a movable pallet is installed in a passenger compartment having a vehicle entrance. Usually, since a parking space is constructed over a plurality of floors, a lifting mechanism for raising and lowering a pallet and a moving mechanism for horizontally moving a pallet raised and lowered to a target floor to a predetermined parking space are provided as a transportation facility. .

  The driver of the vehicle stops the vehicle at a predetermined stop position on the pallet of the passenger compartment, and then gets off the vehicle, and the vehicle is unmanned between the passenger compartment and the parking space.

  In addition, this kind of pallet-type mechanical parking equipment includes a ground type that builds a parking space on the ground and an underground type that builds a parking space underground. In the case of the underground type, an opening that allows the pallet to move up and down from the floor of the passenger compartment to the underground parking space is formed. The pallet is made of a metal material such as a steel plate having an area slightly smaller than the area of the opening, and is moved up and down by an elevating mechanism constructed on the lower surface side thereof. At the time of entering and leaving the vehicle, the pallet is placed at the same height as the floor of the passenger compartment.

  As described above, the area of the pallet is slightly smaller than the opening area of the floor in the passenger compartment. For this reason, when the vehicle is stopped in a state of being deviated from a predetermined position on the pallet, the vehicle may come into contact with a part of the components of the parking facility, specifically, the edge of the opening of the floor of the passenger compartment when moving up and down. There is. Therefore, the driver needs to stop the vehicle at a predetermined position on the pallet.

  As a support means for the driver for stopping the vehicle at a predetermined position on the pallet, in addition to a general means such as a car stop provided on the pallet, a laser beam is used to detect the protrusion (displacement) of the vehicle from the predetermined position. There is known a detection system that includes a laser sensor that detects the above and outputs a sign such as “OK” or “Get off” to the driver of the vehicle when the detection result satisfies a condition. In addition, the vehicle stop provided on the pallet does not simply stop the forward or backward movement of the vehicle, but is generally based on a ridge body that stops the forward movement of the front wheel or rear wheel of the vehicle and a ridge body that stops the backward movement. Hereinafter, this will be referred to as a stopper. The protruding body is rod-shaped and has a cross-sectional shape such as a circle, a triangle, or a quadrangle.

  In a system that uses a laser sensor to detect the protrusion (displacement) of a vehicle, only the presence or absence of an object on the optical axis of the laser sensor can be detected. Therefore, in order to detect whether the vehicle is at a predetermined position on the pallet A plurality of expensive laser sensors are required. In addition, after the vehicle is stopped on the pallet, a sign such as “OK” or “Get off” is issued to the driver, so that the stop position of the vehicle slightly protrudes by opening and closing the door when the driver gets off. There is a case. Even though such a slight protrusion is not a problem, the laser sensor may detect this and cancel the sign such as “OK”, and may require the driver to reinsert the vehicle.

  On the other hand, a detection device (see Patent Document 1) that detects a stop position of a vehicle on a pallet by image processing is provided as a device that detects the protrusion (deviation) of the vehicle without using a laser sensor. The detection device disclosed in Patent Literature 1 captures an overall top view of a vehicle loaded on a vehicle loading unit (pallet) with a single camera, processes the obtained image, and protrudes the vehicle from the vehicle loading unit. (Position displacement) is detected.

JP 2001-132259 A

  However, although the detection apparatus disclosed in Patent Document 1 requires only one television camera as a sensor, it is necessary to consider the viewing angle of the television camera, so that the television camera is installed considerably above the vehicle loading section. There is a need. This is suitable for the above-mentioned ground type parking facility in which a place to be a boarding / exiting room is on or near the first floor, and the vehicle loading section is moved upward therefrom. This is because the up-and-down space of the vehicle loading section can be used as a space for viewing the vehicle with a TV camera, and the ceiling wall on the top floor can be used as the installation position of the TV camera. However, the present invention is not applicable to an underground parking facility in which a place to be a boarding / exiting room is on or near the first floor and the vehicle loading section is moved downward (underground) therefrom.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a mounting abnormality detection system using imaging means such as an ITV camera, which can detect vehicle mounting abnormality without being restricted by the viewing angle of the imaging means. There is.

  Another object of the present invention is to provide a system capable of detecting vehicle mounting abnormality based on a plurality of arbitrarily set threshold values.

  According to the present invention, the vehicle on the carrier in the passenger compartment is applied to a mechanical parking facility having a conveying means for conveying between the passenger compartment and the parking space with the vehicle mounted on the carrier. In the system for detecting whether or not there is a mounting abnormality, imaging means installed at at least two places at a height position capable of imaging a predetermined region including a part of the vehicle entering the passenger compartment, and Image processing means for performing image processing on an image from at least two of the imaging means, wherein the image processing means stops the vehicle from entering the passenger compartment using the first threshold value set in advance. The presence or absence of protrusion of the vehicle up to a fixed position is detected, and the detection of presence or absence of protrusion of the vehicle at the start of the transfer operation from the fixed stop position of the vehicle to the parking space is performed with an eye wider than the first threshold value. Vehicle mounted anomaly detection system, characterized in that performed using the second threshold value set in advance is provided.

  In addition, the said carrying machine can be implement | achieved by the substantially rectangular pallet, In this case, the said 1st, 2nd threshold value can each be set on the basis of the edge of the said pallet. On the other hand, the conveyor may have a conveyor shape. In this case, the first and second threshold values are set based on the markings set on the floor of the passenger compartment or the conveyor. Can do.

  The imaging means preferably includes an ITV camera including a wide angle lens.

  The imaging means may be installed at a location corresponding to the upper corner of at least one of the two sets of corners defined by the diagonal of the transporter in the passenger compartment. It is preferable to install in four places corresponding to the upper part of the four corners of the transporter in the passenger compartment. In this case, the image processing means performs image processing on the images from the four imaging means, in addition to detecting the presence or absence of the vehicle using the first and second threshold values, It is also possible to detect the presence or absence of a person or an object in the passenger compartment.

  Further, in addition to the image pickup means for picking up an area including a part of the vehicle from above, the image processing means includes an in-vehicle image pickup means for picking up the vehicle from either the front surface or the side surface thereof. Image processing can be performed on the image from the in-vehicle imaging means to detect the presence or absence of a person in the vehicle.

  According to the present invention, by performing the protrusion detection using at least two kinds of threshold values, it is possible to reliably prevent the vehicle from coming into contact with a part of the mechanical parking equipment during the transportation and causing damage. In addition, the driver may be prompted to reinsert the vehicle when a slight misalignment (protrusion) that does not interfere with transportation after the driver leaves the vehicle. It can be eliminated, and convenience for the driver can be improved.

It is the figure which showed the pallet type mechanical parking equipment with which this invention was applied with the vehicle about the passenger compartment which is the part. It is a block diagram which shows schematic structure of the vehicle mounting abnormality detection system by this invention. FIG. 3 is a diagram illustrating an installation example of four ITV cameras shown in FIG. 2 and an example of an image obtained by these ITV cameras.

  With reference to FIGS. 1-3, embodiment of the vehicle mounting abnormality detection system by this invention is described.

  FIG. 1 shows an example in which the present invention is applied to an entry / exit room of an underground type pallet type mechanical parking facility in which a parking space is built downstairs, FIG. 1 (a) is a plan sectional view, and FIG. Sectional drawing which looked at the entrance / exit side from the inner part of the chamber, FIG.1 (c) is side sectional drawing.

  The entrance / exit 100 is surrounded by a wall 110 except for the entrance / exit 100a of the vehicle by a wall 110, and the entrance / exit 100a is provided with an elevating gate 120 here. An oblong opening 200a is formed that allows the oblong pallet (carriage) 10 to move up and down from the floor 200 in the passenger compartment 100 toward an underground parking space (not shown). As described above, the pallet 10 is made of a metal material such as a steel plate having an area slightly smaller than the area of the opening 200a, and is moved up and down by the lifting mechanism constructed on the lower surface side thereof. The pallet 10 is also combined with a moving mechanism for horizontally moving the pallet in the underground parking space. However, such a mechanism including the lifting mechanism is not the gist of the present invention and is well known. Illustration and description are omitted.

  FIG. 1 shows a state in which the vehicle 20 is placed on the pallet 10, and the pallet 10 is positioned substantially on the same level as the floor 200 of the passenger compartment 100 when the vehicle 20 is loaded and unloaded. In other words, there is a gap of about several centimeters between the edge of the pallet 10 and the edge of the opening 200a, but the vehicle 20 is prevented from entering and leaving. On the pallet 10, the above-described stopper for preventing the vehicle in a stopped state from moving forward and backward is provided at the fixed position of the vehicle stop, but this is also well known and is not shown.

  A mirror 30 is erected adjacent to the inner wall 110 in the passenger compartment 100. This mirror 30 is for showing the approach state of the own vehicle to the driver of the vehicle that has entered the passenger compartment 100. Further, a guide means such as an electric bulletin board that visually guides the driver to enter, stop, and handle turning operation is provided on the upper portion of the mirror 30 and a guide means such as a speaker that guides the auditory sense. Although not shown, these are also omitted. However, the guide means may guide based on an output of an image processing unit, which will be described later, which is also a main part of the present invention.

  When entering the mechanical parking facility, the driver drives the vehicle and enters the entrance / exit 100 through the entrance / exit 100a, looks at the mirror 30 and receives guidance from the guide means described above, Together, the vehicle is stopped at the vehicle stop fixed position by the stopper on the pallet 10. Here, when a sign such as “OK” (or “get off”) comes out by the guide means, the driver turns off the engine and goes out of the vehicle. However, even when a sign such as “OK” appears, for example, when the driver leaves the vehicle, the vehicle may be displaced (extruded) due to an impact caused by closing the door with force. The positional deviation is usually so small that it does not interfere with subsequent vehicle conveyance. However, in subsequent vehicle conveyance, there may be a positional shift that may cause a part of the vehicle to contact the edge of the opening 200a. If the pallet 10 is lowered in such a state, a part of the vehicle 20 may be damaged by touching the edge of the opening 200a.

  It can be said that the mounting abnormality detection system according to the present embodiment has one feature in that it is possible to cope with a positional deviation (protrusion) of the vehicle immediately after the driver goes out of the vehicle.

  In the present embodiment, as shown in FIG. 3 (a), an ITV camera for imaging a lower area in each of the places corresponding to the upper corners of the long rectangular pallet 10 in the passenger compartment 100. 50-1, 50-2, 50-3, 50-4 are provided. Each of the ITV cameras 50-1 to 50-4 images an area in a predetermined range that is substantially centered on a corresponding corner of the pallet 10. Thus, when a vehicle is placed on the pallet 10, a part of the vehicle 20, particularly a part including the front and rear corners, is surely included in the imaging region of the ITV cameras 50-1 to 50-4. .

  In FIG. 3B, the image IM1 obtained by the ITV camera 50-1 includes a portion including a corner on the left side of the front portion of the vehicle 20 and a corner portion of the pallet 10 corresponding thereto, and is obtained by the ITV camera 50-2. It is shown that the image IM2 to be displayed includes a portion including a corner on the right side of the front portion of the vehicle 20 and a corner portion of the pallet 10 corresponding thereto. Similarly, the image IM3 obtained by the ITV camera 50-3 includes a portion including the corner on the left rear portion of the vehicle 20 and the corner portion of the pallet 10 corresponding thereto, and the image IM4 obtained by the ITV camera 50-4 includes It shows that a portion including a corner on the right rear portion of the vehicle 20 and a corner portion of the pallet 10 corresponding thereto are included.

  In order to widen the imaging range by the ITV camera, it is desirable to use a wide-angle lens (including a fisheye lens).

  FIG. 2 shows a mounting abnormality detection system that receives image signals from the ITV cameras 50-1 to 50-4, performs image processing, and determines whether or not the vehicle 20 is at a predetermined stop position on the pallet 10. Is schematically shown in a block diagram.

  In FIG. 2, the mounting abnormality detection system according to the present embodiment includes an image processing unit 60 that receives image signals from the ITV cameras 50-1 to 50-4. Such an image processing unit 60 is a PC (personal computer). Etc. can be realized.

  The image processing unit 60 individually processes the image signals from the ITV cameras 50-1 to 50-4, and executes an operation for detecting whether or not the vehicle protrudes (deviation from a predetermined stop position). In particular, the image processing unit 60 performs the operation of detecting whether or not the vehicle protrudes twice using different threshold values (threshold ranges). That is, the image processing unit 60 uses a first threshold value (threshold range) set in advance to detect the protrusion of the vehicle (first time) from when the vehicle enters the passenger compartment 100 until the vehicle stops at the fixed position. ).

  If there is no abnormality in the above-described protrusion detection, the image processing unit 60 subsequently detects the vehicle protrusion (second time) at the start of the transportation operation from the vehicle stop fixed position to the parking space from the first threshold value. Is also performed using the second threshold value set in a wide eye.

  The reason why the second threshold value larger than the first threshold value used in the first protrusion detection is used for the second protrusion detection is as follows. As described above, the second protrusion detection is performed because the sign such as “OK” is issued by the guide means after the vehicle 20 is stopped at the vehicle stop fixed position by the stopper on the pallet 10. This is because when the driver turns off the engine and goes out of the vehicle, the vehicle 20 may be displaced (protruded) due to an impact caused by closing the door vigorously or for other reasons. If this positional deviation is a minute value within an allowable range that does not hinder subsequent vehicle transportation, there is no problem even if it is left as it is. However, if the position of the vehicle 20 is misaligned so that the vehicle 20 may come into contact with the edge of the opening 200a during the subsequent transportation of the vehicle, the driver guides the driver before leaving the passenger compartment 100. On the other hand, it is necessary to prompt the user to put the vehicle back on.

  For the reasons described above, the second threshold value is a value obtained by adding a minute value of the allowable range to the first threshold value, and exceeds the allowable range immediately after the driver goes out of the vehicle. When the vehicle protrudes (displacement), the driver is notified of the re-insertion of the vehicle.

  Specifically, the image IM1 obtained by the ITV 50-1 is as follows.

  The image processing unit 60 performs the recognition of the edge of the pallet 10, the recognition of the edge of the vehicle 20, and the recognition of the edge of the opening 200a for the image IM1 for the first protrusion detection. The edge of the vehicle 20 is an edge when the vehicle is recognized as a planar shape when viewed from above. When the recognition of the edges of the pallet 10 and the vehicle 20 is completed, the image processing unit 60 introduces a first threshold value (indicated by a one-dot chain line in FIG. 3B) with reference to the edge of the pallet 10, An operation of determining whether or not the edge of the vehicle 20 protrudes from the first threshold value is executed. The first threshold value is determined in advance in the form of how many centimeters the pallet 10 is inward from the edge.

  When the vehicle protrusion is detected in the first protrusion detection described above, the image processing unit 60 informs the driver of the fact through the guide means (electronic bulletin board, speaker, etc.) in the passenger compartment 100, so that the position of the vehicle 20 is detected. Encourage matching. If the protrusion of the vehicle is not detected, the image processing unit 60 notifies “OK” or the like through the guide means and erases the image IM1.

  Subsequently, the image processor 60 recognizes the edge of the pallet 10, recognizes the edge of the vehicle 20, and detects the edge of the opening 200 a for the newly obtained image IM1 for the second protrusion detection. The recognition process is executed. The newly obtained image is an image obtained from the ITV camera after the driver leaves the vehicle. When the new recognition of the edges of the pallet 10 and the vehicle 20 is completed, the image processing unit 60 sets a second threshold value on the inner side of the new edge of the pallet 10 as a reference, and the edge of the vehicle 20 An operation for determining whether or not the second threshold value is exceeded is executed. The second threshold value is determined in advance so as to be inside the edge of the pallet 10 in the drawing, but outside the first threshold value indicated by the alternate long and short dash line, that is, to be loosened. It should be noted that images are continuously obtained from the ITV camera, and it is necessary to set the second threshold value for such an image and determine the timing for determining the presence or absence of protrusion. You can choose from the following conditions:

  A. The entrance / exit 100a is provided with a sensor (not shown) that can detect that the driver has exited from the passenger compartment 100, and when this sensor detects that the driver has exited the passenger compartment 100. Note that this sensor may be commonly used as a sensor that is installed to detect entry / exit of a vehicle into / from the passenger compartment 100.

  B. Outside the entrance / exit 100 near the entrance / exit 100a, there is an operation panel (not shown) to be operated by the driver, and when the driver exiting the entrance / exit 100 operates this operation panel.

  C. Since the gate 120 is closed after the above-mentioned (b) or (b), the gate 120 is closed.

  D. When the pallet 10 is a turntable type, when the turn operation is completed and the transport operation by the lifting mechanism starts.

  Any of the above timings (i) to (ii) may be adopted, and not only one of (i) to (ii) but also a second threshold value is set when a plurality of conditions are cleared, and the presence or absence of protrusion The determination may be performed.

  When the second protrusion detection described above detects a protrusion exceeding the allowable range of the vehicle, the image processing unit 60 informs the driver of the fact through the guide means (electronic bulletin board, speaker, etc.) in the passenger compartment 100. The driver prompts the vehicle 20 to be aligned before leaving the passenger compartment 100 and leaving. If no overhang of the vehicle exceeding the allowable range is detected, the image processing unit 60 notifies “OK” or the like through the guide means, or does not notify anything.

  The image processing unit 60 individually processes the four images IM1 to IM4 and performs the above-described protrusion detection. When the image processing unit 60 detects the protrusion of any one of the four images IM1 to IM4, the vehicle operation necessary for eliminating the detected protrusion, for example, “turn the steering wheel to the right”, “ The message “Please back and insert again” is displayed on the electronic bulletin board, or the voice is notified through the speaker.

  As described above, by detecting the protrusion using two kinds of threshold values, it is possible to reliably prevent the vehicle on the pallet from contacting a part of the mechanical parking equipment during the transportation and causing damage. In addition to being able to do so, the driver may be prompted to reinsert the vehicle when a slight misalignment (protrusion) that does not interfere with transportation after the driver leaves the vehicle. And the convenience for the driver can be improved.

  Although the present invention has been described with reference to the preferred embodiments, the present invention is not limited to the above-described embodiments, and various modifications are possible as described below.

  The image processing unit 60 determines the presence or absence of an object on the outside of the opening 200a, that is, on the floor 200 in the passenger compartment 100 by image processing on the four images IM1 to IM4 as well as the above-described protrusion detection. Also good. This is because no abnormality is detected by the above-described protrusion detection, and when the operation for transporting the vehicle on the pallet 10 to the parking space is started, both the person and the object are present on the floor 200 in the passenger compartment 100. This is because there are conditions that must not be done. Since there is usually nothing on the floor 200 in the passenger compartment 100, it is easy to determine the presence or absence of an object on the floor 200. In this determination, it is possible to distinguish between a person and an object. Is desirable. Thereby, when the presence of a person is detected, the guide means prompts the user to leave the boarding / alighting room 100 by voice or the like, and when the presence of an object is detected, the operator of the parking facility is notified of the fact. be able to. Of course, even if it is not possible to distinguish between persons and objects, both the voice warning in the passenger compartment 100 by the guide means and the notification to the operator of the parking facility may be performed.

  According to the above modification, in addition to the effects obtained by the above embodiment, at the time of starting the vehicle transportation by the pallet, the safety for the person left in the passenger compartment is improved and the parking by the object left in the passenger compartment is It is possible to prevent damage to the equipment.

  In addition to the ITV cameras 50-1 to 50-4, an ITV camera that captures the inside of the vehicle 20 in the passenger compartment 100 is installed as in-vehicle imaging means, and the image signal is output to the image processing unit 60. The presence / absence of a person in the vehicle 20 may be detected by performing image processing. In this case, the ITV camera is preferably installed so as to photograph the inside of the vehicle 20 from the front or the side.

  In the above embodiment, all four corner portions of the pallet 10 and four corner portions of the vehicle 20 in the passenger compartment 100 are detected to detect the protrusion, but the presence or absence of the protrusion is detected by the pallet 10. Alternatively, it may be performed at the corner of at least one of the two sets of corners defined by the diagonal. That is, in FIG. 3, the detection of the protrusion can be performed using the images IM1 and IM4 from the ITV cameras 50-1 and 50-4 or the images IM2 and IM3 from the ITV cameras 50-2 and 50-3. it can.

  In the above embodiment, the image processing unit 60 individually processes the four images IM1 to IM4. However, these images are combined into one image as shown in the lower side of FIG. However, it is also possible to detect the protrusion using the composite image or the presence / absence of a person or an object in the passenger compartment 100. In this case, for example, in FIG. 3A, a line crossing the edge of the pallet 10 at the intermediate portion is used as a marking used for alignment at the time of synthesis.

  Further, in the first and second protrusion detection, the first and second threshold values are set with reference to the edge of the pallet 10, but are set with reference to the edge of the opening 200a. May be. Further, the protrusion detection is not limited to two times using the first and second threshold values, and may be performed a plurality of times using a plurality of types of threshold values. The timing in this case can be set using the conditions (i) to (d) described above.

  The present invention can be applied not only to a pallet type mechanical parking lot but also to a conveyor type mechanical parking lot in which a vehicle is mounted on a conveyor and transported.

DESCRIPTION OF SYMBOLS 10 Palette 20 Vehicle 30 Mirror 50-1 to 50-4 ITV camera 60 Image processing apparatus 100 Entrance / exit room 100a Entrance / exit 110 Wall 120 Gate 200 Floor 200a Opening

Claims (7)

Applied to a mechanical parking facility equipped with a transport means for transporting between a passenger compartment and a parking space in a state where the vehicle is mounted on a carrier, whether there is a vehicle mounting abnormality on the carrier in the passenger compartment In the system to detect
Imaging means installed at at least two locations at a height position capable of imaging a predetermined region including a part of the vehicle entering the passenger compartment;
Image processing means for performing image processing on images from at least two of the imaging means,
The image processing means detects whether or not the vehicle protrudes from the vehicle entry to the passenger compartment to a vehicle stop fixed position using a preset first threshold value, and moves from the vehicle stop fixed position to the parking space. The vehicle mounting abnormality detection system is configured to detect whether or not the vehicle protrudes at the start of the transport operation using a second threshold value preset in an eye wider than the first threshold value. .   2. The vehicle mounting abnormality detection according to claim 1, wherein the transporter is a substantially rectangular pallet, and each of the first and second threshold values is set based on an edge of the pallet. system.   The said carrying machine is a conveyor shape, Each of the said 1st, 2nd threshold value is set on the basis of the marking set to the floor of the said boarding / alighting room, or a carrying machine, The Claim 1 characterized by the above-mentioned. Vehicle mounting abnormality detection system.   The said imaging means is installed in the location corresponding to the corner upper direction of at least one set of two sets of corners prescribed | regulated by the diagonal of the said carrying machine in the said boarding / alighting room. 4. The vehicle mounting abnormality detection system according to any one of 3 above.   The vehicle mounting abnormality detection system according to any one of claims 1 to 4, further comprising an ITV camera including a wide-angle lens as the imaging unit.   The image pickup means is installed in a place corresponding to above the four corners of the transporter in the passenger compartment, and the image processing means performs image processing on images from the four image pickup means. Accordingly, in addition to detecting the presence or absence of the vehicle using the first and second threshold values, the presence or absence of a person or an object in the passenger compartment is also detected. The vehicle mounting abnormality detection system according to any one of the above.   In addition to the image pickup means for picking up an area including a part of the vehicle from above, the image processing means includes the image pickup means for picking up the vehicle from either the front surface or the side surface thereof. The vehicle mounting abnormality detection system according to any one of claims 1 to 6, wherein the image from the means is subjected to image processing to detect the presence or absence of a person in the vehicle.

Images