JP6368147B2 - Parking system - Google Patents

Description

  The present invention relates to a parking system (parking device) including a transporter that transports a vehicle to a desired parking position. In particular, the present invention relates to a parking system including a transporter that can transport a vehicle to a desired placement area in a palletless storage space.

  In recent years, mechanical parking devices that make effective use of land have become widespread. As a mechanical parking device, for example, a vertical circulation type parking device that circulates and moves a car stored in a pallet in a building, a storage space (parking room) for storing a car, a lifting device, and storage from the lifting device. 2. Description of the Related Art Elevator-type parking devices combined with a carrier (conveyance device) that moves to a space are used.

  As a transporter used in an elevator-type parking device, for example, a device that is arranged in an elevating device and can transport an automobile to a storage space or an automobile from a storage space to an elevating device has been proposed. (For example, Patent Documents 1 and 2). The carrier disclosed in Patent Document 1 includes a chassis that lifts and fixes the automobile when the automobile is transported.

JP-A-9-291716 Japanese Patent Laid-Open No. 6-2449

  By the way, in the carrier disclosed in Patent Documents 1 and 2, there is a problem that the holding unit cannot be smoothly arranged at a predetermined wheel position without using the detection results of the plurality of detection sensors.

  More specifically, the carrier disclosed in Patent Document 1 includes a sensor that detects a wheel at a chassis position, a sensor that detects that a vehicle has passed through a vehicle entrance, and a movable movable in the front-rear direction. And the chassis is attached to the movable platform. For this reason, a chassis can be moved according to the wheel base of a vehicle, and a wheel can be fixed by this chassis.

  In addition, the carriage disclosed in Patent Document 2 is provided with a position sensor consisting of a group of optical sensors for detecting a front tire of an automobile in a turning arm unit at the front portion of a transport carriage, and a rear tire of a rear wheel tire. In this configuration, an area sensor for detecting the position is provided. The conveyance carriage is moved into the lower part from the front part of the automobile, and when the position sensor attached to the front turning arm unit detects the front wheel of the automobile, the conveyance carriage is stopped. In this state, the position of the rear wheel is read by the area sensor attached to the transport carriage, and the rear turning arm unit is read and moved to the rear wheel position. For this reason, similarly to Patent Document 1, the turning arm unit can be moved in accordance with the wheel base of the vehicle, and can be fixed by the turning arm unit.

  However, the carrier disclosed in Patent Documents 1 and 2 must be performed using the results of a plurality of detection sensors in order to arrange the holding unit that holds the wheels of the automobile at an appropriate position. There exists a problem that each holding | maintenance part cannot be arrange | positioned smoothly in a wheel position.

  This invention is made in view of said problem, The objective is the parking system which can arrange | position a holding | maintenance part to a predetermined | prescribed wheel position smoothly, without using the detection result by a some detection sensor. It is to provide.

  In order to solve the above-described problem, a parking system according to the present invention is provided at a transport unit that moves a vehicle to a predetermined position, a holding unit that holds each wheel of the vehicle, and a position that is held by the holding unit. A loading / unloading device that has a wheel detection sensor for detecting whether or not the wheel is present, moves in the front-rear direction of the vehicle from the transport unit, and can be loaded into and unloaded from a lower body of the vehicle, and movement of the loading / unloading device A moving distance measuring unit that measures a distance; a vehicle detection sensor that is provided at a carry-in / out side end of the vehicle in the carrying unit and detects a timing at which the vehicle passes through the carry-in / out side end of the carrying unit; Obtaining the detection results of the wheel detection sensor and the vehicle detection sensor obtained during the movement of the carry-in / out device, and the measurement result of the movement distance measuring unit, obtaining vehicle dimension information relating to the vehicle, Based on both the size information, and a control unit for controlling the movement of the loading and unloading device.

  According to the said structure, since the conveyance part is provided, the vehicle mounted in the conveyance part can be moved to a predetermined position. In addition, as a conveyance part, the raising / lowering platform of the raising / lowering apparatus etc. which move to the horizontal direction or the vertical direction, etc. are mentioned, for example. Furthermore, the carrying-in / out apparatus is provided. For this reason, the carry-in / out device moves from the transport unit and enters the lower part of the vehicle body, and the wheels can be held by the holding unit.

  Furthermore, this vehicle can be mounted on a conveyance part by moving so that a carrying in / out apparatus may return to the conveyance part side in the state which hold | maintained the wheel with the holding | maintenance part. Moreover, since the moving distance measuring part is provided, the moving distance (moving amount) of such a loading / unloading apparatus can be grasped. Moreover, since the wheel detection sensor is provided, the timing which detected the wheel at the time of movement of an above described carrying in / out apparatus can be grasped | ascertained.

  Furthermore, the parking system according to the present invention includes the vehicle detection sensor. For this reason, when the loading / unloading device places the vehicle on the transport section, the end of the transport section side of the vehicle crosses in front of the vehicle detection sensor, and the end opposite to the end of the transport section is detected by the vehicle. It is possible to grasp the timing of crossing the front of the sensor.

  In addition, since the parking system according to the present invention further includes a control unit, for example, the position of each of the front wheel and the rear wheel of the vehicle based on the movement distance obtained from the movement distance measurement unit and the timing at which the wheel is detected by the wheel detection sensor. And the dimensions of the wheelbase can be calculated. Further, for example, the total length of the vehicle can be obtained from the moving distance obtained from the moving distance measuring unit and the timing at which the vehicle crosses in front of the vehicle detecting sensor by the vehicle detecting sensor. Furthermore, the control unit can determine, for example, the front overhang and the rear overhang of the vehicle from the determined wheel base dimensions and the total length of the vehicle.

  And a control part can control a movement of a carrying in / out apparatus based on the calculated | required vehicle dimension information. For this reason, the parking system according to the present invention has an effect that the vehicle can be moved to an appropriate position according to the dimensions of the vehicle.

Further, in the parking system according to the present invention, in the configuration described above, the control unit detects the wheel detection sensor from a predetermined first reference position when the carry-in / out device moves from the transport unit toward the vehicle. The distance to the time point when each of the front and rear wheels is detected is acquired based on the measurement result of the moving distance measuring unit, the wheel base dimension of the vehicle is obtained as the vehicle dimension information, and each wheel is held by the holding unit. In addition, when the carry-in / out device moves toward the transport unit, the distance from the predetermined second reference position to the time point when the front and rear ends of the vehicle are detected by the vehicle detection sensor is determined. Acquired based on the measurement result of the moving distance measuring unit, and as the vehicle dimension information, the total length of the vehicle and the front overhang and rear over of the vehicle You may be comprised so that the dimension of a hang may each be calculated | required.

  The predetermined first reference position or the second reference position is a position that is used as a reference for the measurement start position when measuring the movement amount (movement distance) of the carry-in / out apparatus. For example, when the movement distance of the carry-in / out device is measured from the detection result by the wheel detection sensor, this reference position is the position of the wheel detection sensor in the carry-in / out device before the movement starts. On the other hand, when calculating | requiring the movement distance from the carry-in / out side edge part of a vehicle of a conveyance part to a wheel, a 1st reference position or a 2nd reference position turns into the carry-in / out side edge part position of a vehicle. The first reference position and the second reference position can be appropriately changed according to the sensor used when obtaining the movement distance and the section of the movement distance to be obtained.

  In the parking system according to the present invention, in the configuration described above, when the carry-in / out device moves from the transport unit toward the vehicle, the control unit uses the wheel detection sensor from the predetermined first reference position. The distance between the front and rear ends at the predetermined height position of the wheel detected first and the dimension of the middle point position are obtained based on the measurement result of the moving distance measurement unit, and this timing is detected when the wheel detection sensor detects the next wheel. The distance between the front and rear end of the wheel and the position of the middle point detected next are determined based on the measurement result of the moving distance measuring unit in You may be comprised so that a dimension may be calculated | required.

  According to the above configuration, the control unit uses the distance between the front and rear ends of the wheel first detected by the wheel detection sensor and the dimension of the middle point position thereof, and then the distance between the front and rear ends of the wheel detected next and the dimension of the middle point position thereof. Can be requested. For this reason, it is not necessary for the wheel detection sensor to pass through the next detected wheel and move to a position where the distance between the front and rear ends can be measured. The size of the point position can be obtained. Therefore, the control unit can quickly and easily obtain the front-rear end interval and the midpoint position of the wheel detected next by the wheel detection sensor.

  The parking system according to the present invention includes a drive motor for moving the carry-in / out device in the configuration described above, and the movement distance measuring unit measures a movement distance of the carry-in / out device from the number of rotations of the drive motor. You may have an encoder to do.

  According to the above configuration, since the moving distance measuring unit has the encoder, when moving the loading / unloading device by rotation of the driving motor, the moving distance of the loading / unloading device can be measured from the number of rotations of the driving motor. .

  In the parking system according to the present invention, in the configuration described above, the holding unit is fixed in the carry-in / out device, and a fixed holding unit having a first wheel detection sensor as the wheel detection sensor, and a control instruction from the control unit And a holding unit drive motor for operating the fixed holding unit to move in the longitudinal direction of the vehicle on the carry-in / out device, and a movable having a second wheel detection sensor as the wheel detection sensor. A holding unit, and the moving distance measuring unit may further include a holding unit encoder that measures the moving distance of the movable holding unit from the number of rotations of the holding unit drive motor.

  Here, the movable holding part has a second wheel detection sensor. For this reason, when the moving distance measuring unit obtains the moving distance of the carry-in / out device using the detection timing of the wheel by the second wheel detection sensor, it is necessary to consider the moving distance of the movable holding unit on the carry-in / out device. There is.

  Even in such a case, since the moving distance measuring unit has the holding unit encoder, the distance between the front and rear ends of the wheel is determined from the moving distance measured by the encoder and the moving distance measured by the holding unit encoder. It can be determined accurately.

  In the parking system according to the present invention, in the configuration described above, the fixed holding portion sandwiches the left and right wheels on either the front wheel side or the rear wheel side of the vehicle with a pair of rod-shaped members, and is placed on the carry-in / out device. The movable holding portion holds the left and right wheels on either the front wheel side or the rear wheel side of the vehicle with a pair of rod-like members, and holds them on the carry-in / out device. The control unit is configured to release the stop state of the drive motor and the holding unit drive motor, respectively, when the wheel is held by the rod-shaped member. Also good.

  According to the said structure, when hold | maintaining each wheel with a rod-shaped member, a control part is the structure which releases the stop state of a holding | maintenance part drive motor. For this reason, the movable holding part is in a state in which it can freely move in the front-rear direction of the vehicle with respect to the fixed holding part. Therefore, the position of the movable holding portion with respect to the fixed holding portion can be finely adjusted autonomously so that the wheel is uniformly applied with the force by the pair of rod-shaped members.

  Furthermore, the control unit is configured to release the stop state of the drive motor when each wheel is held by the rod-shaped member. For this reason, the loading / unloading device can be freely moved in the front-rear direction of the vehicle. Therefore, the position of the loading / unloading device with respect to the transport unit can be finely adjusted autonomously so that the wheel is equally applied with the pair of rod-shaped members.

  The parking system according to the present invention, in the configuration described above, has a warehousing size calculation unit for obtaining warehousing vehicle dimension information that is dimensional information related to the vehicle when the vehicle is warehousing, and a warehousing acquired by the warehousing size calculation unit. A storage device that stores hourly vehicle dimension information, and the control unit may be configured to update the warehousing vehicle dimension information stored in the storage device with the vehicle dimension information.

  According to the above configuration, since the vehicle size calculation unit and the storage device are provided at the time of warehousing, necessary dimensional information related to the vehicle can be acquired and stored in the storage device at the time of warehousing. Moreover, the control part can update the vehicle dimension information at the time of storage stored in the storage device 6 with the vehicle dimension information. For this reason, for example, even when the vehicle dimension information data at the time of warehousing is lost or an error occurs, the control unit can be rewritten with the vehicle dimension information.

  In order to solve the above-described problem, a parking system according to the present invention is provided at a transport unit that moves a vehicle to a predetermined position, a holding unit that holds each wheel of the vehicle, and a position that is held by the holding unit. A loading / unloading device that has at least one wheel detection sensor that detects whether or not the wheel is present, moves in the front-rear direction of the vehicle from the transport unit, and can be loaded into and unloaded from the vehicle body; A moving distance measuring unit that measures a moving distance of the holding unit that moves in accordance with the movement of the carry-in / out device, a detection result of the wheel detection sensor obtained when the carry-in / out device moves, and a measurement result of the moving distance measuring unit And obtaining vehicle dimension information including information for identifying the wheel position of the vehicle, and based on the vehicle dimension information, the carry-out unit is arranged so that the holding unit is arranged at a position corresponding to the wheel position. And a control unit for controlling the movement of the device.

According to the above configuration, since the information for identifying the wheel position of the vehicle can be obtained from the detection result of the wheel detection sensor obtained during the movement of the carry-in / out device and the measurement result of the movement distance measurement unit, the control unit The holding part can be arranged at a corresponding position. Further, when the holding unit is arranged at a position corresponding to the wheel position of the vehicle, it is only necessary to use the detection result of at least one wheel detection sensor and the measurement result of the moving distance measurement unit, and the results of the plurality of detection sensors are used. There is no need to use it. For this reason, the parking system which concerns on a certain aspect of this invention has an effect that a holding | maintenance part can be smoothly arrange | positioned to a predetermined | prescribed wheel position, without using the detection result by a some detection sensor.

  Furthermore, in the parking system according to an aspect of the present invention, in the configuration described above, the holding unit holds the first holding unit that holds both wheels on the one side and the both wheels on the other side among the front wheels and the rear wheels of the vehicle. A second holding portion, and at least one of the first holding portion and the second holding portion is movable so that the positional relationship between the first holding portion and the second holding portion changes relatively. When the carry-in / out device moves from the transport unit toward the vehicle, the front-rear end interval and the midpoint position at the predetermined height position of the wheel first detected by the wheel detection sensor from the predetermined first reference position. Is determined based on the measurement result of the movement distance measurement unit, and when the wheel detection sensor detects the next wheel, the measurement result of the movement distance measurement unit at this timing and the obtained first detected vehicle The distance between the front and rear ends of the detected wheel and the dimension of the middle point position are obtained based on the distance between the front and rear ends of the wheel and the size of the middle point position. It may be configured to control the movement of the carry-in / out device and the relative positional relationship between the first holding unit and the second holding unit so that the midpoint position of each holding unit comes.

  Furthermore, in the parking system according to an aspect of the present invention, in the configuration described above, the wheel detection sensor is provided corresponding to at least the first holding portion, and the predetermined first reference position is the carry-in / out position. It is a position before movement of the wheel detection sensor corresponding to the first holding unit disposed on the front side when the device is moved, and the control unit is provided with a midpoint position of the first holding unit and the wheel detection sensor. Information on the amount of deviation indicating the difference from the position being held, and referring to the information on the amount of deviation, the middle point of each of the first holding part and the second holding part at the middle point position of each wheel It may be configured to control the movement of the carry-in / out device and the relative positional relationship between the first holding unit and the second holding unit so that the position comes.

  According to the above configuration, since the amount of deviation between the vehicle detection sensor and the midpoint position of the first holding unit can be reflected in the detection result of the vehicle detection sensor, each of the first holding unit and the second holding unit is They can be arranged so that the point positions are respectively at the midpoint positions of the wheels. For this reason, in a parking system, a wheel can be appropriately held by the first holding part and the second holding part.

  Furthermore, in the parking system according to an aspect of the present invention, in the configuration described above, the wheel detection sensor can detect the wheel in a state in which the wheel is held by the first holding unit, and carry out from the range. You may provide in the arbitrary ranges which can detect the front in the moving direction of an entrance device.

  Furthermore, in the parking system according to an aspect of the present invention, in the configuration described above, is the holding unit present at a reset position that is a predetermined position for resetting the value of the movement distance measured by the movement distance measurement unit? A reset detection sensor for detecting whether or not the control unit resets the value of the movement distance measured by the movement distance measurement unit when the presence of the holding unit is detected by the detection sensor for reset. It may be configured.

  According to the above configuration, since the reset detection sensor is provided, even when the value of the movement distance measured by the movement distance measurement unit is lost or becomes an incorrect value, it can be reset at a predetermined position. For this reason, the value of the movement distance measured by the movement distance measuring unit can be corrected.

  The parking system according to the present invention further includes a transport unit that moves the vehicle to a predetermined position, a holding unit that holds each wheel of the vehicle, and whether or not the wheel exists at a position held by the holding unit. A carry-in / out device that has a wheel detection sensor to detect, moves in the front-rear direction of the vehicle from the transport unit, and can be taken in and out of a lower part of a vehicle body of the vehicle, and a movement distance measurement unit that measures a movement distance of the holding unit And a vehicle detection sensor that is provided at an end portion of the transporting section of the vehicle and detects the timing at which the vehicle passes through the end portion of the transporting section, and is obtained when the transporting apparatus is moved. The wheel detection sensor and the detection result of the vehicle detection sensor, and the measurement result of the moving distance measurement unit, to obtain vehicle dimension information about the vehicle, based on the vehicle dimension information, A control unit that controls movement of the loading / unloading device, and the control unit detects the wheel detection sensor from a predetermined first reference position when the loading / unloading device moves from the transport unit toward the vehicle. The distance to the time point when each of the front and rear wheels is detected is acquired based on the measurement result of the moving distance measurement unit, the wheel base dimension of the vehicle is obtained as the vehicle dimension information, and each wheel is held by the holding unit. A distance from a predetermined second reference position to a point in time when each of the front and rear ends of the vehicle is detected by the vehicle detection sensor when the carry-in / out device moves toward the transport unit. Obtained on the basis of the measurement result of the moving distance measuring unit, and as the vehicle dimension information, the total length of the vehicle and the dimensions of the front overhang and the rear overhang of the vehicle Further, the control unit obtains a predetermined height of the wheel first detected by the wheel detection sensor from the predetermined first reference position when the carry-in / out device moves from the transport unit toward the vehicle. The distance between the front and rear ends at the vertical position and the dimension of the midpoint position thereof are obtained based on the measurement result of the movement distance measurement unit, and when the wheel detection sensor detects the next wheel, the measurement result of the movement distance measurement unit at this timing Then, on the basis of the obtained distance between the front and rear ends of the first detected wheel and the size of the midpoint position, the distance between the front and rear ends of the detected wheel and the size of the midpoint position are obtained.

  According to the said structure, since the conveyance part is provided, the vehicle mounted in the conveyance part can be moved to a predetermined position. In addition, as a conveyance part, the raising / lowering platform of the raising / lowering apparatus etc. which move to the horizontal direction or the vertical direction, etc. are mentioned, for example. Furthermore, the carrying-in / out apparatus is provided. For this reason, the carry-in / out device moves from the transport unit and enters the lower part of the vehicle body, and the wheels can be held by the holding unit.

  Furthermore, this vehicle can be mounted on a conveyance part by moving so that a carrying in / out apparatus may return to the conveyance part side in the state which hold | maintained the wheel with the holding | maintenance part. Moreover, since the moving distance measuring unit is provided, the moving distance (moving amount) of such a holding unit can be grasped. Moreover, since the wheel detection sensor is provided, the timing which detected the wheel at the time of the movement of the above-mentioned holding | maintenance part can be grasped | ascertained.

  Furthermore, the parking system according to the present invention includes the vehicle detection sensor. For this reason, when the loading / unloading device places the vehicle on the transport section, the end of the transport section side of the vehicle crosses in front of the vehicle detection sensor, and the end opposite to the end of the transport section is detected by the vehicle. It is possible to grasp the timing of crossing the front of the sensor.

  In addition, since the parking system according to the present invention further includes a control unit, for example, the position of each of the front wheel and the rear wheel of the vehicle based on the movement distance obtained from the movement distance measurement unit and the timing at which the wheel is detected by the wheel detection sensor. And the dimensions of the wheelbase can be calculated. Further, for example, the total length of the vehicle can be obtained from the moving distance obtained from the moving distance measuring unit and the timing at which the vehicle crosses in front of the vehicle detecting sensor by the vehicle detecting sensor. Furthermore, the control unit can determine, for example, the front overhang and the rear overhang of the vehicle from the determined wheel base dimensions and the total length of the vehicle.

  And a control part can control a movement of a carrying in / out apparatus based on the calculated | required vehicle dimension information. For this reason, the parking system according to the present invention has an effect that the vehicle can be moved to an appropriate position according to the dimensions of the vehicle.

  The predetermined first reference position or the second reference position is a position that is used as a reference for the measurement start position when measuring the movement amount (movement distance) of the carry-in / out apparatus. For example, when the movement distance of the carry-in / out device is measured from the detection result by the wheel detection sensor, this reference position is the position of the wheel detection sensor in the carry-in / out device before the movement starts. On the other hand, when calculating | requiring the movement distance from the carry-in / out side edge part of a vehicle of a conveyance part to a wheel, a 1st reference position or a 2nd reference position turns into the carry-in / out side edge part position of a vehicle. The first reference position and the second reference position can be appropriately changed according to the sensor used when obtaining the movement distance and the section of the movement distance to be obtained.

  Further, in the parking system according to the present invention, the control unit uses the distance between the front and rear ends of the wheel first detected by the wheel detection sensor and the dimension of the middle point position, The dimension of the midpoint position can be obtained. For this reason, it is not necessary for the wheel detection sensor to pass through the next detected wheel and move to a position where the distance between the front and rear ends can be measured. The size of the point position can be obtained. Therefore, the control unit can quickly and easily obtain the front-rear end interval and the midpoint position of the wheel detected next by the wheel detection sensor.

  The present invention is configured as described above, and has an effect that the holding portion can be smoothly arranged at a predetermined wheel position without using the detection results of the plurality of detection sensors.

It is a figure which shows typically the principal part structure of the parking system which concerns on Embodiment 1 of this invention. It is a figure which shows an example of the usage condition of the carrier with which the parking system shown in FIG. 1 is provided. It is a figure which shows typically the principal part structure of the transporter shown in FIG. It is a top view which shows the structure of the 1st fork part of the transporter shown in FIG. It is a block diagram which shows the principal part structure regarding the dimension information acquisition process in the parking system which concerns on Embodiment 1 of this invention. It is a figure which shows the correspondence of the positional relationship of a motor vehicle and a carrying in / out apparatus, and the detection result of a 2nd wheel detection sensor. It is a figure which shows the positional relationship of the vehicle currently hold | maintained on the carrying in / out apparatus and a vehicle detection sensor. It is a figure which shows an example of a structure of the holding | maintenance part which concerns on a comparative example. It is a top view which shows the structure of the 1st fork part of the transporter with which the parking system which concerns on Embodiment 2 of this invention is provided. It is a block diagram which shows the principal part structure regarding the holding | maintenance part position determination process in the parking system which concerns on Embodiment 2 of this invention. It is a schematic diagram which shows the transition state of the movement of the fixed holding | maintenance part provided in the 1st fork of the carrier shown in FIG. It is a schematic diagram which shows an example of the installation range in the fixed holding | maintenance part of the 1st wheel detection sensor which concerns on Embodiment 2. FIG.

(Embodiment 1)
Hereinafter, the parking system 100 which concerns on Embodiment 1 as preferable embodiment of this invention is demonstrated with reference to drawings. In the following, the same or corresponding components are denoted by the same reference numerals throughout all the drawings, and the description thereof is omitted. In the first embodiment, an automobile is described as an example of a vehicle to be placed in a desired placement area of the storage space. However, the vehicle is not limited to an automobile, and a cargo handling vehicle, a light vehicle, or It may be a motorbike.

  The parking system 100 is a mechanical parking device that can transport the automobile V (vehicle) to a desired placement area 7 in the palletless storage space 5. In particular, the parking system 100 is a so-called plane reciprocating mechanical parking device. Below, with reference to FIG. 1, schematic structure of the parking system 100 which concerns on this Embodiment 1 is demonstrated. FIG. 1 is a diagram schematically showing a main configuration of a parking system 100 according to Embodiment 1 of the present invention.

(Schematic configuration of parking system)
As shown in FIG. 1, the parking system 100 moves the automobile V stored in the loading / unloading room 1 down to a predetermined underground floor by the lifting device 2. Then, the lowered automobile V can be moved to the desired placement area 7 in the storage space 5 formed underground. A storage space 5, which is a space for parking the automobile V, is formed on each basement floor so as to sandwich a traveling lane 4 for moving the transporter 3. Further, when the transporter 3 stops at a predetermined position in the travel lane 4, the transporter 3 carries out and transports the automobile V to and from the placement area 7. The detailed configuration of the transporter 3 relating to the loading and unloading of the automobile will be described later. Although FIG. 1 shows only one level, a plurality of levels may be provided in the basement, and a storage space 5 may be formed in each level.

  Further, a side position sensor 11 and a wheel position detection sensor 12 for measuring the position of the vehicle V that has been stored are provided in the loading / unloading chamber 1. In the parking system 100, the parking position of the automobile V in the loading / unloading room 1 can be grasped based on the measurement results by the side position sensor 11 and the wheel position detection sensor 12.

(Configuration of the carrier)
Next, with reference to FIGS. 2-4, the structure of the carrier 3 with which the parking system 100 is provided is demonstrated in detail. In the present embodiment, description will be given by taking an example of the transporter 3 that moves in the horizontal direction.

  As shown in FIG. 2, the transporter 3 includes a transport cart 31 that is a transport unit and a carry-in / out device 32. The transport carriage 31 and the carry-in / out device 32 are configured to operate in accordance with a control instruction from the transporter main control unit (control unit) 70. FIG. 2 is a diagram illustrating an example of a usage mode of the transporter 3 included in the parking system 100 illustrated in FIG. 1. FIG. 2 shows an example of a state in which the carry-in / out device 32 extends from the transport carriage 31 to the automobile V placed in the placement area 7.

  The transport carriage 31 moves in the traveling lane 4 provided in the basement, and moves the automobile V to a predetermined position. In FIG. 2, the drive system of the transport carriage 31 is not shown. In the traveling lane 4, dogs (not shown) are provided at predetermined positions at which the carriage 31 can be stopped. The sensors (not shown) mounted on the carriage 31 detect the designated dogs, thereby causing the carriage 31 to move. It is possible to stop at this designated position. The dog can be realized by a protrusion provided on the side of the traveling lane 4, and can be formed by, for example, bending a metal plate into a rectangular shape.

  In addition, a vehicle detection sensor 20 for detecting whether or not the automobile V protrudes from the transporter 3 is provided at an end of the transport vehicle 31 on the carry-in / out side of the automobile V (an end on the traveling direction side of the automobile V). It has been. As shown in FIG. 1, the vehicle detection sensor 20 is disposed at a position facing the light emitting unit 20a and a light emitting unit 20a that emits laser light, and receives the laser light emitted by the light emitting unit 20a. Part 20b. And in the vehicle detection sensor 20, the presence or absence of the protrusion of the motor vehicle V from the transporter 3 can be determined by whether or not the laser light to be received by the light receiving unit 20b is blocked. Further, the vehicle detection sensor 20 can also know the timing at which the automobile V has passed through one of the carry-in / out side ends of the transport carriage 31. The vehicle detection sensor 20 is in an OFF state when the laser light emitted from the light emitting unit 20a by the automobile V is not blocked, and is configured to transition to an ON state when the laser light is blocked. Yes. Moreover, although the vehicle detection sensor 20 is comprised from the light emission part 20a which light-emits a laser beam, and the light-receiving part 20b which light-receives this laser beam, it is not limited to this, A detection system is arbitrary. For example, the light emitting unit 20a may emit infrared rays instead of laser light, and the light receiving unit 20b may receive the infrared rays. Or the structure which provides an imaging part instead of the light emission part 20a and the light-receiving part 20b, and detects the presence or absence of a vehicle by image processing from the image | video imaged by the imaging part may be sufficient.

  The carry-in / out device 32 moves the automobile V between the transport carriage 31 and the lifting device 2 or between the transport carriage 31 and the placement area 7 in the storage space 5. The carry-in / out device 32 is provided on the transport carriage 31, moves forward and backward in the traveling direction of the automobile V from the transport carriage 31, and is placed on the lifting device 2 or the placement area 7, for example. It can be taken in and out of the lower part of the car V. As shown in FIG. 2, the carry-in / out device 32 includes a first fork 33, a second fork 34, a fixed holding part (holding part) 35, and a movable holding part (holding part) 36.

  The first fork 33 and the second fork 34 are plate-like members having a rectangular planar shape, and are arranged on the transport carriage 31 so that the longitudinal direction thereof coincides with the traveling direction of the automobile V. On the transport carriage 31, the second fork 34 and the first fork 33 are arranged in this order from the bottom. In the transporter 3, the fork drive unit 37 operates under the control instruction from the transporter main control unit 70, which will be described later, and the first fork 33 and the second fork 34 that extend from the transport carriage 31 or the extended first fork 33 and It has a so-called telescoping structure in which the second fork 34 is contracted.

  Specifically, as shown in FIG. 3, a chain is bridged between the transport carriage 31, the second fork 34, and the first fork 33. Then, the speed and direction of pulling the chain are changed by changing the rotational speed and rotational direction of the drive motor 38 of the fork drive unit 37, and the first fork 33 and the second fork 34 are extended from the transport carriage 31 or extended. The first fork 33 and the second fork 34 can be contracted. In addition, the expansion / contraction speed of the first fork 33 and the second fork 34 can be changed. FIG. 3 is a diagram schematically showing a main configuration of the transporter 3 shown in FIG. FIG. 2 schematically shows a connection structure of the transport carriage 31, the first fork 33, and the second fork 34.

  As shown in FIG. 3, first, each end of the string-like first chain 92 is fixed at both ends in the longitudinal direction of the second fork 34 (left and right ends on the paper surface) and crossed and conveyed. It arrange | positions so that it may apply to the 1st rotary body 90 and the drive motor 38 which were provided in the both ends of the longitudinal direction in the trolley | bogie 31. FIG. Further, a string-like second chain 93 and third chain 94 are bridged between the transport carriage 31, the second fork 34, and the first fork 33 symmetrically. The second chain 93 or the third chain 94 has one end fixed in the vicinity of one end in the longitudinal direction of the transport carriage 31 and is provided in the vicinity of the other end in the longitudinal direction of the second fork 34. One end of the first fork 33 is arranged in the vicinity of one end in the longitudinal direction via 91a or 91b.

  When the drive motor 38 rotates clockwise in FIG. 3 with the first to third chains 92 to 94 arranged in this way, the second fork 34 protrudes from the transport carriage 31 to the right hand side of the page, and this second Since the first fork 33 protrudes from the fork 34 toward the right hand side of the drawing, the loading / unloading device 32 can extend toward the storage space 5 as shown in FIG. Further, when the drive motor 38 rotates in the reverse direction from this extended state, the second fork 34 and the first fork 33 are respectively returned and arranged on the transport carriage 31. Furthermore, if the reverse rotation operation of the drive motor 38 is maintained, the carry-in / out device 32 can be extended toward the placement area 7 in the storage space 5 on the opposite side across the travel lane 4.

  In addition, as described above, the drive motor 38 that rotates in order to extend the carry-in / out device 32 from the transport carriage 31 to the placement area 7 or to extend and retract from the placement area 7 to the transport carriage 31 side has an encoder (movement). Distance measuring unit) 39 (see FIG. 5 described later) is provided.

  There is a proportional relationship between the rotational speed of the drive motor 38 and the moving distance of the carry-in / out device 32. Therefore, the encoder 39 can measure the rotational speed of the drive motor 38 and obtain the moving distance of the carry-in / out device 32 from the rotational speed. Instead of the encoder 39, an encoder (linear encoder) for measuring a relative movement distance between the first fork 33 and the second fork 34 or a relative between the second fork 34 and the transport carriage 31 is used. It is good also as a structure which provides the encoder (linear encoder) which measures an appropriate movement distance, and calculates | requires the movement distance of the carrying in / out apparatus 32. FIG. That is, in the carry-in / out device 32, the relative movement distance between the first fork 33 and the second fork 34 is twice the relative movement distance between the second fork 34 and the transport carriage 31. There is a relationship. Therefore, if one of the relative movement distance between the first fork 33 and the second fork 34 or the relative movement distance between the second fork 34 and the transport carriage 31 can be obtained, the other The moving distance of the entire loading / unloading device 32 can be obtained. Since the encoder 39 or the linear encoder can be realized by a general optical encoder, description of the measurement mechanism is omitted.

  The first fork 33 includes a fixed holding portion 35 that holds the left and right wheels on one end side in the front-rear direction of the vehicle V, and a movable holding portion that holds the left and right wheels on the other end side, respectively. 36 is mounted. The fixed holding portion 35 is fixed to the first fork 33 and moves integrally with the first fork 33. On the other hand, the movable holding portion 36 is configured to move relative to the fixed holding portion 35 in the first fork 33. In the present specification, for convenience of explanation, it is assumed that the left and right rear wheels TR of the automobile V are held by the fixed holding portion 35 and the left and right front wheels TF are held by the movable holding portion 36. However, the configuration may be such that the front wheel TF is held by the fixed holding portion 35 and the rear wheel TR is held by the movable holding portion 36. That is, it will be obvious that the combination of the wheels held by the fixed holding portion 35 and the movable holding portion 36 varies depending on the combination of the moving direction of the carry-in / out device 32 and the mounting direction in the mounting region 7 of the automobile V.

  Specifically, as shown in FIG. 4, the first fork 33 includes a fixed holding portion 35 for holding the left and right rear wheels TR of the automobile V and a movable holding portion 36 for holding the left and right front wheels TF. And. FIG. 4 is a plan view showing the structure of the first fork 33 portion of the transporter 3 shown in FIG.

The fixed holding portion 35 includes a first wheel detection sensor 43 and a pair of first arm portions 52 provided to correspond to the left and right rear wheels TR, respectively. On the other hand, the movable holding portion 36 includes a second wheel detection sensor 44 and a pair of second arm portions 53 provided so as to correspond to the left and right front wheels TF, respectively. In the present embodiment, the first wheel detection sensor 43 is provided in the fixed holding portion 35 in the vicinity of the right wheel of the vehicle V, and the second wheel detection sensor 44 is in the movable holding portion 36 in the vicinity of the left wheel of the vehicle V. Each is provided. The first wheel sensor 43 and the second wheel sensor 4 4 may be provided on both sides of the motor vehicle V, may be provided respectively on one same side.

  The first wheel detection sensor 43 and the second wheel detection sensor 44 have a predetermined height position in the fixed holding portion 35 and the movable holding portion 36 (for example, a height position of about 5 cm from the bottom surface of the fixed holding portion 35 and the movable holding portion 36). ). And the 1st wheel detection sensor 43 and the 2nd wheel detection sensor 44 are comprised so that the presence or absence of a wheel can be detected by the presence or absence of reflection of the irradiated laser beam.

  Moreover, the holding | maintenance part drive part 40 is provided so that the movable holding | maintenance part 36 can be moved relatively with respect to the fixed holding | maintenance part 35 (refer FIG. 3). The holding unit drive unit 40 includes a holding unit drive motor 41, and the movable holding unit 36 can move relative to the fixed holding unit 35 in accordance with the rotation of the holding unit drive motor 41. For this reason, the 1st arm part 52 and the 2nd arm part 53 can be arrange | positioned according to the size of the wheel base (WB) of the motor vehicle V by moving the movable holding part 36. FIG. The rotation operation of the holding unit drive motor 41 is controlled in accordance with an instruction from the transporter main control unit 70 (see FIG. 5 described later).

  Here, since the first arm portion 52 included in the fixed holding portion 35 and the second arm portion 53 included in the movable holding portion 36 have the same configuration, the configuration of the first arm portion 52 will be described below as an example. To do.

  The first arm portion 52 has a pair of cylindrical rod-shaped members 54 and a pair of joint portions 56 that join the respective rod-shaped members 54 to the fixed holding portion 35 so as to be rotatable in the horizontal direction. An arm wheel 55 is provided at the tip of each rod-like member 54 so that it can rotate around the joint 56.

  More specifically, in a state where the wheel is not held by the first arm portion 52 in the fixed holding portion 35, the pair of rod-shaped members 54 are arranged to extend in the opposite directions along the longitudinal direction of the first fork 33. (Open state). On the other hand, when holding the wheel, the pair of rod-shaped members 54 are arranged so as to be perpendicular to the longitudinal direction of the first fork 33 and parallel to each other (closed state). That is, the pair of rod-shaped members 54 can rotate around the joints 56 between a position along the longitudinal direction of the first fork 33 and a position perpendicular to the longitudinal direction.

  Further, the rod-shaped member 54 itself having a cylindrical shape is also provided so as to be rotatable about its central axis. Therefore, when the wheel is sandwiched between the pair of rod-shaped members 54, the rod-shaped member on the right side of the wheel rotates clockwise and the rod-shaped member on the left side of the wheel rotates counterclockwise by the frictional force generated between the wheels. Accordingly, the pair of rod-shaped members 54 is sandwiched between the pair of rod-shaped members 54 by moving from a state in which the pair of rod-shaped members 54 extends in the longitudinal direction of the first fork to a position substantially perpendicular to the longitudinal direction. A wheel can be lifted up and supported.

  Moreover, the movable holding part 36 can move back and forth in the longitudinal direction of the first fork 33 with respect to the fixed holding part 35 according to the rotation of the holding part drive motor 41 of the holding part drive part 40 as described above. It is configured to be able to. The holding unit drive motor 41 is provided with a holding unit encoder 42 (see FIG. 5 to be described later). The holding unit encoder 42 measures the number of rotations of the holding unit drive motor 41, and the movable holding unit is calculated from the number of rotations. 36 movement distances can be obtained.

  In the present embodiment, the fixed holding portion 35 is fixed by the first fork 33 and only the movable holding portion 36 moves relative to the fixed holding portion 35 on the first fork 33. It is not limited. Instead of the fixed holding portion 35, a movable holding portion 36 may be provided, and two movable holding portions 36 may be provided on the first fork 33. Further, the moving distance (movement amount) of the movable holding unit 36 is obtained by measuring the number of rotations of the holding unit drive motor 41 by the holding unit encoder 42. However, similarly to the encoder 39 described above, a configuration may be adopted in which a linear encoder is provided instead of the holding unit encoder 42 and the moving distance (movement amount) of the movable holding unit 36 on the first fork is measured.

(Transportation of cars by transporter)
Next, with reference to FIG. 2 again, the conveyance of the automobile V by the transporter 3 having the above-described configuration will be described.

  The transporter 3 is configured to move along the travel lane 4 and be stopped at a predetermined position in the travel lane 4. Then, when the transporter 3 is in a stopped state, the transport vehicle 32 loads and unloads the automobile V between the transport carriage 31 and the placement area 7.

  For example, when the carry-in / out device 32 moves (draws) the automobile V placed in the placement area 7 toward the transport carriage 31, the transporter 3 moves in the travel lane 4 and stops in front of the automobile V. At this time, the pair of rod-shaped members 54 in the first arm portion 52 of the fixed holding portion 35 and the second arm portion 53 of the movable holding portion 36 are in an open state, and are aligned in a straight line along the longitudinal direction of the first fork 33. It is out.

  Next, as shown in FIG. 2, the carry-in / out device 32 is moved from the transport carriage 31 to the storage space 5 side. The carry-in / out device 32 is recessed under the automobile V, and the first arm portion 52 is disposed inside the left and right rear wheels TR, and the second arm portion 53 is disposed inside the left and right front wheels TF, respectively. In this state, the pair of rod-like members 54 rotate in the horizontal direction and move until they are in a closed state aligned in parallel with each other. Accordingly, the first arm portion 52 and the second arm portion 53 can sandwich the corresponding rear wheel TR and front wheel TF from the front and rear by the pair of rod-shaped members 54 and lift the rear wheel TR and front wheel TF from the placement region 7. it can.

  When the vehicle V is lifted and supported by the first arm portion 52 and the second arm portion 53 in this way, the carry-in / out device 32 is moved from the placement region 7 to the transport carriage 31 this time. As a result, the vehicle V is placed on the transporter 3. Then, the transporter 3 moves on the traveling lane 4 while the rear wheel TR and the front wheel TF are sandwiched between the first arm portion 52 and the second arm portion 53 on the transporter 3. When the transporter 3 stops at a new stop position, this time, the vehicle V is moved from the transporter 3 to the new placement area 7 by a procedure reverse to the above procedure.

  In addition, the parking system 100 is provided with the raising / lowering apparatus 2 which conveys the motor vehicle V between the entrance / exit room 1 and a storage floor as mentioned above. The vehicle V received in the loading / unloading room 1 gets into the lifting device 2 waiting there. Thereafter, the lifting device 2 moves to the storage floor with the automobile V mounted thereon. Then, the transporter 3 moves to the position of the lifting device 2 that has arrived at the storage floor, and the vehicle V is carried in and out of the lifting device 2. That is, the transporter 3 not only pays out the automobile V to the placement area 7 or pulls it in from the placement area 7 but also draws the automobile V from the lifting device 2 or pays out the automobile V into the lifting device 2. Can also be used when

(Dimension information acquisition process)
Next, a process for acquiring dimensional information of the automobile V placed on the placement area 7 of the storage space 5 by the transporter 3 having the above-described configuration will be described. First, with reference to FIG. 5, the structure regarding a dimension information acquisition process is demonstrated. FIG. 5 is a block diagram illustrating a configuration of a main part related to the dimensional information acquisition process in the parking system 100 according to the first embodiment of the present invention. In addition, arrangement | positioning of each part in this block diagram is an example, Comprising: It is not limited to this. For example, the transporter main control unit 70 may be separately provided outside the transporter 3 , and the transporter main control unit 70 and the transporter 3 may be communicably connected.

  As shown in FIG. 5, the parking system 100 includes a storage device 6 and a warehousing size calculation unit 10 in the loading / unloading chamber 1 in addition to the above-described carrier 3. In the parking system 100, when the vehicle V is received, the warehousing size calculation unit 10 obtains warehousing vehicle dimension information 61 that is information related to the size of the vehicle V. That is, as described above, the entrance / exit room 1 is provided with the side position sensor 11 and the wheel position detection sensor 12, and the entry time size calculation unit 10 obtains the entry time vehicle size information 61 from the detection results of these sensors. . The vehicle size information 61 at the time of storage calculated by the size calculation unit 10 at the time of storage is stored in the storage device 6 and is used for transporting the automobile V by the transporter 3. The vehicle dimension information 61 at the time of warehousing includes, for example, the total length of the automobile V, the length of the wheel base (WB), the length of the front overhang (FOH), the length of the rear overhang (ROH), and the wheels at a predetermined height position. And the center position of the wheel (the middle point of the front and rear end intervals).

  Normally, with reference to the vehicle size information 61 at the time of storage stored in the storage device 6, the carry-in / out device 32 is located between the transport cart 31 and the lifting device 2 or between the transport cart 31 and the placement area 7. Car V is carried in and out. However, there are cases where the data of the in-vehicle vehicle dimension information 61 stored in the storage device 6 is lost or broken. Thus, when the data of the vehicle dimension information 61 at the time of warehousing is lost or broken, in the parking system 100, the carry-in / out device 32 is moved from the lifting device 2 to the transport carriage 31 or from the placement area 7 to the transport cart 31. When drawing V, it is comprised so that the vehicle dimension information 72 can be calculated | required separately. As the vehicle dimension information 72, as with the vehicle dimension information 61 at the time of warehousing, for example, the total length of the automobile V, the length of the wheel base (WB), the length of the front overhang (FOH), the length of the rear overhang (ROH), Examples of the distance between the front and rear ends of the wheel at a predetermined height position and the center position of the wheel (the middle point of the front and rear end distance) can be given.

In other words, in addition to the above-described configuration, the transporter 3 includes the transporter main control unit 70 having the dimension calculation unit 71, which is acquired from the encoder 39, the vehicle detection sensor 20, and the second wheel detection sensor 44. Based on the detection result, vehicle dimension information 72 is obtained. The transportable unit main control unit 70 stores the calculated vehicle size information 72 in the memory or the like provided itself.

  The detection result by the vehicle detection sensor 20 is in an ON state while the automobile V is passing in front of the vehicle detection sensor 20, and is in an OFF state when no automobile is present. On the other hand, the detection result of the second wheel detection sensor 44 is in an ON state while a wheel is present in front of the second wheel detection sensor 44, and is in an OFF state when no wheel is present.

  Specifically, the vehicle dimension information 72 is obtained as follows. Here, as shown in FIG. 4, the first wheel detection sensor 43 and the second wheel detection sensor 44 are respectively midpoints between the pair of rod-shaped members 54 in the first arm portion 52 and the second arm portion 53. It demonstrates as what is arrange | positioned in the position.

  That is, as shown in FIG. 6, when the carry-in / out device 32 extends from the transport carriage 31 toward the automobile V and the second wheel detection sensor 44 reaches the vehicle rear side end portion of the rear wheel TR, it is turned on. . The dimension calculation unit 71 detects the ON state from the reference position, based on the movement distance of the loading / unloading device 32 (that is, the second wheel detection sensor 44) from the reference position (first reference position) to the ON state. It can be obtained from the measurement result of the encoder 39 in the period until it is done. In FIG. 6, the moving distance of the carry-in / out device 32 at this time is shown as a moving amount a. FIG. 6 is a diagram illustrating a correspondence relationship between the positional relationship between the automobile and the carry-in / out device 32 and the detection result of the second wheel detection sensor 44.

In FIG. 6, for convenience of explanation, the position where the second wheel detection sensor 44 has passed the vehicle detection sensor 20 is shown as a reference position (first reference position), but the reference position is not limited to this. Absent. That is, this reference position is a position that serves as a reference for the measurement start position when measuring the movement distance of the carry-in / out device 32. For example, when the movement distance of the carry-in / out device 32 is measured from the detection result of the second wheel detection sensor 44, this reference position is the position of the second wheel detection sensor 44 in the carry-in / out device 32 before the start of movement. On the other hand, when calculating | requiring the distance from the carrying in / out side edge part of the conveyance trolley | bogie 31 to a wheel, a 1st reference position turns into the carrying in / out side edge part position of the conveyance trolley 31. FIG. The reference position can be appropriately changed according to the sensor used when the movement distance is obtained and the section of the movement distance to be obtained.

  Further, when the carry-in / out device 32 extends from the transport carriage 31 toward the vehicle V and the second wheel detection sensor 44 passes the vehicle front side end portion of the rear wheel TR, the state changes to the OFF state. The moving distance of the carry-in / out device 32 immediately before the change to the OFF state can be obtained from the measurement result of the encoder 39 during the period until the timing when the change to the OFF state is detected from the reference position. . In addition, the movement distance of the carrying in / out apparatus 32 at this time is shown as movement amount b.

  As described above, the dimension calculation unit 71 can obtain the movement amount a from the reference position to the rear-end end of the rear wheel TR and the movement amount b from the reference position to the front-end end of the rear wheel TR. Therefore, the distance between the front and rear ends (ba) of the rear wheel TR and the midpoint ((ba) / 2) can be obtained from the difference between the two.

  Furthermore, when the loading / unloading device 32 extends from the transport carriage 31 toward the vehicle V and the second wheel detection sensor 44 reaches the vehicle rear side end portion of the front wheel TF, the detection result is changed from the OFF state to the ON state again. Change. The movement result of the loading / unloading device 32 when the state transitions to the ON state again, and the measurement result of the encoder 39 in the period until the dimension calculation unit 71 detects the state change from the reference position to the ON state again. Can be obtained from In FIG. 6, the moving distance of the carry-in / out device 32 at this time is shown as a moving amount c.

  In addition, the dimension calculation unit 71 regards the rear wheel TR and the front wheel TF as having the same outer diameter. Therefore, when the amount of movement c of the front wheel TF to the vehicle rear side end is obtained, the value of the distance between the front and rear ends of the rear wheel TR obtained in advance is added to the amount of movement c, and the vehicle front side end of the front wheel TF is obtained. Can be obtained. Further, the movement distance to the midpoint of the front wheel TF can be obtained by adding the midpoint value of the distance between the front and rear ends of the rear wheel TR previously obtained to the movement amount c of the front wheel TF to the vehicle rear side end. (C + (ba) / 2). Then, the dimension calculation unit 71 subtracts the movement distance from the reference position to the midpoint of the rear wheel TR from the movement distance from the reference position to the midpoint of the front wheel TF to obtain the length of the wheel base (WB). it can.

  In the above description, a configuration has been described in which only the measurement result data of the encoder 39 is used to determine the distance between the front and rear ends of the wheel, the midpoint position thereof, and the length of the wheel base in the vehicle dimension information 72. However, the second wheel detection sensor 44 is provided in the movable holding portion 36. For this reason, when it is necessary to consider the movement of the movable holding portion 36 on the first fork 33, it is also necessary to use data relating to the moving distance of the movable holding portion 36 measured by the holding portion encoder 42. In such a case, the moving distance measuring unit of the present invention is realized by the encoder 39 and the holding unit encoder 42. On the contrary, when the movable holding part 36 does not move while the front wheel TF and the rear wheel TR are detected by the second wheel detection sensor 44, the data regarding the moving distance measured by the holding part encoder 42 is not necessary.

  Further, in the above, when the carry-in / out device 32 moves from the transport carriage 31 toward the automobile V placed in the placement area 7, the distance between the front and rear ends of the wheels is detected using the detection result of the second wheel detection sensor 44. The configuration for obtaining the midpoint position and the length of the wheel base has been described. However, when the loading / unloading device 32 moves opposite to the moving direction described above across the travel lane 4, the fixed holding unit 35 is now in front of the movable holding unit 36 in the moving direction. Therefore, in this case, when the carry-in / out device 32 moves from the transport carriage 31 toward the automobile V placed in the placement area 7, the detection result of the first wheel detection sensor 43 is used to detect the front and rear of the wheels. The end interval, the midpoint position, and the length of the wheel base are obtained in the same manner as described above. Therefore, it goes without saying that the first wheel detection sensor 43 can be omitted when the moving direction of the carry-in / out device 32 is only one direction.

  Further, the carry-in / out device 32 according to the present embodiment aligns the fixed holding portion 35 with the rear wheel TR and the movable holding portion 36 with the front wheel TF based on the vehicle dimension information 72 obtained as described above. To do. The wheels of the automobile V can be held by the fixed holding unit 35 and the movable holding unit 36.

  Next, when the wheels are held by the fixed holding unit 35 and the movable holding unit 36 and the automobile V is moved from the placement region 7 to the transport carriage 31, the dimension calculation unit 71 is configured so that the vehicle V is moved as shown in FIG. Find the total length. FIG. 7 is a diagram showing the positional relationship between the vehicle held on the loading / unloading device 32 and the vehicle detection sensor 20, and shows the positional relationship in three stages (A) to (C). In FIG. 7, for convenience of explanation, the front end position of the automobile V placed in the placement area 7 is shown as a reference position (second reference position).

  First, the vehicle V is moved from the state where the vehicle V is held on the loading / unloading device 32 in the placement area 7 (FIG. 7A) to the transport carriage 31 side, and the rear end of the vehicle V is the vehicle detection sensor 20. It is assumed that the detection position has been reached (FIG. 7B). At this time, the state of the vehicle detection sensor 20 transitions from the OFF state to the ON state.

  The dimension calculator 71 measures the amount of movement d of the carry-in / out device 32 from the start of movement of the carry-in / out device 32 to the timing when the vehicle detection sensor 20 changes to the ON state by the encoder 39 provided in the drive motor 38. Find from the result. The amount of movement d obtained at this time is the distance between the rear end portion of the automobile V placed in the placement area 7 and the vehicle detection sensor 20.

  Furthermore, the loading / unloading device 32 moves toward the transport carriage 31 and the front end of the automobile V reaches a position immediately after the detection position of the vehicle detection sensor 20 (FIG. 7C). At this time, the state of the vehicle detection sensor 20 transitions from the ON state to the OFF state.

  The dimension calculation unit 71 provides the drive motor 38 with a movement amount e of the carry-in / out device 32 from the start of movement of the carry-in / out device 32 until the timing when the vehicle detection sensor 20 changes from the OFF state to the ON state and changes to the OFF state again. It is obtained from the measurement result of the encoder 39. The amount of movement e obtained at this time is the distance between the front end portion of the automobile V placed in the placement area 7 and the vehicle detection sensor 20.

  As described above, the distance between the rear end of the automobile V and the vehicle detection sensor 20 and the distance between the front end of the automobile V and the vehicle detection sensor 20 can be obtained. The computing unit 71 can obtain the total length of the automobile V from the difference (ed) between the two.

  Here, the distance from the detection position of the vehicle detection sensor 20 to the front end of the automobile V is e, and the distance from the detection position of the vehicle detection sensor 20 to the center of the front wheel is (c + (ba). / 2). Therefore, the dimension calculator 71 can determine the length of the FOH by taking the difference between these values. Further, the length of ROH can be obtained by subtracting the length of WB and the length of FOH obtained from the total length of the automobile V.

As described above, in the parking system 100 obtains the vehicle dimensions information 72 dimension calculating unit 71 of the transportable unit main control unit 70 is associated with motor vehicle V, may be stored in memory. Also, if the data of the goods receipt when the vehicle size information 61 stored in the storage device 6 is damaged, transportable unit main control unit 70 can update the receipts during vehicle size information 61 by the vehicle size information 72.

  Furthermore, the parking system 100 may be configured as follows in order to obtain the WB length and the like with higher accuracy. That is, the brakes that stop the operation of the drive motor 38 and the holding unit drive motor 41 are released at the timing when the vehicle V is held by sandwiching the wheels between the first arm unit 52 and the second arm unit 53, respectively. Has been. Thereby, the first fork 33, the second fork 34, and the movable holding portion 36 can freely move back and forth in the longitudinal direction.

  For this reason, the positional relationship between the first fork 33 and the second fork 34 can be adjusted so that the position of the first arm portion 52 of the fixed holding portion 35 is a position corresponding to the position of the rear wheel TR. Furthermore, the movable holding part 36 can also move freely with respect to the fixed holding part 35 in the longitudinal direction of the first fork. For this reason, the vehicle V is corrected by correcting the length between the first arm portion 52 and the second arm portion 53 based on the moving distance (moving amount) of the loading / unloading device 32 measured by the encoder 39 and the holding portion encoder 42. The WB can be adjusted with high accuracy so as to correspond to the length of the WB.

  In the parking system 100, as described above, the vehicle size information 72 regarding the vehicle V is transferred to the dimension calculation unit when the vehicle V in the placement area 7 or the lifting device 2 is moved onto the transport carriage 31 by the carry-in / out device 32. 71 is a configuration that can be obtained. For this reason, as described above, even if the data of the vehicle dimension information 61 at the time of warehousing stored in the storage device 6 is broken or lost, the vehicle dimension information 72 can be updated. it can.

  Moreover, the dimension calculating part 71 is a structure which can obtain the full length of the motor vehicle V as the vehicle dimension information 72 as mentioned above. For this reason, information regarding the center position of the transport carriage 31 (for example, the distance from the vehicle detection sensor 20 to the center position of the transport carriage 31) is held in advance. And the center position of the motor vehicle V is calculated | required from the full length of the motor vehicle V. FIG. Then, the automobile V can be moved so that the obtained center position of the automobile V is matched with the center position of the transport carriage 31.

  Moreover, the dimension calculating part 71 can obtain | require ROH. For this reason, under the control instruction from the transporter main control unit 70, the carry-in / out device 32 moves the vehicle V to a position where the rear side end of the vehicle V exceeds the placement region 7 and does not protrude toward the transport cart 31 based on this ROH. Can be placed. That is, the automobile V can be mounted on the mounting area 7 that is the shortest distance from the transporter 3.

  In addition, the parking system 100 which has the above-described configuration can also be implemented as shown in the following first to third embodiments. Hereinafter, Examples 1 to 4 will be described.

Example 1
Parking system 100 according to the present embodiment, as described above, usually refers to the goods receipt when the vehicle size information 61 obtained by the warehousing time dimension calculating unit 10, a control instruction from transportable unit main control unit 70 The carry-in / out device 32 is configured to extend from the transport carriage 31 toward the automobile V placed in the placement area 7. That is, as to how much the first fork 33 and the second fork 34 of the carry-in / out device 32 are extended from the transport carriage 31 and how much the movable holding portion 36 on the first fork 33 is moved, It is determined based on vehicle dimension information 61 at the time of warehousing.

  For this reason, the vehicle dimension information 61 at the time of warehousing includes an error, and there is no wheel corresponding to the position of the first arm portion 52 of the fixed holding portion 35 or the position of the second arm portion 53 of the movable holding portion 36. There is a case. In such a case, the first fork 33, the second fork 34, or the movable holding is performed based on the vehicle dimension information 72 obtained by the dimension calculating unit 71 when the carry-in / out device 32 moves toward the automobile V as described above. The part 36 may be configured to be positioned again.

(Example 2)
Moreover, in the parking system 100 which concerns on this Embodiment, it was the structure which can update the vehicle dimension information 61 at the time of warehousing with the vehicle dimension information 72 calculated | required by the dimension calculating part 71 as mentioned above. However, in the transporter 3, the transporter main control unit 70 further includes a vehicle dimension information comparison unit (not shown) as a functional block, and the vehicle dimension information comparison unit compares the vehicle dimension information 61 and the vehicle dimension information 72 at the time of warehousing. It is good also as a structure which can be performed. Furthermore, if both are greatly different as a result of the comparison by the vehicle dimension information comparison unit, it is determined that a failure has occurred in the side position sensor 11 and the wheel position detection sensor 12 provided in the loading / unloading chamber 1. A configuration may be adopted in which information for notifying the occurrence of a failure is output.

(Example 3)
Moreover, in the parking system 100 according to the present embodiment, as described above, for example, the carry-in / out device 32 determines the placement position of the automobile V with reference to the full length of the automobile in the vehicle dimension information 61 at the time of entry. It is a configuration that can.

  In such a configuration, the carry-in / out device 32 is configured such that the dimension calculation unit 71 obtains the vehicle dimension information 72 while moving the automobile V, and corrects the placement position of the automobile V based on the obtained vehicle dimension information 72. It can also be.

  Here, the case where the automobile V placed on the transporter 3 is moved to the placement area 7 will be described as an example. The carry-in / out device 32 is moved from the full length of the vehicle V included in the vehicle dimension information 61 at the time of entry after the vehicle V has passed the vehicle detection sensor 20 and moved a distance including a predetermined margin to the full length or the full length. Can be set as the target placement position. Initially, the carry-in / out device 32 operates to move the automobile V to this target placement position.

  When the movement of the automobile V is started by the carry-in / out device 32, the state of the vehicle detection sensor 20 changes from the OFF state to the ON state. Further, when the automobile V is moved by the carry-in / out device 32, the vehicle detection sensor 20 changes its state from the ON state to the OFF state. From the switching timing of the vehicle detection sensor 20 between the ON state and the OFF state, the total length of the automobile V can be obtained as described above.

Here, loading and unloading apparatus 32 in transportable unit main control unit 70 based on the full-length obtained from the detection result of the vehicle detection sensor 20, identifies the placement position of the vehicle V. Then, the specified placement position is compared with the previously determined target placement position. If the two comparison results indicate that they are different, the target placement position may be changed to the placement position obtained from the detection result of the vehicle detection sensor 20, and the automobile V may be moved. In such a configuration, even when the data of the vehicle dimension information 61 at the time of warehousing is incorrect, the target placement position is corrected based on the total length of the automobile V obtained from the detection result by the vehicle detection sensor 20. be able to.

  Further, in the configuration in which the target placement position can be corrected, the vehicle V is not moved from the transport carriage 31 to the placement area 7 due to chattering or the like of the vehicle detection sensor 20, but the ON state is changed to the OFF state. The state transition to may be detected. In this case, if the target placement position is corrected based on the total length of the automobile V obtained from the detection result by the vehicle detection sensor 20, the automobile V is placed at an incorrect position. Accordingly, the carry-in / out device 32 may be configured not to correct the target placement position when the detection state of the vehicle detection sensor 20 transitions from the ON state to the OFF state before moving a predetermined distance. . In addition, this predetermined distance can be made into the full length of the motor vehicle V contained in the vehicle dimension information 61 at the time of warehousing, for example.

Example 4
Moreover, in the parking system 100 which concerns on this Embodiment, it was the structure which can update the vehicle dimension information 61 at the time of warehousing with the vehicle dimension information 72 calculated | required by the dimension calculating part 71 as mentioned above. Here, for example, a sudden power failure may occur, and all or a part of the in-vehicle vehicle dimension information 61 stored in the storage device 6 may be lost. In such a case, when the power source is restored, the transport carriage 31 moves to the front of the automobile V placed in each placement area 7 in the transporter 3 based on a command from the maintenance staff. Then, the carry-in / out device 32 moves toward the automobile V placed in the placement area 7, and the dimension calculation unit 71 automatically obtains the vehicle dimension information 72 as described above, and the obtained vehicle dimension information. The vehicle size information 61 at the time of warehousing may be updated by 72.

  In the case of such a configuration, even if the vehicle dimension information 61 at the time of warehousing is lost, the carry-in / out device 32 moves toward each automobile V and obtains vehicle dimension information 72 for each automobile V. be able to. For this reason, the carry-in / out device 32 can place the fixed holding portion 35 and the movable holding portion 36 at positions corresponding to the vehicle dimensions of each automobile V to hold the wheels. Furthermore, the vehicle V holding the wheels can be placed at a desired position in the placement area 7 or a position on the transporter 3 according to the vehicle dimensions.

  In the above description, a planar reciprocating mechanical parking device is described as an example of the parking system 100 according to the present embodiment. However, the parking system 100 is not limited to this, and is an elevator type or an elevator slide type. Various types of mechanical parking devices can be used. Further, when the parking system 100 is an elevator-type mechanical parking device, for example, the transporter 3 uses the transport unit of the present invention as a lift platform of the lift device 2 that moves in the vertical direction instead of the transport cart 31 described above. be able to.

(Embodiment 2)
The present inventor has further studied diligently about the configuration of the carrier disclosed in Patent Document 1 and Patent Document 2, and in order to arrange the holding unit that holds the wheel of the automobile at an appropriate position, a plurality of detection sensors. I had to use the results and noticed that each holding part could not be placed smoothly at the front and rear wheel positions.

  Therefore, the present inventor diligently studied the configuration of the holding unit provided with the wheel detection sensor, and based on the detection result obtained from one wheel detection sensor, the holding unit was appropriately placed at a position corresponding to the wheel position. I found that it can be arranged. In particular, when the front wheel and rear wheel holding parts move toward the vehicle, the holding part located on the front side in the movement is equipped with a wheel detection sensor, and the movement amount (movement distance) of this holding part is measured. By doing so, it was found that the front and rear wheel positions can be specified, and the holding portion can be appropriately arranged at a position corresponding to the wheel position.

  Specifically, as described in the parking system 100 according to the first embodiment, the detection result (ON state or OFF state) of the wheel detection sensor (for example, the first wheel detection sensor 43 or the second wheel detection sensor 44). ) And information on the wheel position can be obtained from the measurement result of the encoder 39. However, in the parking system 100 according to the first embodiment, the first wheel detection sensor 43 and the second wheel detection sensor 44 are respectively midpoints between the pair of rod-shaped members 54 in the first arm portion 52 and the second arm portion 53. It demonstrated as what is arrange | positioned in the position. A straight line connecting the midpoint positions between the pair of rod-shaped members 54 in the first arm portion passes through the center position in the planar shape of the fixed holding portion 35. However, for example, as shown in FIG. 8, depending on the structure of the holding portion, the wheel detection sensor may not be disposed at the midpoint position between the pair of rod-shaped members. FIG. 8 is a diagram illustrating an example of a configuration of the holding unit according to the comparative example.

  In the pair of joint portions 256 provided in the holding portion according to the comparative example shown in FIG. 8, one joint portion 256 is meshed with the rack gear 258 via the idle gear 257, and the other joint portion 256 is meshed with the rack gear 258 as it is. Yes. A rack gear 258 is coupled to the drive motor 260 via a ball screw 259 and moves along the linear guide 261. In such a configuration, the pair of rod-like members 254 are rotated in opposite directions by moving the rack gear 258 in one direction. In the case where the drive mechanism such as the idle gear 257 is disposed between the pair of joint portions 256 in this way, the wheel detection sensor 243 is disposed at the midpoint position between the joint portions 256 (between the pair of rod-like members 254). I can't. For this reason, as shown in FIG. 8, the wheel detection sensor 243 is disposed at a position shifted from the midpoint position between the pair of rod-shaped members 254. In the case of such a configuration, in order to appropriately arrange the pair of rod-like members 254 at the wheel position of the specified vehicle V based on the detection result of the wheel detection sensor 243, it is necessary to consider this deviation.

  Accordingly, a further practical form (Embodiment 2) of the present invention has been made in view of the above-mentioned problems, and the purpose thereof is to smoothly hold the holding unit without using the detection results of a plurality of detection sensors. It is providing the parking system which can be arrange | positioned to a wheel position. The parking system according to Embodiment 2 of the present invention is specifically shown below.

  Hereinafter, a parking system 150 according to Embodiment 2 of the present invention will be described with reference to the drawings. In the parking system 150 according to the second embodiment, even when the first wheel detection sensor 43 or the second wheel detection sensor 44 is deviated from the midpoint position between the joint portions 56, the holding portion ( A configuration in which the fixed holding portion 35 and the movable holding portion 36) can be arranged will be described.

(Schematic configuration of parking system)
In the parking system 150 according to the second embodiment, the carry-in / out device 32 includes a fixed holding unit 35 and a movable holding unit 36 as holding units, and the relative positional relationship between the two is on the first fork 33 of the carry-in / out device 32. It is going to change. The moving distance measuring unit for measuring the moving distance of the holding unit includes an encoder 39 and a holding unit encoder 42. Further, as wheel detection sensors, a first wheel detection sensor 43 provided corresponding to the fixed holding portion 35 and a second wheel detection sensor 44 provided corresponding to the movable holding portion 36 are provided.

  Compared with the parking system 100 according to the first embodiment, the parking system 150 according to the second embodiment includes the installation position of the first wheel detection sensor 43 in the fixed holding unit 35 and the second wheel detection sensor 44 in the movable holding unit 36. Installation position is different. That is, as shown in FIG. 9, the first wheel detection sensor 43 is configured such that the middle point position between the pair of rod-shaped members 54 (the middle point position between the pair of joint portions 56) is outside (the direction side away from the movable holding portion 36). ) At a position shifted by a shift amount α. Similarly, the second wheel detection sensor 44 is shifted by a shift amount β from the midpoint position between the pair of rod-shaped members 54 (midpoint position between the pair of joint portions 56) to the outside (the direction side away from the fixed holding portion 35). It is installed at the position. FIG. 9 is a plan view showing the structure of the first fork 33 portion of the transporter 3 provided in the parking system 150 according to Embodiment 2 of the present invention.

  Further, in the parking system 150 according to the second embodiment, as compared with the parking system 100 according to the first embodiment, the transporter main control unit 70 further holds detection sensor information 73 in a memory (not shown) as illustrated in FIG. Is different. Another difference is that the transport carriage 31 further includes a first reset detection sensor 50a and a second reset detection sensor 50b. FIG. 10 is a block diagram showing a main part configuration related to the holding unit position determination process in the parking system 150 according to the second embodiment of the present invention.

The detection sensor information 73 includes information related to the position (reference position Ao) of the first wheel detection sensor 43 in the fixed holding part 35 before movement, and the position (reference position Bo of the second wheel detection sensor 44 in the movable holding part 36 before movement). ). Specifically, the information regarding the reference position Ao of the first wheel detection sensor 43 is based on the first wheel detection sensor 43 before movement from the center (origin O) in the planar shape of the transport carriage 31 in the moving direction of the carry-in / out device 32. It is information indicating how far away. On the other hand, the information regarding the reference position Bo of the second wheel detection sensor 44 is information indicating how far the second wheel detection sensor 44 before movement is away from the origin O of the transport carriage 31 in the moving direction of the carry-in / out device 32. . Further, the detection sensor information 73 includes information on the shift amount α from the midpoint position O ₁ between the pair of rod-shaped members 54 of the fixed holding portion 35 to the reference position Ao of the first wheel detection sensor 43. Similarly, the detection sensor information 73 includes information on the shift amount β from the midpoint position O ₂ between the pair of rod-shaped members 54 of the movable holding portion 36 to the reference position Bo of the second wheel detection sensor 44. .

  The first reset detection sensor 50a and the second reset detection sensor 50b are detection sensors that are used to reset the values measured by the encoder 39 and the holding unit encoder 42 to zero. When the fixed holding unit 35 and the movable holding unit 36 are positioned at the detection positions by these detection sensors, the values measured by the encoder 39 and the holding unit encoder 42 by the transporter main control unit 70 are reset to zero.

  Except for the points described above, the parking system 150 according to the second embodiment has the same configuration as the parking system 100 according to the first embodiment. For this reason, in the parking system 150 which concerns on Embodiment 2, the same number is attached | subjected to the member similar to the parking system 100 which concerns on Embodiment 1, and the description is abbreviate | omitted.

(Holder position determination process)
Next, as shown in FIG. 9, in the configuration in which the first wheel detection sensor 43 or the second wheel detection sensor 44 is installed at a position shifted from the midpoint position between the pair of rod-shaped members 54, The process (holding part position determination process) which arrange | positions in the suitable position according to a wheel position is demonstrated. First, the holding unit position determination process will be described with reference to FIG. 11 in addition to FIGS. 9 and 10 described above. FIG. 11 is a schematic diagram illustrating a transition state of movement of the fixed holding portion 35 provided on the first fork 33 of the transporter 3 illustrated in FIG. 9. FIG. 11 shows the movement of the fixed holding portion 35 from the transport carriage 31 to the automobile V placed in the placement area 7, and the positional relationship between the position of the first wheel detection sensor 43 and the wheels is clear. Only the fixed holding | maintenance part 35, the 1st wheel detection sensor 43, and the wheel (front wheel TF, rear-wheel TR) are shown in figure so that it may become.

  The calculation method by the dimension calculation unit 71 related to the holding unit position determination process is basically the calculation performed when the carry-in / out device 32 is moved toward the vehicle V in the dimension information acquisition process of the first embodiment. The method is the same. However, in the parking system 100 according to the first embodiment, for convenience, the reference position of the first wheel detection sensor 43 or the second wheel detection sensor 44 is set as the detection position by the vehicle detection sensor 20, but the parking system 150 according to the second embodiment. Is different in that it is the position of the first wheel detection sensor 43 or the second wheel detection sensor 44 in the fixed holding portion 35 before movement. That is, in the parking system 150 according to the second embodiment, the detection result of the vehicle detection sensor 20 is unnecessary, and the wheel position is determined based on the detection result of the first wheel detection sensor 43 or the detection result of the second wheel detection sensor 44. The corresponding holding part position can be determined.

  Here, a case will be described in which the fixed holding portion 35 moves toward the automobile V so as to be disposed on the front side in the movement of the loading / unloading device 32. For convenience of explanation, it is assumed that the automobile V is placed on the placement area 7 so that the side on which the carry-in / out device 32 is arranged is in front of the vehicle. It is not limited, and the positions of the front wheel and the rear wheel may be reversed.

First, as described above, the transporter main control unit 70 uses the first wheel detection sensor 43 in the fixed holding unit 35 before movement or the second wheel detection sensor 44 in the movable holding unit 36 before movement as the detection sensor information 73. Information on the position (reference positions A ₀ , B ₀ ) is held. The information on the reference position can be, for example, a distance in the extending direction of the first fork 33 and the second fork 34 in the loading / unloading device 32 with the center (origin O) of the transport carriage 31 as a reference. For example, left side direction from the origin O in FIG. 9 positive, when a negative right direction, the reference position A ₀ of the first wheel sensor 43 can be represented by a positive value. On the other hand, the reference position B ₀ of the second wheel sensor 44 can be expressed by a negative value.

Note that the reference position B ₀ of the second wheel detection sensor 44 is not necessarily a distance from the origin O, and may be a distance from the reference position A _{0 of} the first wheel detection sensor 43, for example. Moreover, the positional relationship on the 1st fork 33 of the 1st arm part 52 and the 2nd arm part 53 before a movement is dependent on the dimension of the wheel base of the motor vehicle moved last time. For this reason, the transporter main control unit 70 can hold position information of the reference positions A ₀ and B ₀ as the detection sensor information 73.

Further, the detection sensor information 73 includes information on the shift amount α of the first wheel detection sensor 43 from the midpoint position O ₁ between the pair of rod-shaped members 54 of the fixed holding portion 35. Similarly, the detection sensor information 73 includes information on the shift amount β of the second wheel detection sensor 44 from the midpoint position O ₂ between the pair of rod-shaped members 54 of the movable holding portion 36. Under such a premise, in the parking system 150 according to the second embodiment, the holding unit position corresponding to the wheel position is determined as follows.

First, the holding | maintenance part position determination process based on the detection result by the 1st wheel detection sensor 43 provided in the fixed holding | maintenance part 35 illustrated as a 1st holding | maintenance part of this invention is demonstrated. As shown in FIG. 11, the carry-in / out device 32 extends from the transport carriage 31 toward the automobile V in a state where the fixed holding portion 35 is disposed in front of the movable holding portion 36 in the moving direction. Then, the ON state when the first wheel sensor 43 provided in the fixed holding part 35 reaches the end (vehicle front side end portion) position A ₁ on one side of the front wheel TF. The amount of movement of the carry-in / out device 32 from the reference position (first reference position) _A0 to the ON state, more precisely, the fixed holding portion 35 that moves as the carry-in / out device 32 moves. The movement amount A ₀ A ₁ of the first wheel detection sensor 43 can be obtained from the measurement result of the encoder 39 during the period from the reference position A ₀ to the detection of this ON state.

Furthermore, loading and unloading device 32 extends toward the transport carriage 31 of the automobile V, and the OFF state when the first wheel sensor 43 is an end portion on the other side of the front wheel TF (vehicle rear side end portion) passes through the position A ₂ Change. The amount of movement A ₀ A ₂ of the carry-in / out device 32 up to immediately before the change to the OFF state is measured by the encoder 39 during the period until the dimension calculation unit 71 detects the timing at which the reference position A ₀ changes to the OFF state. It can be obtained from the result.

Thus, dimension calculating unit 71, the reference position vehicle rear end position of the movement amount A ₀ A ₁ and the reference position A _{0 or} et wheel TF from A ₀ to the vehicle front side end position A ₁ of the front wheel TF it is possible to obtain a movement amount _a 0 _{a 2} to a _2, the front and rear ends interval from the difference between them the front wheel _{TF (a 0 a 2 -A 0} a 1) and its midpoint _((a 0 a ₂ - A ₀ A ₁ ) / 2) can be determined.

Moreover, extending from the loading and unloading device 32 conveying carriage 31 towards the automobile V, the first wheel sensor 43 reaches the vehicle front side end portion A ₃ of the rear wheel TR, again, from the OFF state to the ON state The detection result changes. In this way, the movement amount A ₀ A ₃ of the loading / unloading device 32 when the state transitions again to the ON state is obtained in a period until the dimension calculation unit 71 detects the ON state again from the reference position A ₀ . It can be obtained from the measurement result of the encoder 39.

In the parking system 150 according to the second embodiment, the front wheel TF and the rear wheel TR are regarded as having substantially the same outer diameter. Therefore, dimension calculating unit 71, when determining the amount of movement of the vehicle to the front end portion A ₃ of the rear wheel TR, the value of the middle point of the front and rear ends spacing of the front wheel TF previously obtained with this movement amount A ₀ A ₃ the sum combined, it is also possible to determine the amount of movement to the midpoint of the rear wheel TR from the reference position _{a 0 (a 0 a 3 +} (a 0 a 2 -A 0 a 1) / 2).

Here, the position at which the first wheel detection sensor 43 serving as the reference position A ₀ is provided is positive by α from the center position of the fixed holding portion 35, that is, the midpoint position O ₁ between the pair of rod-shaped members 54. The position is shifted in the direction. Therefore, in order to align the midpoint position O ₁ between the pair of rod-shaped members 54 and the center position of the rear wheel TR, it is necessary to consider this deviation amount α. Dimension calculating unit 71, shift the amount of movement in order to place in a position corresponding to the fixed holder 35 to the rear wheel TR, the amount of movement to the midpoint of the rear wheel TR from the reference position A ₀ obtained above It can be determined by adding the amount α (A ₀ A ₃ + (A ₀ A ₂ −A ₀ A ₁ ) / 2 + α).

On the other hand, the dimension calculation part 71 calculates | requires the movement amount moved in order to arrange the movable holding part 36 in the position corresponding to the front wheel TF as follows. That is, as shown in FIG. 9, when the distance from the origin O of the transport carriage 31 to the reference position A ₀ where the first wheel detection sensor 43 is provided is a distance OA ₀ , the second wheel detection sensor 44 is provided. The distance to the reference position B ₀ can be the distance OB ₀ . Here, the value of the distance OB ₀ is a negative value when the value of the distance OA ₀ is positive. For this reason, the distance (A ₀ B ₀ ) between the first wheel detection sensor 43 and the second wheel detection sensor 44 can be obtained by OA ₀ -OB ₀ in the case of FIG.

Therefore, the distance A ₀ B ₀ is added to the movement amount from the reference position A ₀ to the midpoint of the front wheel TF, and the second wheel detection from the midpoint position O ₂ between the pair of rod-shaped members 54 in the movable holding portion 36 is performed. sensor 4 4 considered the deviation amount beta. That is, the distance between the first wheel detection sensor 43 and the second wheel detection sensor 44 is calculated based on the amount of movement ((A ₀ A ₂ + A ₀ A ₁ ) / 2) from the reference position A ₀ to the midpoint of the front wheel TF. A deviation amount β that becomes a negative value is added to a value obtained by adding (OA ₁ -OB ₁ ). That is, in the example shown in FIG. 9, the second wheel detection sensor 44 is shifted in the negative direction from the midpoint position O ₂ between the pair of rod-shaped members 54 of the fixed holding portion 35. For this reason, in the above description, the midpoint position O ₂ between the pair of rod-shaped members 54 in the movable holding portion 36 can be adjusted to the midpoint of the front wheel TF by adding the negative shift amount β.

Here, the movement amount from the reference position A ₀ to the middle point of the front wheel TF is obtained as an average value of the movement amount A ₀ A ₂ and the movement amount A ₀ A ₁ , but the movement amount A ₀ A ₂ And the amount of movement A ₀ A ₁ divided by 2 and the amount of movement A ₀ A ₁ can be added.

In the example of FIG. 9, the relative positional relationship between the fixed holding portion 35 and the movable holding portion 36 is defined based on the positional relationship between the first wheel detection sensor 43 and the second wheel detection sensor 44, but is fixed. a configuration which defines a relative positional relationship between the midpoint O ₂ at the midpoint of the holding portion 35 positions O ₁ and the movable holding portion 36 may be. As described above, when the relative positional relationship between the fixed holding unit 35 and the movable holding unit 36 is defined by the distance between the midpoint positions of each other, the dimension calculation unit 71 holds the above-described deviation amount β, A process of adding the shift amount β is not necessary. Similarly to the first embodiment, the second wheel detection sensor 44 itself is not required when the placement area is only on one side (the movement direction when the carry-in / out device 32 is extended is one direction) with respect to the transport carriage 31.

Further, in the calculation by the dimension calculation unit 71 described above, the first wheel detection sensor 43 or the second wheel detection sensor 44 is only a certain distance from the midpoint position O ₁ or the midpoint position O ₂ between the pair of rod-shaped members 54. The structure provided in the position shifted | deviated was assumed. However, if the first wheel sensor 43 or the second wheel sensor 44 to the middle point O ₁ or midpoint O ₂ between the pair of rod-like members 54 are provided, the parking system 100 according to Embodiment 1 As described, it is not necessary to consider the above-described deviation amount α or β.

  It should be noted that at the movement positions of the fixed holding unit 35 and the movable holding unit 36 obtained by the above-described calculation by the dimension calculation unit 71, the portable main control unit 70 controls the fixed holding unit 35 and the movable holding unit 36 as follows. And move it.

That is, when the fixed holding part 35 is arranged on the front side in the moving direction and the carry-in / out device 32 moves toward the automobile V as in the example shown in FIG. Control is performed such that the carry-in / out device 32 is moved to a position where the midpoint position O _{1 of} 35 coincides with the midpoint of the rear wheel TR. Next, the transporter main control unit 70 moves the movable holding unit 36 on the first fork 33 relative to the fixed holding unit 35 until the middle point position of the movable holding unit 36 coincides with the middle point of the front wheel TF. Control to move with.

  On the other hand, when the movable holding part 36 is arranged on the front side and the loading / unloading device 32 moves, the dimension calculating part 71 is based on the detection result of the second wheel detection sensor 44 provided in the movable holding part 36. The calculation performed in the position determination process can be performed to identify the position of each wheel of the automobile V. Based on the identified result, the transporter main control unit 70 controls the movable holding unit 36 and the fixed holding unit 35 to move as follows. For convenience of explanation, it is assumed that the automobile V is placed in the placement area 7 so that the side close to the carrier 3 is the rear side of the vehicle as shown in FIG.

In other words, carriage main control unit 70, preceded for aligning the movable holding portion 36, the position to loading and unloading device 32 which middle point O ₁ of the fixed holding part 35 coincides with the midpoint of the rear wheel TR Control to move. The carriage main control unit 70, at a position where the middle point position O ₁ of the fixed holding part 35 coincides with the midpoint of the rear wheel TR, to stop the movement of the loading and unloading device 32. Next, the transporter main control unit 70 moves the movable holding unit 36 relative to the fixed holding unit 35 on the first fork 33 until the middle point position of the movable holding unit 36 coincides with the middle point of the front wheel TF. Control to move to.

For example, when the dimension of the wheel base of the automobile V is longer than the distance between the second wheel detection sensor 44 and the midpoint position O ₁ of the pair of rod-shaped members 54 in the fixed holding portion 35, the second wheel detection sensor 44. There detected first wheel (e.g. a rear wheel TR), the middle point O ₁ of a pair of rod-like members 54 in the fixed holding part 35 before detecting the next wheel (e.g., the front wheel TF) reaches the rear wheel TR It becomes. This can be detected by comparing and monitoring the measured value of the encoder 39 and the amount of movement to the middle point of the rear wheel TR. In this case, carriage main control unit 70 controls the movement of the loading and unloading device 32 so as to align the center point of the rear wheel TR and midpoint O ₁ of the pair of rod-like members 54 in the fixed holding portion 35 . The carriage main control unit 70 stops the movement of the loading and unloading apparatus 32 at a position midpoint position O ₁ of the fixed holding part 35 coincides with the midpoint of the rear wheel TR. Next, the transporter main control unit 70 moves the movable holding unit 36 until the second wheel detection sensor 44 reaches the front wheel TF. Then, the relative midpoint O ₂ of the pair of rod-like members 54 of the movable holding portion 36 is to match the midpoint of the front wheel TF, a movable holding portion 36, with respect to the fixed holding unit 35 on the first fork 33 To move the position.

Further, when the dimension of the wheel base of the automobile V is shorter than the distance between the second wheel detection sensor 44 and the midpoint position O ₁ of the pair of rod-shaped members 54 in the fixed holding portion 35, the second wheel detection sensor 44. There detects the rear wheel TR, subsequently upon reaching vehicle rear side end portion of the front wheel TF, still, midpoint O ₁ of the pair of rod-like members 54 in the fixed holding unit 35 does not reach the rear wheel TR. In this case, carriage main control unit 70 controls to move the loading and unloading device 32 to a position where the midpoint of the rear wheel TR and midpoint O ₁ of the pair of rod-like members 54 in the fixed holding part 35 coincides . The carriage main control unit 70 stops the movement of the loading and unloading apparatus 32 at a position midpoint position O ₁ of the fixed holding part 35 coincides with the midpoint of the rear wheel TR. Then, carriage main control unit 70, to return to the position where the midpoint position O ₂ of the pair of rod-like members 54 of the movable holder 36 is coincident with the midpoint of the front wheel TF, a movable holding portion 36 on the first fork 33 Control to move with.

  In the case of a configuration in which only vehicles of the same type and the same size are mounted on the mounting region 7, the holding unit positioned forward based on the detection result of the wheel detection sensor positioned forward in the moving direction of the loading / unloading device 32. By simply specifying the position of the wheel on which the wheel is to be placed, the rear holding part can be automatically placed at a position corresponding to the wheel position. For this reason, when comprised in this way, the movable holding | maintenance part 36 moves relatively with respect to the fixed holding | maintenance part 35, and it is not necessary to align according to a wheel position.

(Wheel detection sensor installation range)
By the way, there is a suitable position where the first wheel detection sensor 43 is provided in the fixed holding unit 35 in performing the holding unit position determination process by the above-described calculation by the dimension calculation unit 71. Or there exists a suitable position which provides the 2nd wheel detection sensor 44 in the movable holding | maintenance part 36. FIG.

  This preferred position will be described with reference to FIG. 12 by taking the first wheel detection sensor 43 as an example. FIG. 12 is a schematic diagram illustrating an example of an installation range in the fixed holding unit 35 of the first wheel detection sensor 43 according to the second embodiment.

As shown in FIG. 12, the height position of the first wheel detection sensor 43 provided in the fixed holding portion 35 from the floor surface is H. At this time, the installation range of the first wheel detection sensor 43 is preferably a range in which the wheel can be detected in a state where the wheel (for example, the rear wheel TR) is sandwiched between the pair of rod-shaped members 54. Furthermore, the installation range of the first wheel detection sensor 43 includes an arbitrary range on the front side in the traveling direction of the loading / unloading device 32 in addition to the range in which the fixed holding unit 35 can detect the wheel. can do. That is, as shown in FIG. 12, in the fixed holding portion 35, the wheel end portion that can be detected first by the first wheel detection sensor 43 having a height H in a state where the wheel is sandwiched by the pair of rod-shaped members 54. It is preferable to install the first wheel detection sensor 43 within an arbitrary range in front of the moving direction of the carry-in / out device 32 from the position (for example, the vehicle front side end). That is, it is preferable that the wheel can be detected by the first wheel detection sensor 43 before or when the pair of rod-shaped members 54 reach the wheel position to be clamped in the fixed holding portion 35.

(Reset the measurement result values of the encoder and holder encoder)
In the parking system 150 according to the second embodiment, the detection result of the first wheel detection sensor 43 or the second wheel detection sensor 44 and the movement amount of the encoder 39 and the movable holding unit 36 for measuring the movement amount of the carry-in / out device 32 are measured. From the measurement results of the respective holding unit encoders 42, the holding unit position determination process has been performed. By the way, if a malfunction such as a power failure occurs or the first to third chains 92 to 94 of the transporter 3 are re-stretched, the value of the measurement result of the encoder 39 or the holding unit encoder 42 is lost or inaccurate. Sometimes When the value of the measurement result is lost or inaccurate as described above, it is necessary to reset the value measured by the encoder 39 or the holding unit encoder 42 to, for example, zero. Therefore, in the parking system 150 according to the second embodiment, the transporter 3 resets the measurement result values of the encoder 39 and the holding unit encoder 42 as follows.

For example, when the first fork 33 and the second fork 34 are overlaid on the transport carriage 31 and the planar shape of the carry-in / out device 32 becomes the smallest dimension, the origin O, which is the center position in the planar shape of the transporter 3. For example, the origin point of the fixed holding portion 35 is determined when the middle point position O ₁ comes to a position 1500 mm away from the fixed holding portion 35. Therefore, the carriage 3, the first reset detection sensor 50a to be ON state is provided when the middle point _{O 1} comes to a position away 1500mm from the origin O. Then, the place where the first reset detection sensor 50a is turned on by moving the loading / unloading device 32 is set as the origin position of the fixed holding unit 35, and the transporter main control unit 70 resets the value of the measurement result by the encoder 30. To do.

As described above, when the fixed holding portion 35 in the transporter 3 is positioned to the origin position and the value of the measurement result of the encoder 39 is reset, the movable holding portion 36 is then positioned to the origin position. Specifically, the origin position of the movable holding portion 36 is obtained from the relative positional relationship with the fixed holding portion 35. Therefore, a second reset detection sensor 50b is further provided for detecting whether or not the distance between the movable holding portion 36 and the fixed holding portion 35 is a predetermined distance. Then, by moving the movable holder 3 6, the movable holder 36 the position of the second reset detection sensor 50b is movable holder 36 when the distance is detected that a predetermined distance between the fixed holding portion 35 The origin position of. And when the movable holding | maintenance part 36 is arrange | positioned in the origin position, the portable main control part 70 resets the value of the measurement result by the holding | maintenance part encoder 42. FIG.

  In the case of the present embodiment, the first and second reset detection sensors 50a and 50b are provided with sensors such as a limit switch, an optical sensor, and a proximity switch at the end of the first fork, and at the end of the second fork. It can be realized by a configuration in which a striker or a sensitive plate corresponding to the sensor is provided to detect that the planar shape has the smallest dimension. Even when other moving mechanisms are employed, a known configuration can be employed, such as providing a sensor on the upper surface or the holding portion of the transport carriage 31 and providing a striker or a sensitive plate on the other side to detect the arrival at a predetermined position. .

Or it is good also as a structure which resets the value of the measurement result by the encoder 39 and the holding | maintenance part encoder 42 as follows. That is, the first reset detection sensor 50 a is provided at a predetermined position on the transport cart 31 of the transporter 3, and the fixed holding unit 35 is moved on the transport cart 31 as the carry-in / out device 32 moves. The midpoint O ₁ of the fixed holder 35 is at the detection position by the first reset detection sensor 50a, carriage main control unit 70 resets the value of the measurement result of the encoder 39. Next, in moving the movable holding portion 36 on the first fork 33, midpoint O ₂ of the movable holding portion 36 is detected by the first reset detection sensor 50a position, carriage main control unit 70 The value of the measurement result of the holding unit encoder 42 is reset.

Further, the first reset detection sensor 50a, provided in order to detect a middle point O ₁ of the fixing holder 35 at a predetermined position on the conveyance carriage 31, a second reset detection sensor 50b, on the transport carriage it may be configured to provided to detect the midpoint O ₂ of the movable holder 36 in another position. If thus constructed, carriage main control unit 70 resets the value of the measurement result by the encoder 39 at the middle point O ₁ of the fixed holder 35 is detected by the first resetting sensor 50a located . Further, transportation devices main control unit 70 resets the value of the measurement result by the holding unit encoder 42 at midpoint O ₂ of the movable holding portion 36 is detected by the second reset detection sensor 50b position.

The “detection of the midpoint position O ₁ ” or “detection of the midpoint position O ₂ ” described above does not necessarily include the above-described sensors constituting the first and second resetting detection sensors 50 a and 50 b in the holding unit. It does not mean that it is provided at the point position, and as long as it can be detected that the midpoint position of the holding portion has reached the predetermined position, the mounting position of the sensor and the corresponding striker and sensitive plate is arbitrarily determined. be able to.

  As described above, in the parking system 150 according to the second embodiment, the measurement result values of the encoder 39 and the holding unit encoder 42 can be reset at a predetermined position, so that the measurement result values are lost or inaccurate. Can be corrected.

  In the parking system 150 according to the second embodiment, the holding unit included in the loading / unloading device 32 is fixed to the fixed holding unit 35 fixed on the first fork 33 of the loading / unloading device 32 and the fixed holding unit 35. Although the structure provided with the movable holding | maintenance part 36 which can move relatively was mentioned as an example, it demonstrated, It is not limited to this structure. For example, the two holding units provided in the carry-in / out device 32 may be used as the movable holding unit 36.

  From the foregoing description, many modifications and other embodiments of the present invention are obvious to one skilled in the art. Accordingly, the foregoing description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the invention. The details of the structure and / or function may be substantially changed without departing from the spirit of the invention.

  The parking system of the present invention is useful in a system including a transporter that can transport a vehicle to a desired placement area in a palletless storage space.

DESCRIPTION OF SYMBOLS 1 Entry / exit room 2 Lifting device 3 Carrying device 4 Traveling lane 5 Storage space 6 Storage device 7 Placement area 10 Storage size calculation part 11 Side position sensor 12 Wheel position detection sensor 20 Vehicle detection sensor 31 Carriage cart 32 Carrying in / out device 33 1 fork 34 second fork 35 fixed holding portion 36 movable holding portion 37 fork drive portion 38 drive motor 39 encoder 40 holding portion drive portion 41 holding portion drive motor 42 holding portion encoder 43 first wheel detection sensor 44 second wheel detection sensor 50 Detection sensor for reset 52 First arm part 53 Second arm part 54 Bar-shaped member 55 Wheel for arm part 56 Joint part 61 Vehicle dimensional information at warehousing 70 Carryer main control part 71 Dimension calculation part 72 Vehicle dimension information 73 Detection sensor information 100 Parking System V Car TF Front wheel TR Rear wheel Origin O ₁ midpoint O ₂ midpoint

Claims (6)

A transport unit for moving the vehicle to a predetermined position;
Holding unit for holding the respective wheels of the vehicle, respectively, and the wheel is detected whether present at a position held by the holding unit has a vehicle wheel sensor, the longitudinal direction of the vehicle from the transport unit And a loading / unloading device that can be loaded into and unloaded from the lower body of the vehicle,
A moving distance measuring unit that measures the moving distance of the holding unit that moves with the movement of the carry-in / out device;
Obtaining the detection result of the wheel detection sensor obtained at the time of movement of the carry-in / out device and the measurement result of the moving distance measuring unit, obtaining vehicle dimension information including information for specifying the wheel position of the vehicle, A control unit that controls movement of the carry-in / out device so that the holding unit is arranged at a position corresponding to the wheel position based on the information ,
When the carry-in / out device moves from the transport unit toward the vehicle, the wheel detection sensor detects both ends of the front and rear ends of the wheels arranged on the near side in the traveling direction of the carry-in / out device, and further After detecting one end on the near side of the front and rear ends of the wheel located on the back side in the traveling direction of the input device, the control unit is set to a position corresponding to each of the wheel position on the near side and the wheel position on the far side. as the holding portion is disposed, the parking system that controls the movement of the loading and unloading device. A transport unit for moving the vehicle to a predetermined position;
A holding unit that holds each wheel of the vehicle, and a wheel detection sensor that detects whether or not the wheel exists at a position held by the holding unit, from the transport unit to the front-rear direction of the vehicle A loading / unloading device that moves and can be taken in and out of the lower part of the vehicle body;
A moving distance measuring unit that measures the moving distance of the holding unit that moves with the movement of the carry-in / out device;
Obtaining the detection result of the wheel detection sensor obtained at the time of movement of the carry-in / out device and the measurement result of the moving distance measuring unit, obtaining vehicle dimension information including information for specifying the wheel position of the vehicle, A control unit that controls movement of the carry-in / out device so that the holding unit is arranged at a position corresponding to the wheel position based on the information,
When the carry-in / out device moves from the transport unit toward the vehicle, the wheel detection sensor detects an end on the near side of the front and rear ends of the wheels arranged on the near side in the traveling direction of the carry-in / out device. And then detecting the end of the rear side of the front and rear ends of the wheel arranged on the front side, and further on the front side of the front and rear ends of the wheel located on the back side in the traveling direction of the carry-in / out device Is configured to detect the end of the
The control unit obtains the value of the front and rear end interval of the wheel arranged on the near side based on the measurement result measured by the moving distance measurement unit and the detection result of the wheel detection sensor, and further determines the midpoint position thereof. A value of the front-rear end interval of the wheel arranged on the front side or a value of a midpoint position of the front-rear end interval, a measurement result measured by the moving distance measuring unit, and the carry-in / out device Based on the result of detecting the front end of the front and rear ends of the wheel positioned on the back side in the traveling direction, the dimension of the position of the back end of the front and rear ends of the wheel positioned on the back side or its The size of the midpoint position is obtained, and the carry-in / out device is moved so that the holding portion is arranged at a position corresponding to each of the wheel position arranged on the front side and the wheel position arranged on the back side. Parking system to control. The holding portion includes a first holding portion that holds both wheels on one side of the front wheels and rear wheels of the vehicle, and a second holding portion that holds both wheels on the other side,
The parking system according to claim 1 or 2 , wherein each of the first holding unit and the second holding unit includes the wheel detection sensor . At least one of the first holding part and the second holding part is movable so that the relative positional relationship changes,
The controller is
The information on the amount of deviation indicating the difference between the midpoint position of the first holding unit and the position where the wheel detection sensor is provided is retained, and the midpoint position of each wheel is referred to by referring to the information on the amount of deviation. claim to control the relative positional relationship of the first holding portion and the moving and the first holding portion of the second holding portions each midpoint comes as loading and unloading device and said second holding portion 3 Parking system as described in. The wheel detection sensor is provided in a range in which the wheel can be detected in a state where the wheel is held by the first holding unit, and in an arbitrary range in which the front in the moving direction of the loading / unloading device can be detected from the range. Item 5. The parking system according to item 4 . A reset detection sensor that detects whether or not the holding unit is present at a reset position that is a predetermined position for resetting a value of the movement distance measured by the movement distance measurement unit;
The control unit according to any one of claims 1 to 5 , wherein the control unit resets the value of the movement distance measured by the movement distance measurement unit when the presence of the holding unit is detected by the reset detection sensor. system.

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