JP5968756B2 - Mechanical parking lot - Google Patents

Description

  The present invention relates to a mechanical parking lot.

  Generally, a mechanical parking lot is known as a parking lot that can efficiently park a large number of vehicles in a small space. Various structures are also provided for mechanical parking lots, but as one of them, a vehicle is placed on a pallet, and this pallet is moved forward and backward or left and right by using rails and grooves to make it empty. There is a pallet-type mechanical parking lot that can be transported to a pallet space. In addition, there is also provided a mechanical parking lot in which parking efficiency is further improved by combining a lift and a three-dimensional parking layer with this pallet-type mechanical parking lot.

  Patent Documents 1 to 5 disclose techniques for detecting the protrusion of a vehicle from a pallet using a laser sensor or the like when the vehicle is stored in a mechanical parking lot.

JP 2005-126913 A JP 2010-138542 A JP 2012-137367 A JP 2012-47044 A JP 2011-89291 A

  In general, the size of the vehicle varies depending on the type. Recently, low-noise and clean electric vehicles and plug-in hybrid vehicles (hereinafter collectively referred to as EV (Electric Vehicle) vehicles) have begun to spread. As described above, vehicles are diversifying year by year, but the mechanical parking lot side often does not catch up with such vehicle diversity. That is, the number of vehicles that cannot be handled by a conventional mechanical parking lot is increasing. As a result, the versatility of such a mechanical parking lot may be reduced.

  The present invention has been made in view of such circumstances, and an object thereof is to provide a mechanical parking lot that can suitably cope with the diversification of vehicles or a computer program for controlling the mechanical parking lot.

  One embodiment of the present invention relates to a mechanical parking lot. This mechanical parking lot is a mechanical parking lot that introduces a vehicle that has entered the passenger compartment to the storage shelf, and before the vehicle enters the passenger compartment, a vehicle attribute acquisition unit that acquires attributes of the vehicle; Based on the attribute acquired by the vehicle attribute acquisition unit, a storage region determination unit that determines a vehicle storage region in which the vehicle should fit in the passenger compartment, a detection unit configured to be able to detect the protrusion of the vehicle from the detection surface, A moving unit that moves the detection unit so that the boundary of the vehicle storage region determined by the storage region determination unit and the detection surface of the detection unit are aligned.

  According to this aspect, the protrusion of the vehicle can be detected based on the attribute of the vehicle.

  It should be noted that any combination of the above-described constituent elements, or those obtained by replacing the constituent elements and expressions of the present invention with each other between apparatuses, methods, systems, computer programs, recording media storing computer programs, and the like are also included in the present invention. It is effective as an embodiment of

  ADVANTAGE OF THE INVENTION According to this invention, the computer program for controlling the mechanical parking lot which can respond suitably to diversification of a vehicle, or its mechanical parking lot can be provided.

It is a front view of the mechanical parking lot which concerns on embodiment. It is a top view of the B1F storage shelf of FIG. It is a top view of the B3F storage shelf of FIG. It is a typical screen figure of the management number input screen displayed on the touch panel of the operation panel of FIG. It is a top view of the passenger compartment of FIG. FIG. 6 is a cross-sectional perspective view taken along line AA in FIG. 5. FIG. 7 is an enlarged view in which the vicinity of the left protrusion sensor in FIG. 6 is enlarged. It is a side view corresponding to the arrow B of FIG. FIG. 9 is a top view corresponding to FIG. 8. It is a top view of the 1st intermediate plate. It is a top view of a 2nd intermediate | middle plate and a sensor side support plate. It is a side view corresponding to the arrow C of FIG. It is a block diagram which shows the function and structure of a control apparatus of FIG. It is a data structure figure which shows an example of the accommodation area | region information holding part of FIG. It is a flowchart which shows a series of processes in the mechanical parking lot at the time of parking a vehicle in the mechanical parking lot of FIG. It is a schematic diagram which shows the position of the left protrusion sensor and the right protrusion sensor at the time of entering the EV vehicle which has a power supply port on the right side.

  Hereinafter, the same or equivalent components and members shown in the respective drawings are denoted by the same reference numerals, and repeated descriptions thereof are omitted as appropriate. In addition, the dimensions of the members in each drawing are appropriately enlarged or reduced for easy understanding. Also, in the drawings, some of the members that are not important for describing the embodiment are omitted.

  The mechanical parking lot according to the present embodiment introduces a vehicle such as an automobile that has entered the passenger compartment to the storage shelf. In the mechanical parking lot, before the vehicle enters the passenger compartment, it is required to input the attribute of the vehicle. The mechanical parking lot determines a vehicle accommodation area in which the vehicle should be accommodated in the passenger compartment based on the input attribute. Therefore, since a suitable vehicle accommodation area can be determined according to the attributes of the vehicle, for example, a larger vehicle accommodation area is determined for a large vehicle, the versatility of the mechanical parking lot is improved.

  FIG. 1 is a front view of a mechanical parking lot 10 according to an embodiment. FIG. 2 is a plan view of the B1F storage shelf 14. FIG. 3 is a plan view of the B3F storage shelf 18. The mechanical parking lot 10 is a so-called underground mechanical parking lot that is provided up to the third basement floor in the basement of the building 24 provided on the ground.

  The mechanical parking lot 10 includes a B1F storage shelf 14 which is a parking room on the first basement floor, a B2F storage shelf 16 which is a parking room on the second basement floor, a B3F storage shelf 18 which is a parking room on the third basement floor, The normal pallet 32 that is not compatible with EV cars, the plurality of EV car-compatible pallets 100, the first transfer device 56, the plurality of second transfer devices 58, the lift frame 88, and a hoistway 96 having a substantially rectangular cross section. The four masts 90 provided as support columns at the four corners, a lifting device 94, a plurality of power feeding systems 40, an operation panel 28 provided outside the passenger compartment 12, and a control device connected to the operation panel 28 30.

  The mechanical parking lot 10 is a pallet type parking lot using pallets. This pallet-type mechanical parking lot 10 is compatible with normal pallets 32 and EV cars in which vehicles such as a normal car 20, a large car 22 larger than the normal car 20, and an EV car 23 are mounted using a lifting device 94. By raising and lowering the pallet 100 (hereinafter, these may be collectively referred to as pallets), or by moving the pallet in the surface direction using the first transfer device 56 and the second transfer device 58, The vehicle is parked on the storage shelf.

  A boarding / alighting room 12 for putting a vehicle into the mechanical parking lot 10 and taking out the vehicle from the mechanical parking lot 10 is provided in the building 24. The passenger compartment 12 is provided at the upper end of the hoistway 96. The passenger compartment 12 is provided with a pallet opening 26 that allows the passenger compartment 12 and the hoistway 96 to communicate with each other. The size of the pallet opening 26 is sufficient for the size of these pallets in plan view so that the normal pallet 32 and the pallet 100 for EV cars can pass without interfering with the peripheral surface of the pallet opening 26. It is the size with a margin added.

  Each of the B1F storage shelf 14, the B2F storage shelf 16, and the B3F storage shelf 18 includes 10 parking spaces. These 10 parking spaces are arranged in a matrix of 5 rows in the transfer direction (x direction in the figure) in a plan view and two columns in the crossing direction (y direction in the figure) substantially orthogonal to the transfer direction. Is done. The parking space is one parking area (one unit of parking) in the storage shelf where the vehicle can be parked together with the pallet. A fall prevention roller 19 is installed between the parking space and the parking space to support the pallet when it moves across the parking space.

Each of the B1F storage shelf 14, the B2F storage shelf 16, and the B3F storage shelf 18 includes a B1F frame 80, a B2F frame 82, and a B3F frame 84 that define the floor of the storage shelf. The second transfer device 58 is fixed to each of the B1F frame 80, the B2F frame 82, and the B3F frame 84.
For example, a transport device described in Japanese Patent Publication No. 7-29681 filed earlier by the present applicant can be applied to the second transfer device 58.

  The B3F frame 84 is fixed to the bottom 98 of the hole dug for receiving the mechanical parking lot 10. The B2F frame 82 and the B1F frame 80 are supported by a plurality of columns 86 erected in the vertical direction (z direction in the figure) from the bottom 98 of the hole. The column 86 penetrates the B2F storage shelf 16 and the B3F storage shelf 18 in the vertical direction, but does not protrude into the B1F storage shelf 14. There is no further storage shelf above the B1F storage shelf 14, which is the uppermost storage shelf in the mechanical parking lot 10, so it is necessary to extend the column 86 further upwards through the B1F storage shelf 14. Because there is no.

  When the pallet moves in the B2F storage shelf 16 or the B3F storage shelf 18, the pallet must pass between the support column 86 and the support column 86. Therefore, when the vehicle or the power supply cable connected to the vehicle protrudes from the pallet, the protruding portion may come into contact with the column. Therefore, in the mechanical parking lot 10, the B2F storage shelf 16 and the B3F storage shelf 18 are dedicated to a vehicle having a size smaller than a predetermined size (hereinafter referred to as a normal vehicle). In other words, only the normal vehicle is stored in the B2F storage shelf 16 or the B3F storage shelf 18.

  Since the column 86 does not penetrate the B1F storage shelf 14 and there is no column 86 in the area where the pallet moves in the B1F storage shelf 14, the pallet protrudes from the pallet even if it moves through the B1F storage shelf 14. Interference with the column 86 does not occur. Therefore, even if a wider or longer vehicle is stored in the B1F storage shelf 14, the possibility of interference between the vehicle and the B1F storage shelf 14 is low. Therefore, in the mechanical parking lot 10, the B1F storage shelf 14 can store a vehicle having a size larger than a predetermined size (hereinafter referred to as a wide vehicle) in addition to a normal vehicle. Therefore, the B1F storage shelf 14 basically includes both normal vehicles and wide vehicles.

  In the mechanical parking lot 10, a hoistway 96 is provided along the vertical direction. The hoistway 96 communicates with each of the B1F storage shelf 14, the B2F storage shelf 16, and the B3F storage shelf 18. A lifting device 94 is installed at the lower end of the hoistway 96.

  When viewed in plan, the substantially rectangular lift frame 88 is supported by the four masts 90 so as to be movable up and down. A first transfer device 56 is mounted on the upper part of the lift frame 88. The lifting device 94 lifts and lowers the lift frame 88 along the hoistway 96. A pallet is mounted on the upper portion of the first transfer device 56. The first transfer device 56 is configured to be able to move the pallet in the transfer direction.

  The lift frame 88, the four masts 90, and the lifting device 94 include the lift frame, the four masts, and the lifting device described in Japanese Patent Application Laid-Open No. 2009-197417 previously filed by the applicant. Can be applied.

  Both the normal pallet 32 and the EV car-compatible pallet 100 are flat members. The upper surface, that is, the vehicle mounting surfaces 32a and 100a, on which the vehicles of the normal pallet 32 and the EV vehicle compatible pallet 100 are mounted are substantially rectangular. The normal pallet 32 and the EV car-compatible pallet 100 have a uniform size.

  The EV vehicle compatible pallet 100 is configured to be able to supply power to the power supply port of the EV vehicle 23 via the power supply cable 110. The EV car-compatible pallet 100 includes a power receiving unit (not shown) having a power receiving terminal, and an outlet 102 provided on the vehicle mounting surface 100a. When charging the EV car 23 during parking, the power supply port of the EV car 23 mounted on the EV car corresponding pallet 100 and the outlet 102 are electrically connected by the power supply cable 110.

  The belt-like portion 100b along the long side of the vehicle mounting surface 100a of the EV vehicle-compatible pallet 100 on the side where the outlet 102 is provided is painted in a color different from the other portions. As a result, when the driver mounts the EV vehicle 23 on the EV vehicle-compatible pallet 100 in the passenger compartment 12, the driver is urged to bring the EV vehicle 23 closer to the side opposite to the side where the power feeding port of the EV vehicle 23 is provided.

Of the ten parking spaces included in each parking room, the two parking spaces arranged at the furthest position from the hoistway 96 are power supply parking spaces that can supply power to vehicles that require power supply, such as the EV car 23. The Each power supply parking space has a power supply system 40.
Note that the normal pallet 32 may enter the power supply parking space by the puzzle operation of the mechanical parking lot 10.

  The power supply system 40 includes a power supply panel 42 and a power supply unit 44 having a power supply terminal (not shown). The power feeding panel 42 and the power feeding unit 44 are electrically connected by a cable as indicated by a broken line in FIGS. 1, 2, and 3. The power supply board 42 supplies the electric power obtained from the external power source to the power supply terminal at a voltage suitable for supplying to the EV vehicle 23. The power supply terminal of the power supply unit 44 is in mechanical contact with the power receiving terminal of the EV car-compatible pallet 100 when the EV car-compatible pallet 100 is placed at a predetermined charging position in the power supply parking space. Then, electric power is supplied from the power supply system 40 to the EV vehicle 23 via the outlet 102 and the power supply cable 110.

  The operation panel 28 has a function as a user interface for a driver or an attendant of the mechanical parking lot 10. The operation panel 28 has a touch panel. When the vehicle enters / exits, the operation panel 28 requests input of an ID for identifying the vehicle, that is, a vehicle management number, via the touch panel.

FIG. 4 is a representative screen diagram of a management number input screen displayed on the touch panel 52 of the operation panel 28. The management number input screen has a number display area 51 for displaying the input vehicle management number, a numeric keypad 53, a warehousing button 54, and a warehousing button 55.
At the time of warehousing, the driver or the staff stops the vehicle to be admitted outside the passenger compartment 12 and gets off the vehicle, and stands in front of the operation panel 28. A driver or a staff member presses the numeric keypad 53 to display the vehicle management number of his / her vehicle in the number display area 51 and presses the warehousing button 54. When the warehousing button 54 is pressed down, the operation panel 28 generates a warehousing request signal including the input vehicle management number and transmits it to the control device 30. The processing of the control device 30 will be described later.

  At the time of delivery, the driver or the attendant presses down the numeric key 53 to display the vehicle management number of his / her vehicle in the number display area 51 and presses down the exit button 55. When the exit button 55 is pressed down, the operation panel 28 generates an exit request signal including the input vehicle management number and transmits it to the control device 30. The control device 30 executes a process for calling the pallet on which the vehicle specified by the vehicle management number included in the leaving request signal is placed to the passenger compartment 12.

  FIG. 5 is a plan view of the passenger compartment 12. 6 is a cross-sectional perspective view taken along line AA in FIG. In order to make the description clearer, the display of the mast 90, the first transfer device 56, the lift frame 88, and the control device 30 is omitted in FIGS. FIG. 5 shows a state where the normal pallet 32 is called into the passenger compartment 12 before the vehicle enters the passenger compartment 12. The passenger compartment 12 is substantially rectangular in plan view, and hereinafter, the x direction is the left-right direction of the passenger compartment 12, and the y direction is the front-rear direction of the passenger compartment 12. The front-rear direction is a direction in which the vehicle enters the passenger compartment 12 from the outside.

  The first sensor frame 34 is a square pipe extending in the left-right direction, and one end is fixed to the left wall of the passenger compartment 12 and the other end is fixed to the right wall of the passenger compartment 12. The first sensor frame 34 is provided on the side opposite to the vehicle entrance 46 (that is, the front side) and the ceiling side of the passenger compartment 12. The left protrusion sensor 36 and the right protrusion sensor 38 are attached to the first sensor frame 34 so as to be movable in the left-right direction, that is, along the first sensor frame 34.

  The second sensor frame 35 is a square pipe extending in the front-rear direction, and one end is fixed to the front wall of the passenger compartment 12 and the other end is fixed to the rear wall of the passenger compartment 12. The second sensor frame 35 is provided on the left side and the ceiling side of the passenger compartment 12. The front protrusion sensor 37 and the rear protrusion sensor 39 are attached to the second sensor frame 35 so as to be movable in the front-rear direction, that is, along the second sensor frame 35.

  Referring to FIG. 6, the left protrusion sensor 36 is an optical detection device that detects the protrusion of the vehicle from the left detection surface 50, and is equivalent to a light projecting unit (not shown) that emits laser light of a predetermined wavelength. A light receiving unit (not shown) configured to detect light having a wavelength of. The light projecting unit emits a laser beam in the left detection surface 50 substantially parallel to the yz plane. The light projecting unit scans the entire left detection surface 50 with the laser light by rotating the path of the laser light around the x axis. The left detection surface 50 is provided along the left end of the pallet opening 26. The orthogonal direction orthogonal to the left detection surface 50 is the left-right direction.

  Consider a case in which a part of a vehicle that enters the passenger compartment 12 and stops on the normal pallet 32 protrudes from the left detection surface 50, that is, crosses the left detection surface 50. The light projecting portion of the left protrusion sensor 36 scans the left detection surface 50 with laser light. Part of such laser light is reflected by the part of the protruding vehicle. Part of the reflected laser light returns to the left protrusion sensor 36. The light receiving portion of the left protrusion sensor 36 detects the reflected light returning in this way, and the left protrusion sensor 36 transmits the detection result to the control device 30. The left protrusion sensor 36 determines that there is protrusion from the left detection surface 50 when the left protrusion sensor 36 detects the corresponding reflected light within a predetermined time after emitting the laser beam. The predetermined time is determined based on the emission angle of the laser light and the size of the left detection surface 50.

  The left protrusion sensor 36 is attached to the first sensor frame 34 via the electric slider unit 70 and the attitude adjustment unit 72. The electric slider unit 70 moves the left protrusion sensor 36 and the posture adjusting unit 72 together along the first sensor frame 34. In particular, the electric slider unit 70 translates the left detection surface 50 of the first sensor frame 34 along the first sensor frame 34.

  The posture adjustment unit 72 allows fine adjustment of the posture of the left protrusion sensor 36 and hence the position of the left detection surface 50. The right protrusion sensor 38, the front protrusion sensor 37, and the rear protrusion sensor 39 are also attached to the corresponding sensor frames via the same electric slider unit and posture adjustment unit.

  Returning to FIG. 5, the right protrusion sensor 38, the front protrusion sensor 37, and the rear protrusion sensor 39 are all configured in the same manner as the left protrusion sensor 36. An area surrounded by the left detection surface 50 of the left protrusion sensor 36, the right detection surface 64 of the right protrusion sensor 38, the front detection surface 60 of the front protrusion sensor 37, and the rear detection surface 62 of the rear protrusion sensor 39 is defined as an protrusion detection area 48. Call it. The control device 30 adjusts the position of each protrusion sensor so that the vehicle accommodation area determined based on the attributes such as the type and size of the vehicle to be stored and the protrusion detection area 48 are aligned. In particular, the control device 30 controls the electric slider unit 70 to move the protrusion sensor so that the boundary surface of the vehicle housing area and the detection surface of the protrusion sensor are aligned. As a result, the protrusion sensor detects the protrusion of the vehicle from the boundary of the vehicle accommodation area.

FIG. 7 is an enlarged view in which the vicinity of the left protrusion sensor 36 in FIG. 6 is enlarged. FIG. 8 is a side view corresponding to the arrow B in FIG. FIG. 9 is a top view corresponding to FIG.
The frame plate 103 is attached to the first sensor frame 34 such that the first sensor frame 34 is sandwiched between the frame plate 103 and the first connection plate 101 and between the frame plate 103 and the second connection plate 112. The strength with which the first sensor frame 34 is sandwiched between the frame plate 103 and the first connection plate 101 is determined by the first fastening means including the second bolt 118, the second nut 120, the fifteenth bolt 198, and the first nut 116. Adjusted. The strength with which the first sensor frame 34 is sandwiched between the frame plate 103 and the second connecting plate 112 is adjusted by the second fastening means including the twelfth bolt 180, the seventeenth nut 182 and the sixteenth bolt 200.

  The electric slider unit 70 is fixed to the lower surface of the frame plate 103 with screws or the like. The electric slider unit 70 includes a drive motor 74, a ball screw (not shown) coupled to the drive motor 74, and a slide mechanism 76 coupled to the ball screw and supporting the attitude adjustment unit 72. The slide mechanism 76 includes a guide portion 76a that is fixed to the frame plate 103, and a work attachment portion 76b that can slide along the guide portion 76a. The loading / unloading chamber side support plate 104 of the posture adjustment unit 72 is fixed to the work attachment unit 76b by screws 242, 244, 246 and the like. The drive motor 74 is connected to the control device 30 by wire or wirelessly, and rotates the screw shaft of the ball screw based on an instruction from the control device 30. The work attachment portion 76b is coupled with a nut of a ball screw and moves along the guide portion 76a in accordance with the rotation of the screw shaft. The electric slider unit 70 moves the left protrusion sensor 36 between a plurality of stop positions.

The attitude adjustment unit 72 includes plates, bolts, nut groups, and the like.
FIG. 10 is a top view of the first intermediate plate 106. The first intermediate plate 106 includes a third bolt 122, a third nut 124, a fourth nut 126, a fifth nut 128, a fourth bolt 130, a sixth nut 132, a seventh nut 134, an eighth nut 136, and a ninth bolt. 168, the 14th nut 170, the 15th nut 172, the 16th nut 174, and the 18th bolt 204 are fixed to the passenger compartment support plate 104 by the third fastening means.

The third bolt 122 is fixed to the passenger compartment support plate 104 by tightening the third nut 124 with respect to the passenger compartment support plate 104. The third bolt 122 is loosely fitted in the second opening 212 provided in the first intermediate plate 106. The fourth nut 126 and the fifth nut 128 screwed into the third bolt 122 are clamped by sandwiching the first intermediate plate 106 therebetween, so that the first intermediate plate 106 is fixed to the passenger compartment support plate 104. Fix it. By adjusting the positions of the fourth nut 126 and the fifth nut 128 along the third bolt 122, the distance between the passenger compartment support plate 104 and the first intermediate plate 106 in the vicinity of the second opening 212 can be adjusted.
The same applies to the fourth bolt 130, the sixth nut 132, the seventh nut 134, the eighth nut 136, and the first opening 210 provided in the first intermediate plate 106. The same applies to the ninth bolt 168, the fourteenth nut 170, the fifteenth nut 172, the sixteenth nut 174, and the third opening 214 provided in the first intermediate plate 106. The same applies to the 18th bolt 204, the corresponding three nuts (not shown), and the fourth opening 216 provided in the first intermediate plate 106.

  The first intermediate plate 106 includes a substantially rectangular plate portion 106a, a third bolt seat portion 154 provided on the right side of the plate portion 106a, and a fourth bolt seat portion 196 provided on the left side of the plate portion 106a. Have. Each of the third bolt seat portion 154 and the fourth bolt seat portion 196 is provided with a screw hole penetrating along the left-right direction. The fifth bolt 140 is screwed into the screw hole of the third bolt seat 154. By tightening the ninth nut 138 against the third bolt seat 154, the position of the fifth bolt 140 in the left-right direction is fixed. The same applies to the fourteenth bolt 192, the nineteenth nut 194, and the fourth bolt seat 196.

  A first guide groove 162 and a second guide groove 188 are formed along the left-right direction on the surface of the plate portion 106a of the first intermediate plate 106 on the left protrusion sensor 36 side. One end of the fifth bolt 140 enters the first guide groove 162, and one end of the fourteenth bolt 192 enters the second guide groove 188.

  The plate portion 106a of the first intermediate plate 106 is further provided with a fifth opening 218, a sixth opening 220, a seventh opening 222, and an eighth opening 224 that are elongated in the left-right direction. The fifth opening 218, the sixth opening 220, the seventh opening 222, and the eighth opening 224 are respectively a ninth opening 226, a tenth opening 228, an eleventh opening 230, and a twelfth opening provided at the four corners of the second intermediate plate 108. 232 (illustrated in FIG. 11). The eighth bolt 156 is loosely fitted in the fifth opening 218 and the ninth opening 226, and the thirteenth bolt 184 is loosely fitted in the seventh opening 222 and the eleventh opening 230. The twelfth nut 158 and the eighteenth nut 186 are screwed into the screw tip sides of the eighth bolt 156 and the thirteenth bolt 184, respectively. Similarly, bolts (not shown) are loosely fitted to the sixth opening 220, the tenth opening 228, the eighth opening 224, and the twelfth opening 232, and nuts (not shown) are screwed together.

  By tightening or loosening four nuts including the twelfth nut 158 and the eighteenth nut 186, the second intermediate plate 108 can be fixed with respect to the first intermediate plate 106 or can be moved in the left-right direction. . In particular, when the four nuts are each tightened with a predetermined torque, the first intermediate plate 106 and the second intermediate plate 108 are temporarily fixed. In this temporarily fixed state, the second intermediate plate 108 is fixed to the first intermediate plate 106 unless the fifth bolt 140 and the fourteenth bolt 192 that are push bolts are turned. When the fifth bolt 140 and the fourteenth bolt 192 are turned, the second intermediate plate 108 moves relative to the first intermediate plate 106 accordingly.

  FIG. 11 is a top view of the second intermediate plate 108 and the sensor side support plate 111. FIG. 12 is a side view corresponding to the arrow C in FIG. The second intermediate plate 108 includes a plate portion 108a and a first bolt seat portion 142 and a second bolt seat portion 144 provided on the surface of the plate portion 108a on the left protrusion sensor 36 side. Each of the first bolt seat portion 142 and the second bolt seat portion 144 is provided with a threaded hole extending along the front-rear direction. The sixth bolt 146 is screwed into the screw hole of the first bolt seat 142. By tightening the tenth nut 148 against the first bolt seat 142, the position of the sixth bolt 146 in the front-rear direction is fixed. The same applies to the seventh bolt 150, the eleventh nut 152, and the second bolt seat 144.

  The first flat head screw 206 and the second flat head screw 208 respectively fix the first protrusion 160 and the second protrusion 190 to the left and right of the surface of the plate portion 108a opposite to the left protrusion sensor 36 by screwing. The first protrusion 160 and the second protrusion 190 are both washers. The first protrusion 160 and the second protrusion 190 are fitted in the first guide groove 162 and the second guide groove 188 of the first intermediate plate 106 so as to be slidable in the left-right direction. The first protrusion 160 abuts against the screw tip of the fifth bolt 140 together with the right side surface 108 b of the second intermediate plate 108. The second protrusion 190 contacts the screw tip of the fourteenth bolt 192 together with the left side surface of the second intermediate plate 108.

  The sensor-side support plate 111 includes a plate portion 111a, a bolt contact portion 111b provided on the right side of the plate portion 111a, and a screw shaft 166 erected in the vertical direction substantially at the center of the plate portion 111a. The bolt contact portion 111b is substantially rectangular in a plan view, and the front side surface 111c and the rear side surface 111d of the bolt contact portion 111b are in contact with the screw tips of the sixth bolt 146 and the seventh bolt 150, respectively.

  One end of the screw shaft 166 is fixed to the plate portion 111a by welding, and the other end side is loosely fitted in an opening (not shown) provided in the approximate center of the second intermediate plate 108. By tightening or loosening the thirteenth nut 164 that is screwed onto the screw shaft 166, the sensor-side support plate 111 can be fixed to the second intermediate plate 108 or can be rotated around the screw shaft 166. it can. In particular, when the 13th nut 164 is tightened with a predetermined torque, the second intermediate plate 108 and the sensor side support plate 111 are temporarily fixed. In this temporarily fixed state, the sensor-side support plate 111 is fixed to the second intermediate plate 108 unless the sixth bolt 146 and the seventh bolt 150 that are push bolts are turned. When the sixth bolt 146 and the seventh bolt 150 are turned, the sensor side support plate 111 rotates around the screw shaft 166 with respect to the second intermediate plate 108.

  The tenth bolt 176 and the eleventh bolt 178 are loosely fitted in the thirteenth opening 234 and the fourteenth opening 236 provided in the plate portion 111 a of the sensor side support plate 111, respectively, and are inserted into the corresponding screw holes on the rear surface of the left protrusion sensor 36. Screwed together. The same applies to the fifteenth opening 238 and the sixteenth opening 240 provided in the plate portion 111a of the sensor side support plate 111. The left protrusion sensor 36 is attached to the sensor side support plate 111 by four bolts including a tenth bolt 176 and an eleventh bolt 178.

  FIG. 13 is a block diagram illustrating the function and configuration of the control device 30. Each block shown here can be realized by hardware such as a computer (CPU) (central processing unit) and other elements and mechanical devices, and software can be realized by a computer program or the like. Here, The functional block realized by those cooperation is drawn. Therefore, it is understood by those skilled in the art who have touched this specification that these functional blocks can be realized in various forms by a combination of hardware and software.

The control device 30 includes a vehicle type acquisition unit 302, a storage area selection unit 304, a sensor position control unit 306, a detection result acquisition unit 308, a space selection unit 310, a guidance processing unit 312, and a storage processing unit 314. Vehicle information holding unit 316, accommodation area information holding unit 318, and parking status holding unit 320.
The vehicle information holding unit 316 holds the vehicle management number and the type of vehicle specified by the vehicle management number in association with each other. The type of vehicle includes, for example, whether the vehicle is a normal vehicle / wide vehicle, whether it is an EV car or not, and further, if it is an EV car, the position of the power supply port.
The parking status holding unit 320 holds the parking status of the mechanical parking lot 10. In particular, the parking status holding unit 320 holds a space ID that specifies a parking space and information indicating whether or not the vehicle is parked in the parking space in association with each other.

  FIG. 14 is a data structure diagram illustrating an example of the storage area information holding unit 318. The accommodation area information holding unit 318 holds information on a vehicle accommodation area set in advance corresponding to each type of vehicle. The storage area information holding unit 318 holds the vehicle type, the guidance mode / storage mode, the left detection position, the right detection position, the front detection position, and the rear detection position in association with each other.

  The guidance mode is an operation mode of the mechanical parking lot 10 when the vehicle is guided into the passenger compartment 12. The storage mode is an operation mode of the mechanical parking lot 10 when the vehicle stops on the pallet of the passenger compartment 12 and the driver or a staff member gets off the vehicle and introduces the vehicle from the passenger compartment 12 to the storage shelf. The left detection position, the right detection position, the front detection position, and the rear detection position are the positions of the boundary surfaces on the left side, right side, front side, and rear side of the vehicle accommodation area corresponding to the type and mode of the vehicle, respectively. In particular, each detection position is indicated by the distance from the center of the pallet opening 26 at the boundary surface of the corresponding vehicle accommodation area.

Hereinafter, the vehicle accommodation area in the guidance mode is referred to as a guidance vehicle accommodation area. The vehicle storage area in the storage mode is referred to as a storage vehicle storage area. Each detection position in the guidance mode represents a vehicle accommodation area during guidance, and each detection position in the storage mode represents a vehicle accommodation area during storage. The storage-time vehicle accommodation area is set to be wider than the corresponding guidance-time vehicle accommodation area and include the guidance-time vehicle accommodation area. That is, if the vehicle does not protrude from the vehicle storage area at the time of guidance, the relationship that the vehicle does not protrude from the corresponding vehicle storage area at the time of storage is established.
Similarly, the vehicle accommodation area corresponding to the wide vehicle is wider than and includes the vehicle accommodation area corresponding to the normal vehicle. Further, the pallet opening 26 is wider than and includes the vehicle storage area when stored.

  Regarding the vehicle accommodation area corresponding to the EV vehicle, when the EV vehicle enters the EV vehicle corresponding pallet 100 in the passenger compartment 12, the boundary surface of the guidance vehicle accommodation area that becomes the power supply port side of the EV vehicle is the vehicle at the time of storage. It is set so as to be closer to the center of the pallet 100 for EV cars than the corresponding boundary surface of the accommodation area. For example, in the accommodation area information holding unit 318 shown in FIG. 14, when a feeding port is provided on the left side of a normal size EV vehicle, the left boundary surface (left detection position = 90) of the vehicle accommodation area during guidance is It is set so as to be closer to the center of the pallet opening 26 than the left boundary surface (left detection position = 105) of the vehicle accommodation area during storage.

  Returning to FIG. 13, the vehicle type acquisition unit 302 refers to the vehicle information holding unit 316 and acquires the type of the vehicle corresponding to the vehicle management number included in the warehousing request signal received from the operation panel 28. As described above, since the operation panel 28 generates and transmits a warehousing request signal before the vehicle enters the passenger compartment 12, the vehicle type acquisition unit 302 acquires the vehicle type before the vehicle enters the passenger compartment 12. .

  The accommodation area selection unit 304 selects a vehicle accommodation area corresponding to the vehicle type acquired by the vehicle type acquisition unit 302 from a plurality of different vehicle accommodation areas set in advance. In particular, the accommodation area selection unit 304 selects a guidance-time vehicle accommodation area and a storage-time vehicle accommodation area corresponding to the vehicle type acquired by the vehicle type acquisition unit 302. More specifically, the accommodation area selection unit 304 refers to the accommodation area information holding unit 318, and detects each detection position in the guidance mode and each detection in the storage mode corresponding to the vehicle type acquired by the vehicle type acquisition unit 302. Get position and.

In the guidance mode, the sensor position control unit 306 moves the corresponding protrusion sensor based on each detection position of the guidance mode acquired by the accommodation area selection unit 304. In particular, the sensor position control unit 306 generates a left drive signal based on the acquired left detection position of the guidance mode, and transmits the left drive signal to the drive motor 74 of the electric slider unit 70 that moves the left protrusion sensor 36. To do. The left drive signal includes the position of the left protrusion sensor 36 such that the left boundary surface of the guidance vehicle storage area selected by the storage area selection unit 304 substantially overlaps the left detection surface 50 of the left protrusion sensor 36. . The drive motor 74 starts its operation when it receives the left drive signal. The electric slider unit 70 moves the left protrusion sensor 36 to a position included in the left drive signal. Position control of the right protrusion sensor 38, the front protrusion sensor 37, and the rear protrusion sensor 39 is performed in the same manner.
Similarly, in the storage mode, the sensor position control unit 306 moves the corresponding protrusion sensor based on each detection position in the storage mode acquired by the storage area selection unit 304.

The detection result acquisition unit 308 acquires the detection result of the protrusion from each protrusion sensor.
In the guidance mode, the space selection unit 310 refers to the parking state holding unit 320 and selects a space ID of a parking space where the vehicle is not parked. At this time, if the vehicle type acquired by the vehicle type acquisition unit 302 indicates that the vehicle type is a wide vehicle, the space selection unit 310 selects the space ID of the parking space of the B1F storage shelf 14.

  Upon receiving the warehousing request signal from the operation panel 28, the guidance processing unit 312 operates the mechanical parking lot 10 in the guidance mode. When the vehicle type acquired by the vehicle type acquisition unit 302 indicates that the vehicle type is an EV vehicle, the guidance processing unit 312 calls the vacant EV vehicle-compatible pallet 100 to the boarding / alighting room 12, and if not, an arbitrary vacancy Call the pallet to the boarding / exiting room 12.

  In the guidance mode, the guidance processing unit 312 guides the vehicle into the vehicle accommodation area at the time of guidance by a voice or a vehicle guidance light (not shown). When the protrusion is detected by the protrusion sensor in the guidance mode, the guidance processing unit 312 displays an instruction for eliminating the protrusion on the vehicle guidance light. For example, if the detection result from the right protrusion sensor 38 indicates that the protrusion from the right detection surface 64 has occurred, the guidance processing unit 312 displays a left-pointing arrow on the vehicle guidance light.

  After the vehicle enters the passenger compartment 12 and stops on the pallet, the driver or the attendant gets off and inputs a storage instruction to the operation panel 28. When the operation panel 28 receives a storage instruction, the operation panel 28 generates a storage request signal and transmits it to the control device 30. Upon receiving the storage request signal, the storage processing unit 314 operates the mechanical parking lot 10 in the storage mode. The storage processing unit 314 determines that storage is possible when no protrusion from the protrusion detection area 48 after being aligned with the vehicle storage area at the time of storage is detected, and determines that storage is not possible when protrusion is detected. When it is determined that storage is possible, the storage processing unit 314 moves the pallet on which the vehicle is mounted from the passenger compartment 12 to the parking space specified by the space ID selected by the space selection unit 310. The first transfer device 56 and the second transfer device 58 are controlled. If it is determined that the storage is impossible, the storage processing unit 314 notifies the driver or the staff that the protrusion is detected.

  In the above-described embodiment, examples of the holding unit are a hard disk and a memory. Further, based on the description of the present specification, each part of the operation panel 28 temporarily stores a CPU (not shown), an installed application program module, a system program module, and data read from the hard disk. Those skilled in the art who have touched this specification will understand that it can be realized by a memory or the like.

Operation | movement of the mechanical parking lot 10 by the above structure is demonstrated.
FIG. 15 is a flowchart showing a series of processes in the mechanical parking lot 10 when the vehicle is parked in the mechanical parking lot 10. The operation panel 28 receives an instruction for warehousing from a driver or an attendant (S402). The control device 30 acquires the type of the vehicle to be stored (S404). The control device 30 determines the vehicle accommodation area at the time of guidance and storage based on the acquired type (S406). The electric slider unit moves the corresponding protrusion sensor to a position set based on the vehicle storage area at the time of guidance (S408). The mechanical parking lot 10 starts guiding the vehicle into the passenger compartment 12 (S410). The operation panel 28 receives a storage instruction from a driver or an attendant (S412). The electric slider unit moves the corresponding protrusion sensor to a position set based on the vehicle accommodation area at the time of storage (S414). The control device 30 refers to the detection result from each protrusion sensor and determines the presence or absence of protrusion (S416). When the protrusion is detected (Y in S416), the control device 30 displays an error on the touch panel of the operation panel 28 (S418), and returns the process to step S410. When the protrusion is not detected (N in S416), the control device 30 starts moving the pallet on which the vehicle is mounted to the storage shelf (S420).

  According to the mechanical parking lot 10 according to the present embodiment, an overhang sensor is used to detect a vehicle guidance when the vehicle enters the boarding / exiting room 12 and an overhang from the garageable range of the vehicle when the vehicle stops, and notify the driver or staff. In such a mechanical parking lot, the protrusion sensor can be automatically moved according to the vehicle type and usage method of the vehicle. Therefore, it is possible to detect whether vehicles having different vehicle types and usage methods are placed at appropriate positions on the pallet of the passenger compartment 12. As a result, the mechanical parking lot 10 can accommodate more types of vehicles, the versatility of the mechanical parking lot 10 is improved, and the market value is increased.

  Moreover, in the mechanical parking lot 10 which concerns on this Embodiment, the different vehicle accommodation area | region is implement | achieved by moving a protrusion sensor. Therefore, for example, the number of necessary protrusion sensors can be reduced as compared with a case where protrusion sensors are provided for each vehicle accommodation area. As a result, the cost for introducing the mechanical parking lot 10 can be reduced. Further, interference between the protruding sensors can be reduced.

Moreover, in the mechanical parking lot 10 according to the present embodiment, the guidance vehicle storage area is determined such that when the EV vehicle is guided, the EV vehicle approaches the opposite side of the power supply port and stops.
FIG. 16 is a schematic diagram showing the positions of the left protrusion sensor 36 and the right protrusion sensor 38 when the EV vehicle 250 having the power supply port on the right side is stored. FIG. 16 corresponds to a view of the EV vehicle 250 as viewed from behind. The guide portion 276a, workpiece attachment portion 276b, drive motor 274, and posture adjustment portion 272 of the right protrusion sensor 38 are respectively connected to the guide portion 76a, workpiece attachment portion 76b, drive motor 74, and posture adjustment portion 72 of the left protrusion sensor 36. Correspond. A power supply gun 110 a is attached to the tip of the power supply cable 110.

  Reference numerals 252 and 254 respectively indicate the positions of the optical axes of the left protrusion sensor 36 and the right protrusion sensor 38 when the EV car 250 enters the EV car corresponding pallet 100, that is, in the guidance mode. Reference numeral 256 indicates the position of the optical axis of the right protrusion sensor 38 after the power supply gun 110a is attached to the power supply port of the EV vehicle 250, that is, in the retracted mode. As shown in FIG. 16, in the guidance mode, the EV vehicle 250 is guided in consideration of the space of the power supply gun 110a. The movement amount of the protrusion sensor on the power supply port side, that is, the right protrusion sensor 38, between the guidance mode and the retract mode is larger than the movement amount of the left protrusion sensor 36. Accordingly, it is possible to detect the protrusion in a form that takes into account the space of the power supply gun 110a and the power supply cable 110.

  Moreover, in the mechanical parking lot 10 according to the present embodiment, the guidance vehicle accommodation area is narrower than the corresponding storage vehicle accommodation area and is included in the storage vehicle accommodation area. Accordingly, since the protrusion detection in the guidance mode is set slightly stricter than the protrusion detection in the storage mode, it is possible to reduce erroneous detection due to machine swinging in the storage mode. For example, even when the vehicle stops in the guidance mode just before the guidance vehicle accommodation area, some margin is generated for the storage vehicle accommodation area. Therefore, even if the vehicle protrudes from the guidance vehicle storage area due to the swing of the lift frame 88 or the first transfer device 56 in the storage mode, it is stored in the storage shelf as it is within the storage vehicle storage area. Thereby, the misdetection of a protrusion can be reduced.

  In addition, when the pallet on which the vehicle is mounted rotates in the passenger compartment 12 in the storage mode, the possibility that the vehicle protrudes from the vehicle accommodation area at the time of guidance increases due to a mismatch between the rotation center and the pallet center. Therefore, in the mechanical parking lot 10 according to the present embodiment, the storage vehicle storage area is wider than the guidance vehicle storage area, and thus misdetection of protrusion due to such a displacement of the vehicle position due to rotation can be reduced.

  Moreover, in the mechanical parking lot 10 which concerns on this Embodiment, in order to move a protrusion sensor, the unit which combined the drive motor, the ball screw, and the slide mechanism is employ | adopted. Therefore, it is possible to realize parallel movement with little backlash and backlash.

  The configuration and operation of the mechanical parking lot 10 according to the embodiment have been described above. This embodiment is an exemplification, and it is understood by those skilled in the art that various modifications can be made to combinations of the respective constituent elements, and such modifications are also within the scope of the present invention.

  In the embodiment, the case where the wide vehicle is stored only in the B1F storage shelf 14 has been described. However, the present invention is not limited to this. For example, the wide vehicle may be stored in any storage shelf as long as the wide vehicle can be stored without being the uppermost storage shelf.

  In the embodiment, the case where the reflection type laser sensor is used as the protrusion sensor has been described. However, the present invention is not limited to this, and for example, a transmission type optical sensor may be used.

In the embodiment, the so-called underground mechanical parking lot 10 in which the passenger compartment is located at the upper end of the hoistway has been described. However, the technical idea of the present embodiment is not limited to this. The present invention can also be applied to a case where it is located at the lower end or a passenger compartment provided in the middle of the hoistway. When the passenger compartment is located at the lower end of the hoistway, the pallet opening is generally provided in the upper part of the passenger compartment.
Moreover, although the example in which the mast 90 is installed as a support in the four corners of the hoistway has been described, two masts may be installed on both sides of the hoistway.

  In the embodiment, the case of using a flat pallet has been described, but the present invention is not limited to this. For example, a pallet having any shape can be employed as long as the pallet has a shape capable of loading and storing a vehicle, such as a pallet having a bowl-shaped groove or a comb-shaped pallet.

  In the embodiment, the case where the control device 30 determines the vehicle type from the vehicle management number has been described. However, the present invention is not limited to this. For example, the operation panel may request the driver or a staff member to input the vehicle type.

  DESCRIPTION OF SYMBOLS 10 Mechanical parking lot, 12 Boarding / alighting room, 28 Control panel, 30 Control apparatus, 36 Left protrusion sensor, 38 Right protrusion sensor, 56 1st transfer apparatus, 58 2nd transfer apparatus, 70 Electric slider unit.

Claims (5)

It is a mechanical parking lot that introduces vehicles that have entered the entry / exit room to the storage shelf,
A vehicle attribute acquisition unit that acquires attributes of the vehicle before the vehicle enters the passenger compartment;
An accommodation area determination unit that determines a vehicle accommodation area in which a vehicle should be accommodated in the passenger compartment based on the attribute acquired by the vehicle attribute acquisition unit;
A detection unit configured to detect the protrusion of the vehicle from the detection surface;
A moving unit that moves the detection unit so that the boundary of the vehicle storage region determined by the storage region determination unit and the detection surface of the detection unit are aligned ,
The detection unit emits light in a predetermined direction, detects the protrusion of the vehicle by detecting that the light is blocked,
The said moving part moves the said detection part to the horizontal direction which cross | intersects the direction of the light which the said detection part emits, The mechanical parking lot characterized by the above-mentioned . The accommodation area determination unit includes a vehicle accommodation area at the time of guidance, which is a vehicle accommodation area when the vehicle is guided into the passenger compartment, and a vehicle accommodation area before the vehicle stops on the pallet of the passenger compartment and is introduced into the storage shelf. Determining the vehicle storage area when stored, and
The vehicle attribute acquisition unit acquires the position of the power feeding port of the vehicle,
The accommodation area determination unit determines the boundary of the guidance vehicle accommodation area on the side of the power feeding port of the vehicle when the vehicle enters the pallet of the passenger compartment from the boundary of the guidance vehicle accommodation area on the side of the counter feeding port. The mechanical parking lot according to claim 1, which is determined to be close to the center of the pallet. The accommodation area determination unit includes a vehicle accommodation area at the time of guidance, which is a vehicle accommodation area when the vehicle is guided into the passenger compartment, and a vehicle accommodation area before the vehicle stops on the pallet of the passenger compartment and is introduced into the storage shelf. Determining the vehicle storage area when stored, and
The mechanical parking lot according to claim 1, wherein the storage vehicle storage area is wider than the guidance vehicle storage area and includes the guidance vehicle storage area. The moving part is a motor,
A speed reducer coupled to the motor;
A slide mechanism coupled to the speed reducer and supporting the detection unit;
4. The mechanical parking lot according to claim 1, wherein the moving unit moves the detection unit between a plurality of stop positions. 5. A function of acquiring attributes of a vehicle before entering the passenger compartment of a mechanical parking lot that introduces the vehicle that has entered the passenger compartment into the storage shelf;
A function for determining a vehicle accommodation area in which the vehicle should be accommodated in the passenger compartment based on the acquired attribute;
A function of acquiring a detection result from a detection unit configured to detect the protrusion of the vehicle from the detection surface;
The computer realizes a function of controlling the moving unit configured to move the detection unit so that the boundary of the determined vehicle accommodation region and the detection surface of the detection unit are aligned ,
The detection unit emits light in a predetermined direction, detects the protrusion of the vehicle by detecting that the light is blocked,
The computer program according to claim 1, wherein the control function controls the moving unit to move the detecting unit in a horizontal direction intersecting a direction of light emitted from the detecting unit .

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