JP6448959B2 - Control device for mechanical parking device, mechanical parking device, and control method for mechanical parking device - Google Patents

Description

  The present invention relates to a control device for a mechanical parking device, a mechanical parking device, and a control method for the mechanical parking device.

As an example of the operation method of the mechanical parking apparatus, an empty pallet is called into the entry room when the user inputs an authentication number, a pallet number, or the like via an operation panel or a remote controller when the vehicle is received. When the empty pallet arrives in the entry room, the entry room door opens, and a vehicle entry instruction is displayed on the operation panel. When the entry of the vehicle into the entry room is completed and the user leaves the entry room, a safety confirmation instruction for the entry room (in the hall) is displayed on the operation panel. When the user visually confirms the safety of the entry room, the user operates the button indicating the door of the entry room after operating the safety confirmation button.
As described above, the user of the mechanical parking apparatus enters the vehicle according to the guidance displayed on the operation panel. In addition, guidance to the user is performed in the same manner when leaving the vehicle. Various instructions (guidance) displayed on the operation panel may be given by voice guidance.

In the above operation method, when the user does not use the remote controller, the user gets off the vehicle and calls the empty pallet using the operation panel. In this case, when the user returns to the vehicle, the user cannot confirm various instructions displayed on the operation panel. In some cases, it is difficult to hear voice guidance in the car.
Even when the user uses a remote control, although the convenience is high, the user is in the vehicle, so various instructions displayed on the operation panel cannot be confirmed, and the voice guidance is difficult to hear.

Thus, although the mechanical parking apparatus is required to be convenient and safe, it is difficult to achieve both.
For example, Patent Document 1 discloses a first wireless reception device that is installed at a position away from a mechanical parking device by a predetermined distance and receives a transmission signal from a wireless transmission device mounted on a vehicle, and mechanical parking. A mechanical parking device is disclosed that includes a second wireless reception device that is installed at a position close to the device and receives a transmission signal from the wireless transmission device. In Patent Document 1, when a reception signal from the first wireless reception device is received, a warehousing preparation command is output, and when a reception signal from the second wireless reception device is received, Release command is output.

Japanese Patent No. 4611856

  In the mechanical parking device described in Patent Document 1, although the user is still in the vehicle and the empty pallet is automatically called and the door is opened, the convenience is high, but the safety cannot be confirmed by the user. The safety at the time of warehousing is not high. Furthermore, a countermeasure for a case where the user erroneously operates the vehicle is not disclosed.

  The present invention has been made in view of such circumstances, and is a mechanical parking device control device, a mechanical parking device, and a mechanical parking device that can improve the safety and convenience of operation of the mechanical parking device. An object is to provide a method for controlling an apparatus.

  In order to solve the above problems, the control device for a mechanical parking device, the mechanical parking device, and the control method for the mechanical parking device of the present invention employ the following means.

A control device for a mechanical parking device according to a first aspect of the present invention is a control device for a mechanical parking device in which a vehicle that can be operated and controlled by a control signal transmitted from the mechanical parking device enters and exits. Vehicle control that generates a guidance control signal for restricting a user's driving operation on the vehicle that enters or leaves the mechanical parking device according to the driving state of the mechanical parking device Means and a transmission means installed in the mechanical parking device and transmitting the guidance control signal to the vehicle.

  The control apparatus which concerns on this structure controls the mechanical parking apparatus with which the vehicle in which the driving | operation control is possible by the control signal transmitted from a mechanical parking apparatus enters / exits. The position of the vehicle is, for example, the position of the vehicle inside the passenger compartment.

The mechanical parking apparatus is provided with transmission means for transmitting a control signal to the vehicle. The transmission means transmits a control signal by, for example, DSRC (Dedicated Short Range Communications).
And a vehicle control means produces | generates the control signal for performing driving control of the vehicle according to the driving | running state of a mechanical parking apparatus. That is, a different control signal is transmitted to the vehicle according to the driving state of the mechanical parking device.

For example, when the driving state of the mechanical parking device is a warehousing operation, it is preferable that the vehicle slowly move in the passenger compartment, so that a control signal for limiting the maximum speed of the vehicle to a predetermined speed or less (for example, 5 km or less) Sent. Further, when the driving state of the mechanical parking device is the leaving operation, a control signal for prohibiting the backward movement of the vehicle is transmitted to the vehicle.
In this way, the control signal controls the vehicle according to the driving state of the mechanical parking device regardless of the driving of the vehicle by the user.

  As described above, according to this configuration, since the driving of the entering and leaving the vehicle is controlled according to the position of the vehicle and the driving state of the mechanical parking device, the safety and convenience of driving the mechanical parking device. Can be improved.

  In the first aspect, the vehicle control means may generate the control signal according to a detection result of a detection means for detecting a driving state of the mechanical parking device and a position of the vehicle.

  According to this configuration, since a more suitable control signal according to the driving state of the mechanical parking device and the position of the vehicle can be generated, the safety and convenience of driving of the mechanical parking device can be further improved.

  In the first aspect, the control signal may be a signal that restricts an inappropriate operation on the vehicle entering and leaving the mechanical parking device.

  According to this structure, since the accident at the time of entering / exiting a vehicle is prevented, the safety | security and the convenience of driving | operation of a mechanical parking apparatus can be improved.

  In the first aspect, the machine includes a receiving unit that receives a vehicle state signal indicating the state of the vehicle transmitted from the vehicle, and the machine state signal indicates a state that is not appropriate for warehousing of the vehicle. The warehousing operation of the parking system may be stopped.

  According to this configuration, the vehicle state signal is received by the receiving means. The vehicle state signal is a signal indicating the state of the vehicle transmitted from the vehicle, and is, for example, an engine operation state, a door or trunk lock state, a parking brake operation state, or the like.

And when a vehicle state signal has shown the state which is not suitable for the receipt of the said vehicle, the warehousing operation of a mechanical parking apparatus is stopped. That is, if the vehicle status signal indicates that the engine is running, the door or trunk is not locked, the parking brake is not activated, etc., the vehicle is transported through the mechanical parking device. Accidents may occur. For this reason, when such a vehicle state signal is received, warehousing operation is stopped.
When the warehousing operation is stopped, the fact that the warehousing operation has been stopped is displayed on the operation panel, for example.
Thus, this structure can prevent an accident that may occur in the mechanical parking apparatus.

  In the first aspect, the vehicle control means may cause the transmission means to transmit the control signal for invalidating unlocking by remote operation while the mechanical parking device is transporting the vehicle. .

  According to this configuration, in entering or leaving the vehicle, it is possible to prevent the doors or trunks of the vehicle from being unlocked while the mechanical parking device is transporting the vehicle. Accidents that may occur can be prevented in advance.

  In the first aspect, the transmission means may perform narrow area communication.

  According to this structure, since the vehicle which transmits control signal can be limited, transmission of the control signal to a wrong vehicle can be prevented.

A control device for a mechanical parking device according to a second aspect of the present invention is a control device for a mechanical parking device in which a vehicle that can be operated and controlled by a control signal transmitted from the mechanical parking device enters and exits. Vehicle control means for generating a guidance control signal for performing driving control of the vehicle according to the driving state of the mechanical parking device; and transmission of the guidance control signal to the vehicle installed in the mechanical parking device The transmission means for performing the operation and the vehicle control means cause the transmission means to transmit the guidance control signal for invalidating the unlocking by remote operation while the mechanical parking device is transporting the vehicle.
A mechanical parking apparatus according to a third aspect of the present invention is a mechanical parking apparatus in which a vehicle that can be operated and controlled by a control signal transmitted from the mechanical parking apparatus enters and exits, and the control apparatus described above Is provided.

A control method for a mechanical parking device according to a fourth aspect of the present invention is a control method for a mechanical parking device in which a vehicle that can be driven and controlled by a control signal transmitted from the mechanical parking device enters and exits. , in accordance with the operation state of the mechanical parking device, and as engineering that generates a guidance control signal for limiting the driving operation of the user relative to the vehicle entry and leaving the mechanical parking device Previous Stories vehicle including a higher row cormorants Engineering transmission of the guidance control signal.
A control method for a mechanical parking device according to a fifth aspect of the present invention is a control method for a mechanical parking device in which a vehicle that can be driven and controlled by a control signal transmitted from the mechanical parking device enters and exits. And a step of generating a guidance control signal for performing driving control of the vehicle according to a driving state of the mechanical parking device, and a step of transmitting the guidance control signal to the vehicle. While the portable parking apparatus is transporting the vehicle, the guidance control signal for invalidating unlocking by remote control is transmitted to the vehicle.

  ADVANTAGE OF THE INVENTION According to this invention, it has the outstanding effect that the safety | security and convenience of driving | operation of a mechanical parking apparatus can be improved.

It is a longitudinal section showing an example of a mechanical parking device concerning an embodiment of the present invention. It is a perspective perspective view which shows the boarding room which concerns on embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a layout diagram of sensors according to an embodiment of the present invention, (a) is a layout diagram of each sensor in a passenger compartment, and (b) is a chart list showing functions of each sensor. It is a perspective view of the operation panel which concerns on embodiment of this invention. It is a schematic diagram of each electronic control device with which a longitudinal section of a boarding room and a vehicle concerning an embodiment of the present invention are provided. It is a block diagram which shows schematic structure of the control system of the mechanical parking apparatus which concerns on embodiment of this invention. It is a flowchart which shows the flow of the guidance operation control at the time of the warehousing which concerns on embodiment of this invention. It is a flowchart which shows the flow of the guidance operation control at the time of the warehousing which concerns on embodiment of this invention. It is a flowchart which shows the flow of the guidance operation control at the time of the delivery which concerns on embodiment of this invention. It is a flowchart which shows the flow of the guidance operation control at the time of the delivery which concerns on embodiment of this invention.

  EMBODIMENT OF THE INVENTION Below, one Embodiment of the control apparatus of the mechanical parking apparatus which concerns on this invention, a mechanical parking apparatus, and the control method of a mechanical parking apparatus is described with reference to drawings.

FIG. 1 is a longitudinal sectional view of an elevator type mechanical parking apparatus 1 showing an example of a mechanical parking apparatus according to the present embodiment. Note that the present invention can be widely applied as long as it is a mechanical parking device that allows a parked vehicle to be loaded and unloaded by a transporter, and is not limited to an elevator type three-dimensional parking lot described below.
Further, in the mechanical parking apparatus 1 according to the present embodiment, the vehicle 2 that can be operated and controlled by the control signal transmitted from the mechanical parking apparatus 1 enters and exits. In other words, this control signal is a signal that guides entry / exit of the vehicle 2 and is hereinafter referred to as a guidance control signal. Further, the vehicle 2 transmits a vehicle state signal indicating the state of the vehicle 2 to the mechanical parking device 1 in response to a request from the mechanical parking device 1. The vehicle state signal is obtained, for example, by a self-diagnosis function (On-Board Diagnostics: OBD, for example, OBD2) output from an electronic control unit (hereinafter referred to as “ECU”) of the vehicle 2 as described later. It is a signal based on the diagnosis result.

  The mechanical parking device 1 is an elevator-type tower type three-dimensional parking device capable of accommodating a plurality of vehicles 2 and includes a parking tower 5 provided with an entrance / exit 3 and an entrance / exit door 4. The ground floor of the parking tower 5 is a boarding room 7 for entering and leaving the vehicle 2, and a turntable 8 for changing the direction of the vehicle 2 is installed on the floor surface. The turntable 8 has a configuration in which a swivel plate 10 and a swivel drive unit 11 are provided in a concave pit 9 formed on the floor surface of the entrance room 7.

  A vertical elevating passage 13 is formed at the center of the parking tower 5, and a lift 14 (elevator-like transport machine) is provided in the elevating passage 13 so as to be vertically movable. The lift 14 is suspended at four corners by a plurality of wire ropes 15 extending downward from a winch (not shown) provided at the upper part of the parking tower 5, for example, and moves up and down in the lift passage 13 when the winch is activated. be able to.

  On the other hand, vehicle storage shelves 17 (parking spaces) are provided on both sides of the lift passage 13. The vehicle storage shelves 17 are provided in a multi-layered shape so as to sandwich the up-and-down passage 13, and each vehicle storage shelf 17 accommodates one pallet 18 for loading the vehicle 2. In addition, the illustration of the column of the vehicle storage shelf 17 is omitted.

  When the heights of the floor surfaces of the lift 14 and the vehicle storage rack 17 coincide with each other, the empty pallet 18 or the pallet 18 loaded with the vehicle 2 is stored from the lift 14 into the vehicle. A delivery mechanism (not shown) that can smoothly deliver to the shelf 17 or from the vehicle storage shelf 17 to the lift 14 is provided.

  FIG. 2 is a perspective perspective view showing the passenger compartment 7. When viewed from the outside, there is an emergency entrance 20 on the left side of the entry / exit door 4, and an entrance control lamp 21 provided with blue and red lamps is provided at the top of the entrance / exit door 4. Further, for example, an operation panel 22 is provided on the right side toward the entry / exit door 4. The operation panel 22 is operated by a user (driver) of each vehicle 2 entering the mechanical parking device 1. Reference numeral 23 denotes a three-color lamp that indicates a control state of the mechanical parking apparatus 1.

  Inside the entrance room 7, there is a space where the pallet 18 is arranged in the center, a mirror 24 for the driver to confirm the position of the vehicle 2 on the front wall of the entrance / exit door 4, “forward”, An electric stop position indicator lamp 25 that provides guidance for “stop” and “reverse” is provided.

  A standing parking control device 40 that controls the entire mechanical parking device 1 is installed inside the entrance room 7 or outside the entrance room 7. The standing control device 40 is a device that executes a series of loading / unloading operations by the lift 14, and performs loading / unloading operations while exchanging information with the operation panel 22, as will be described later.

  In addition, DSRC antennas 29-1 and 29-2 that transmit and receive signals (guidance control signals, vehicle state signals, etc.) to and from the vehicle 2 are installed in the mechanical parking device 1. The DSRC antennas 29-1 and 29-2 perform narrow-area communication with the vehicle 2 by, for example, DSRC (Dedicated Short Range Communications). Since the vehicle 2 that transmits and receives signals is limited by the narrow area communication, signal transmission and reception with the wrong vehicle 2 is prevented.

The vicinity of the outside of the entrance room 7 where the DSRC antenna 29-1 is installed is above the entrance / exit 3 and next to the entrance control lamp 21. By installing the DSRC antenna 29-1 at this position, signals can be transmitted to and received from the vehicle 2 before entering the vehicle or the vehicle 2 after leaving the store.
The inside of the entrance room 7 where the DSRC antenna 29-2 is installed is the back of the entrance room 7 and above the stop position indicator lamp 25. By installing the DSRC antenna 29-2 at this position, signals can be transmitted to and received from the vehicle 2 in the passenger compartment 7.

  In addition, a plurality of sensors 30 for detecting the presence of a vehicle 2 and a person such as a user, the size, position, and the like of the vehicle 2 in the entrance room 7 are provided at various locations inside the entrance room 7. (In FIG. 2, all sensors are simply indicated by reference numeral 30). The stop position indicator lamp 25 guides the vehicle position to the driver of the vehicle 2 based on the vehicle position data detected by each sensor 30.

  FIG. 3A is a layout diagram of the sensors 30 (301 to 320) in the passenger compartment 7, and FIG. 3B is a chart list showing the functions of the sensors 301 to 320. These sensors are opposed to each other in pairs, and the infrared beam 30a is distributed between them. When the infrared beam 30a is shielded by the vehicle 2 or a person, the sensors are turned on, and the detection is performed. A signal is transmitted to the standing control device 40.

  Furthermore, for example, four entrance room cameras 35 </ b> A to 35 </ b> D are installed for photographing the internal state of the entrance room 7. These entrance cameras 35 </ b> A to 35 </ b> D are respectively attached to different wall surfaces (four surfaces) of the entrance room 7, and the entrance room camera 35 </ b> A photographs the front of the vehicle 2 stopped in the entrance room 7. 35B images the rear surface of the vehicle 2, the entrance room camera 35C images the left side surface of the vehicle 2, and the entrance room camera 35D images the right side surface of the vehicle 2.

  FIG. 4 is a perspective view of the operation panel 22. The operation panel 22 is housed in a metal housing 43 for protection from wind and rain and prevention of mischief, and the housing 43 is provided with a lockable lid 44. When the user operates the operation panel 22, the lock is unlocked, the lid 44 is opened, and the operation panel 22 is accessed. For example, the lid 44 may be automatically unlocked as the user approaches by using a transponder provided on a dedicated remote controller carried by the user.

  The operation panel 22 is transmitted from a touch panel type operation screen 45 for a user to perform an authentication operation, a mechanical operation such as opening / closing of the entry / exit door 4 and activation of the lift 14, and a portable authentication medium such as an IC card or a remote control. The reader 46 for reading the transponder signal and the like, the speaker 47 for guiding the operation method to the user by voice, the emergency stop button 48 and the like are arranged.

  For example, a display unit 45a such as an operation guide and an input unit 45b such as a numeric keypad are displayed on the operation screen 45. These displays are not necessarily displayed in a specific section of the operation screen 45, and the entire operation screen 45 may become the display unit 45a or the input unit 45b.

  FIG. 5 is a schematic view of the vertical cross section of the passenger compartment 7 and the ECUs and the like provided in the vehicle 2.

  The vehicle 2 includes a communication device 64 that transmits and receives a guidance control signal or a vehicle state signal to and from the DSRC antennas 29-1 and 29-2. As an example, the communication device 64 is an ETC vehicle-mounted device capable of transmitting and receiving signals by DSRC, but is not limited thereto, and may be a car navigation device or the like having a communication function by DSRC.

  The vehicle 2 includes a trunk ECU 65-1, a smart key ECU 65-2, an engine ECU 65-3, a door mirror ECU 65-4, a brake ECU 65-5, and a lamp ECU 65-6 as ECUs. In the following description, the trunk ECU 65-1, the smart key ECU 65-2, the engine ECU 65-3, the lamp ECU 65-6, the brake ECU 65-5, and the door mirror ECU 65-4 are simply referred to as the ECU 65. Each ECU is supplied with power by a battery (for example, a 24V battery) even when the engine is turned off.

The trunk ECU 65-1 locks and unlocks the trunk. Further, the trunk ECU 65-1 outputs a trunk clock signal indicating a locked or unlocked state of the trunk (hereinafter referred to as “locked state”) as a vehicle state signal.
The smart key ECU 65-2 receives a signal from a remote control key such as a smart key that remotely locks and unlocks the door, and locks and unlocks the door. Moreover, smart key ECU65-2 outputs the door lock signal which shows the locked state of a door as a vehicle state signal.
The engine ECU 65-3 controls the engine. The engine ECU 65-3 outputs an engine signal indicating the engine operating state as a vehicle state signal.
The door mirror ECU 65-4 opens and closes the door mirror. Moreover, door mirror ECU65-4 outputs the door mirror signal which shows the opening / closing state of a door mirror as a vehicle state signal.
The brake ECU 65-5 controls the brake. Moreover, brake ECU65-5 outputs the brake signal which shows the operating state of a parking brake as a vehicle state signal.
The lamp ECU 65-6 turns on and off the head lamp, the tail lamp, and the like. The lamp ECU 65-6 outputs a lamp signal indicating the lighting state of the headlamp, tail lamp, indoor lamp, and the like as the vehicle status signal.

  Thus, the vehicle state signal transmitted from the ECU 65 to the mechanical parking device 1 is a diagnosis result output from the ECU 65 by, for example, the OBD 2, and the safety of the vehicle 2 in the mechanical parking device 1 as will be described later. It is a signal for discriminating that proper conveyance is possible.

  As an example, each ECU 65 performs transfer (data transfer) of a guidance control signal, a vehicle state signal, and the like by a CAN (Controller Area Network) protocol.

The guidance control signal received by the communication device 64 is converted by the CAN communication device 66 so that it can be transferred to the ECU 65 in accordance with the CAN protocol.
Further, the vehicle state signal in accordance with the CAN protocol output from the ECU 65 is converted by the CAN communication device 66 so as to be input to the communication device 64.

  FIG. 6 is a block diagram showing a schematic configuration of a control system of the mechanical parking device 1 by the standing parking control device 40. An operation panel 22 is connected to the standing control device 40. The touch panel type operation screen 45 of the operation panel 22 includes the display unit 45a and the input unit 45b as described above, and various information input by the user from the operation screen 45 is transmitted to the standing control device 40. Various types of information sent from the standing control device 40 are displayed on the operation screen 45.

  The standing control device 40 includes, for example, a central processing unit (CPU), a random access memory (RAM), a read only memory (ROM), and a computer-readable storage medium. A series of processes for realizing various functions is stored in a storage medium or the like in the form of a program as an example, and the CPU reads the program into a RAM or the like to execute information processing / arithmetic processing. As a result, various functions are realized. The program is preinstalled in a ROM or other storage medium, provided in a state stored in a computer-readable storage medium, or distributed via wired or wireless communication means. Etc. may be applied. The computer-readable storage medium is a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, or the like.

  The standing control device 40 includes an operation control unit 51 that performs machine control, authentication control, screen display / scroll processing, input information processing, safety confirmation processing, and the like, and is connected to a general database 52. The general database 52 stores data such as a user DB that stores user authentication numbers, vehicle presence conditions, pallet shape types, vehicle storage shelf shape types, and the like.

  The operation control unit 51 includes an entry / exit door control unit 55, a transfer machine control unit 56, an entry / exit monitoring control unit 57, a camera control unit 58, an image database 59, a vehicle weight measurement / control unit 61, and a turning drive unit control. Each control unit such as the unit 62 is connected.

  The entry / exit door control unit 55 receives an operation command from the operation control unit 51 to open / close the entry / exit door 4, receives a position signal of the entry / exit door 4 from the entry / exit door sensor 67, and sends the information to the operation control unit. Feedback to 51.

  The transport machine control unit 56 receives an operation command from the operation control unit 51 and causes the lift 14 (transport machine) to move up and down and unload the pallet 18, and receives a position signal of the lift 14 from the transport machine position sensor 68. The information is fed back to the operation control unit 51.

  The entrance / exit monitoring control unit 57 receives an operation command from the operation control unit 51, and from the numerous sensors 30 (301 to 320) installed in the entrance room 7, the presence / absence of the vehicle 2 and the person in the entrance room 7 Information such as the position is received, and the information is fed back to the operation control unit 51.

  The camera control unit 58 receives an operation command from the operation control unit 51, causes the plurality of entrance room cameras 35 </ b> A to 35 </ b> D installed in the entrance room 7 to capture images, and feeds back the image information to the operation control unit 51. To do. Image information is stored in the image database 59 for a predetermined period. Note that the image database 59 may be provided inside the general database 52 or on the cloud.

  The vehicle weight measurement / control unit 61 receives an operation command from the operation control unit 51, measures the vehicle weight of the vehicle 2 mounted on the lift 14 with the vehicle measuring instrument 69, and receives the information via the vehicle weight sensor 70. Is fed back to the operation control unit 51. The vehicle weight information is used for controlling the lift 14 and the like.

  The turning drive unit control unit 62 receives the operation command from the operation control unit 51, operates the turning drive unit 11 (turn table 8), receives the turning position signal of the turn table 8 from the turn table position sensor 71, Information is fed back to the operation control unit 51.

  The driving control unit 51 receives the feedback from each of the control units 55, 56, 57, 58, 61, 62 and controls the mechanical parking device 1.

  Note that the mechanical parking device 1 according to the present embodiment is operated by a user in order to make an entry reservation board (not shown) operated by the user to make an entry reservation for the vehicle 2 or to make an exit reservation for the vehicle 2. A shipping reservation board (not shown) is provided. The operation control unit 51 makes a warehousing reservation or a warehousing reservation for the vehicle 2 in response to an input to the warehousing reservation board or the warehousing reservation board.

In addition, the operation control unit 51 according to the present embodiment allows the guidance control signal to be transmitted / received to / from the communication device 64 included in the vehicle 2 via the DSRC antenna 29-1 or the DSRC antenna 29-2. Are transmitted to the DSRC antenna 29-1 or the DSRC antenna 29-2. In addition, when the DSRC antenna 29-1 or the DSRC antenna 29-2 receives a driving state signal from the vehicle 2, the driving control unit 51 controls the mechanical parking device 1 in consideration of the driving state signal.
An antenna control device 72 is connected to the operation control unit 51. The antenna control device 72 converts the guidance control signal input from the operation control unit 51 so that it can be transmitted by the DSRC antennas 29-1 and 29-2, and transmits the converted signal from the DSRC antennas 29-1 and 29-2. Further, the antenna control device 72 converts the operation state signal received by the DSRC antennas 29-1 and 29-2 so that it can be processed by the operation control unit 51, and outputs the converted signal to the operation control unit 51.

  Next, a vehicle guidance operation in which a guidance control signal is transmitted from the mechanical parking device 1 to the vehicle 2 to perform the warehousing operation or the warehousing operation of the vehicle 2 will be described.

The driving control unit 51 included in the standing parking control device 40 generates a guidance control signal according to the driving state of the mechanical parking device 1 and the detection result of the vehicle position by the sensor 30. Thereby, a guidance control signal changes according to the driving | running state of the mechanical parking apparatus 1, and the position of the vehicle 2, and is used as a more suitable control signal. In other words, the guidance control signal controls the vehicle according to the driving state of the mechanical parking device 1 and the detection result of the vehicle position regardless of the driving of the vehicle 2 by the user.
In this way, the operation control unit 51 has a function as a vehicle control unit that controls the vehicle 2 to be loaded and unloaded by generating the guidance control signal.

Then, the operation control unit 51 transmits the generated guidance control signal to the DSRC antennas 29-1 and 29-2.
Note that the ECU attribute information indicating which ECU 65 should be input to the guidance control signal is added.

  Hereinafter, an example of the guidance control signal will be described.

For example, when the operation state of the mechanical parking device 1 is a warehousing operation and the sensor 30 detects that the vehicle 2 has entered the entry room 7, it is preferable that the vehicle 2 moves slowly in the entry room 7. A guidance control signal for limiting the maximum speed of the vehicle 2 to a predetermined speed or less (for example, 5 km or less) is transmitted to the vehicle 2.
The vehicle 2 that has received the guidance control signal inputs this guidance control signal to the engine ECU 65-3. As a result, the engine ECU 65-3 limits the speed of the vehicle 2 below the predetermined speed even when the accelerator is depressed.

Further, for example, when the driving state of the mechanical parking device 1 is a warehousing operation and the vehicle 2 is detected at the stop position on the pallet 18 by the sensor 30, the vehicle 2 should not move further forward from the stop position. Therefore, a guidance control signal for prohibiting the accelerator operation of the vehicle 2 is transmitted to the vehicle 2.
The vehicle 2 that has received the guidance control signal inputs this guidance control signal to the engine ECU 65-3. Thereby, even if the accelerator is depressed, the engine ECU 65-3 puts the engine in an idle state and suppresses the vehicle 2 from moving forward.

Further, for example, the operation state of the mechanical parking device 1 is a delivery operation, the front of the vehicle 2 is placed on the pallet 18 facing the entrance / exit door 4 side, and the vehicle 2 is stopped on the pallet 18 by the sensor 30. When the vehicle 2 is detected, the vehicle 2 should not move backward, so that a guidance control signal for prohibiting the vehicle 2 from moving backward is transmitted to the vehicle 2.
The vehicle 2 that has received the guidance control signal inputs this guidance control signal to the engine ECU 65-3. As a result, the engine ECU 65-3 is set to the back gear, and even if the accelerator is depressed, the engine is in an idle state and the backward movement of the vehicle 2 is suppressed.

  In addition, when only the vehicle 2 is moved backward, a guidance control signal that disables forward movement is transmitted.

  As described above, the guidance control signal is a signal that restricts an inappropriate operation on the vehicle 2 entering and leaving the mechanical parking apparatus 1. Thereby, since a user does not follow a vehicle guidance instruction | indication, or the accident of the vehicle 2 by a user's carelessness or a misoperation is prevented, the safety | security and the convenience of driving | operation of the mechanical parking apparatus 1 are improved.

  Further, the operation control unit 51 transmits a request signal for requesting the vehicle 2 to transmit a vehicle state signal. When the communication device 2 receives the request signal, the vehicle 2 transmits a vehicle state signal from the communication device 2 to the mechanical parking device 1. And the driving | operation control part 51 stops the warehousing operation of the mechanical parking apparatus 1, when the vehicle state signal received from the vehicle 2 has shown the state which is not suitable for warehousing of the vehicle 2. FIG.

For example, the received vehicle status signal indicates that the engine is running, the door or trunk is unlocked, the parking brake is not activated, the door mirror is open, and the antenna is stored. If the vehicle 2 is transported through the mechanical parking device 1, an accident may occur.
Specifically, if the engine is operating while the vehicle 2 is being transported, the temperature inside the mechanical parking device 1 rises due to exhaust heat or exhaust gas is filled, which is not preferable. Further, when the door or trunk is unlocked during the transportation of the vehicle 2, the door or trunk is opened, whereby the sensor 30 provided in the mechanical parking device 1 is activated, and the mechanical parking device is caused by a sudden stop of transportation or the like. 1 or the vehicle 2 may be broken or damaged. Further, if the parking brake is not activated during the transportation of the vehicle 2, the vehicle 2 may move during the transportation, and the mechanical parking device 1 or the vehicle 2 may be broken or damaged. In addition, if the door mirror or antenna is not retracted during the transportation of the vehicle 2, the mechanical parking device 1 or the vehicle 2 may be damaged or damaged due to contact with the inside of the mechanical parking device 1. is there. Furthermore, if the lamp of the vehicle 2 remains on, there is a possibility of electric shortage (battery running out) when the vehicle 2 leaves the store.

For this reason, when it is determined that the vehicle 2 is not suitable for warehousing, such as when the received vehicle state information indicates the possibility of hindering safe warehousing of the vehicle 2 as described above, the warehousing operation is stopped. . That is, the vehicle 2 remains placed on the pallet 18 in the entry room 7, and the pallet 18 on which the vehicle 2 is placed is not stored in the vehicle storage shelf 17.
Thereby, the accident which may arise in the mechanical parking apparatus 1 is prevented beforehand.

  When the warehousing operation is stopped, the fact that the warehousing operation has been stopped is displayed on the operation panel 22, for example. As a result, the user can grasp that the warehousing operation has been stopped, perform an appropriate operation so as to be able to enter the vehicle 2, and resume the warehousing operation.

Further, when the mechanical parking device 1 is transporting the vehicle 2 between the passenger compartment 7 and the vehicle storage shelf 17, the operation control unit 51 disables the unlocking of the door and the trunk remotely by a remote control key or the like. Are generated and transmitted to the DSRC antennas 29-1 and 29-2.
According to this, in entering or leaving the vehicle 2, it is possible to prevent the doors of the vehicle 2 from being unlocked while the mechanical parking device 1 is transporting the vehicle 2, so that the vehicle 2 is mechanical. Accidents that may occur when transported through the parking device 1 can be prevented.

7 and 8 are flowcharts showing the flow of the vehicle guidance operation when the vehicle 2 is received.
7 and 8, from the left end, the movement of the vehicle 2 and the user ("vehicle / user" in the figure), the operation of the operation panel 22 ("operation panel" in the figure), and the operation of the standing control device 40 (in the figure). “Standing control device”), operation of the mechanical parking device 1 (“mechanical parking device” in the figure), operation of the communication device 64 provided in the vehicle 2 (“communication device” in the drawing), and the ECU 65 provided in the vehicle 2 Each operation (“ECU” in the figure) is shown. In the figure, “operation panel”, “standing control device”, and “mechanical parking device” are operations on the multi-story parking lot side, and “communication device” and “ECU” in the diagram are operations on the vehicle side.

  When the user who gets on and enters the vehicle 2 arrives in front of the mechanical parking apparatus 1 (S100) and the user gets off and arrives in front of the operation panel 22 (S102), the user enters the operation panel 22 A warehousing call operation is performed on (S104). The operation panel 22 receives the input of the user authentication number by the operation of the user, and transmits the start of the warehousing call to the standing control device 40 (S200). The standing control device 40 performs user authentication to collate the input authentication number with the user DB stored in the general database 52, and determines an incoming pallet (empty pallet) on which the vehicle 2 is placed. (S300). Then, the standing control device 40 activates warehousing and instructs the mechanical parking device 1 to take out the determined empty pallet 18 (S302), and the mechanical parking device 1 stores the determined empty pallet 18 in the vehicle. It is taken out from the shelf 17 and transported to the boarding room 7 (S400).

  During this time, the operation panel 22 displays a waiting time during which the empty pallet 18 arrives at the entry room 7 together with the user number indicating the current user (S202). The user who confirmed the waiting time returns to the vehicle 2 (S106).

  When the empty pallet 18 arrives at the entry room 7 (S402), the mechanical parking device 1 opens the entry / exit door 4 (S404). Then, the standing control device 40 starts control for guiding the warehousing of the vehicle 2 (hereinafter referred to as “garden guidance control”) (S304). Along with this, the operation panel 22 displays warehousing guidance for urging the warehousing, and the warehousing control lamp 21 is lit to indicate warehousing permission (S204). The user who has confirmed these moves the vehicle 2 into the multi-story parking lot (S108), and enters the vehicle 2 into the passenger compartment 7 (S110).

  When the vehicle 2 is guided to enter, the mechanical parking device 1 transmits the detection result of the vehicle position indicated by the sensor 30 to the standing control device 40 (S406). The standing control device 40 generates a guidance control signal according to the warehousing operation state and the detection result, and transmits the guidance control signal to the vehicle 2 from the DSRC antennas 29-1 and 29-2. The guidance control signal at this time limits the speed of the vehicle 2 as an example. When the communication device 64 of the vehicle 2 receives the guidance control signal, it transmits the guidance control signal to the ECU 65 (S500), and the ECU 65 limits the speed of the vehicle 2 according to the guidance control signal (S600).

  When the entry of the vehicle 2 into the entry room 7 is completed (S112), the standing control device 40 completes the entry guidance control (S306). In the warehousing guidance control, when the sensor 30 detects that the vehicle 2 has stopped (S408), a guidance control signal corresponding to the detection result is generated, and the guidance control signal is used as the DSRC antennas 29-1 and 29-2. Is completed by transmitting to the vehicle 2. The guidance control signal at this time restricts the forward movement of the vehicle 2 as an example. When receiving the guidance control signal, the communication device 64 of the vehicle 2 transmits the guidance control signal to the ECU 65 (S502), and the ECU 65 limits the forward movement of the vehicle 2 according to the guidance control signal (S602).

  Then, the user gets off the vehicle, moves to the front of the operation panel 22 (S114), confirms safety in the entrance room 7, and presses a safety confirmation button (S206). As a result, the pallet 18 on which the vehicle 2 is placed can be stored in the vehicle storage shelf 17 from the entry room 7. Therefore, the standing control device 40 transmits a transmission request for the vehicle state signal. When the communication device 64 of the vehicle 2 receives the transmission request, the vehicle state signal output from the ECU 65 is transmitted to the mechanical parking device 1 (S604, S504). The standing control device 40 confirms the vehicle state signal (S308), and determines whether the vehicle state signal is appropriate for receiving the vehicle 2 (S312). If the determination in step 312 is affirmative, an image prompting to close the entry / exit door 4 is displayed on the operation panel 22. On the other hand, if the determination in step 312 is negative, an image indicating that the warehousing operation is stopped and the state of the vehicle 2 (such as the mirror not closed) is displayed on the operation panel 22 (S208). The user who has confirmed this enters the boarding room 7, checks the vehicle 2, corrects the state of the vehicle 2 so as to allow entry (S116), and presses the safety check button on the operation panel 22 again (S116). S206).

  In step 116, when the operation panel 22 can control the vehicle 2, the operation control panel 22 may be operated to transmit a guidance control signal to the vehicle 2 to correct the state of the vehicle 2. For example, when the headlamp is in a lighting state, a guidance control signal for turning off the headlamp is transmitted by operating the operation panel 22. When the vehicle 2 receives this guidance control signal, the lamp ECU 65-6 turns off the headlamp.

  If an affirmative determination is made in step 312 and the user presses the door close button on the operation panel 22 (S210), the standing control device 40 generates a guidance control signal that invalidates the operation of the remote control key, and this guidance control. The signal is transmitted from the DSRC antennas 29-1 and 29-2 to the vehicle 2 (S314). When receiving the guidance control signal, the communication device 64 of the vehicle 2 transmits the guidance control signal to the ECU 65 (S506), and the ECU 65 invalidates the operation by the remote control key in accordance with the guidance control signal (S606).

  When the door close button is pressed, the standing control device 40 transmits an instruction to close the entry / exit door 4 to the mechanical parking device 1 (S316), and the mechanical parking device 1 closes the entry / exit door 4 (S410). The user leaves the multistory parking lot (S118).

  9 and 10 are flowcharts showing the flow of the vehicle guidance operation when the vehicle 2 is leaving.

  When the user who issues the vehicle 2 arrives in front of the operation panel 22 (S150), the user performs an exit calling operation on the operation panel 22 (S152). The operation panel 22 receives the input of the user authentication number by the operation of the user, and transmits the start of the outgoing call to the standing control device 40 (S250). The standing control device 40 performs user authentication and determines a delivery pallet (actual pallet) on which the vehicle 2 to be delivered is placed (S350). Then, the standing control device 40 instructs the mechanical parking device 1 to take out the determined actual pallet 18 as a delivery start (S352). The mechanical parking apparatus 1 takes out the determined actual pallet 18 from the vehicle storage shelf 17 and conveys it to the entry room 7 (S450).

  During this time, the operation panel 22 displays a waiting time during which the actual pallet 18 arrives at the entry room 7 together with the user number (S252). The user who confirmed the waiting time moves to the entrance room 7 (S154).

When the actual pallet 18 arrives at the entry room 7 (S452), the mechanical parking device 1 opens the entry / exit door 4 (S454). Then, the standing control device 40 generates a guidance control signal for enabling remote operation by the remote control key, and transmits this guidance control signal from the DSRC antennas 29-1 and 29-2 to the vehicle 2 (S354). When receiving the guidance control signal, the communication device 64 of the vehicle 2 transmits the guidance control signal to the ECU 65 (S550), and the ECU 65 validates the operation by the remote control key in accordance with the guidance control signal (S650).
On the other hand, a delivery entrance guidance for prompting delivery is displayed on the operation panel 22 (S254). The user who has confirmed the exit / entry guidance enters the entry room 7 (S156), gets on the vehicle 2 and starts the engine (S158).

  Then, when the sensor 30 detects the start of movement of the vehicle 2 (S160, S456), the standing control device 40 starts control (hereinafter referred to as “shipping guidance control”) for guiding the vehicle 2 to leave. S356).

  Then, the standing control device 40 generates a guidance control signal corresponding to the leaving operation state and the detection result, and transmits the guidance control signal from the DSRC antennas 29-1 and 29-2 to the vehicle 2 (S356). The guidance control signal at this time is, for example, a signal for limiting the speed of the vehicle 2 and a signal for limiting the backward movement of the vehicle 2. When receiving the guidance control signal, the communication device 64 of the vehicle 2 transmits data of the guidance control signal to the ECU 65 (S552), and the ECU 65 performs speed limitation and backward limitation of the vehicle 2 according to the guidance control signal (S652).

  When the delivery of the vehicle 2 is completed (S162), the standing controller 40 completes the delivery guidance control when the sensor 30 no longer detects the vehicle 2 (S458) (S358). Along with this, the standing control device 40 generates a guidance control signal for releasing the speed limit and the reverse limit, and transmits the guidance control signal from the DSRC antennas 29-1 and 29-2 to the vehicle 2. When receiving the guidance control signal, the communication device 64 of the vehicle 2 transmits the guidance control signal to the ECU 65 (S554), and the ECU 65 releases the speed limit and the backward limit of the vehicle 2 according to the guidance control signal (S654).

  When the delivery is completed, the user gets off the vehicle, moves to the front of the operation panel 22 (S164), confirms safety in the entrance room 7, and presses a safety confirmation button (S256). Thereafter, when the user presses the door close button on the operation panel 22 (S258), the standing control device 40 transmits an instruction to close the entry / exit door 4 to the mechanical parking device 1 (S360), and the mechanical parking device. 1 closes the entry / exit door 4 (S460). Then, the user gets on and leaves the multistory parking lot (S166).

As described above, the mechanical parking apparatus 1 according to the present embodiment includes the sensor 30 that detects the position of the vehicle 2 when the vehicle 2 that can be driven and controlled by the guidance control signal enters and exits. The standing control device 40 generates a guidance control signal according to the driving state of the mechanical parking device 1 and the detection result of the sensor 30. The DSRC antennas 29-1 and 29-2 installed in the mechanical parking apparatus 1 transmit guidance control signals to the vehicle 2.
Thereby, since the driving | operation of the vehicle which comes in / out is controlled according to the position of the vehicle 2 and the driving | running state of the mechanical parking apparatus 1, the safety | security and the convenience of driving | operation of the mechanical parking apparatus 1 can be improved.

  As mentioned above, although this invention was demonstrated using the said embodiment, the technical scope of this invention is not limited to the range as described in the said embodiment. Various changes or improvements can be added to the above-described embodiment without departing from the gist of the invention, and embodiments to which the changes or improvements are added are also included in the technical scope of the present invention. Moreover, you may combine the said embodiment suitably.

For example, a residence sensor such as a CO ₂ sensor or a voice sensor may be provided in the vehicle 2 and these detection results may be transmitted as vehicle state information. Thus, even if the user presses the safety confirmation button on the operation panel 22 (S206), if the vehicle state information indicates that the CO ₂ or voice is detected by the sensor, the passenger remains in the vehicle. The warehousing of the vehicle 2 is stopped.
Further, when it is detected that a passenger remains in the vehicle as described above, for example, this is also notified to an operation panel or the like in the manager's room of the mechanical parking device 1, and the manager is left in the vehicle. It may be possible to cope.

  Moreover, although the said embodiment demonstrated the form which performs transmission / reception of the signal of the vehicle 2 and the mechanical parking apparatus 1 by DSRC, this invention is not limited to this, Transmission / reception of a signal is Wi-Fi. (Registered trademark) or Bluetooth (registered trademark) that performs narrow area communication may be used. In the case of this form, for example, a portable information terminal (for example, a smartphone or a portable personal computer) may be used as the communication device 64, and the portable terminal device or the like may be connected to the CAN communication device 66.

  Moreover, although the said embodiment demonstrated the form which installs two DSRC antennas, this invention is not limited to this, One DSRC antenna may be sufficient and three or more may be installed. Good.

  Moreover, although the said embodiment demonstrated the form in which a guidance control signal was produced | generated according to the driving | running state of a mechanical parking apparatus and the detection result of the vehicle position by the sensor 30, this invention is not limited to this. Alternatively, the guidance control signal may be a failure generated only in accordance with the driving state of the mechanical parking device.

  The flow of the guidance operation control described in the above embodiment is also an example, and unnecessary steps are deleted, new steps are added, or the processing order is changed within a range not departing from the gist of the present invention. May be.

DESCRIPTION OF SYMBOLS 1 Mechanical parking apparatus 2 Vehicle 29-1 DSRC antenna 29-2 DSRC antenna 40 Standing control apparatus 51 Operation control part 72 Antenna control apparatus

Claims (18)

A control device for a mechanical parking device in which a vehicle that can be driven and controlled by a control signal transmitted from the mechanical parking device enters and exits,
Vehicle control means for generating a guidance control signal for restricting a user's driving operation for the vehicle entering or leaving the mechanical parking device according to the driving state of the mechanical parking device. When,
A transmission means installed in the mechanical parking device for transmitting the guidance control signal to the vehicle;
A control device for a mechanical parking device. 2. The mechanical parking device control according to claim 1, wherein the vehicle control unit generates the guidance control signal according to a driving state of the mechanical parking device and a detection result of a detection unit that detects a position of the vehicle. apparatus.   The vehicle control means includes at least one of a guidance control signal for limiting a maximum speed of the vehicle to a predetermined speed or less, a guidance control signal for prohibiting accelerator operation of the vehicle, and a guidance control signal for prohibiting backward movement of the vehicle. The control device for a mechanical parking device according to claim 1 or 2, wherein the control device is capable of being generated.   3. The control device for a mechanical parking device according to claim 1, wherein the vehicle control unit generates a guidance control signal for limiting a maximum speed of the vehicle to a predetermined speed or less in a passenger compartment.   The vehicle control means is configured to provide a guidance control signal for prohibiting the accelerator operation of the vehicle when the operation state of the mechanical parking device is a warehousing operation and the detection means detects the vehicle at a stop position on a pallet. The control device for the mechanical parking device according to claim 2 to be generated.   When the driving state of the mechanical parking device is a leaving operation and the vehicle is detected at the stop position on the pallet by the detection unit, the vehicle control unit moves the vehicle backward according to the direction of the vehicle. 6. The control device for a mechanical parking device according to claim 2, wherein a guidance control signal for prohibiting forward movement is generated. Receiving means for receiving a vehicle state signal indicating the state of the vehicle transmitted from the vehicle;
The control of the mechanical parking device according to any one of claims 1 to 6 , wherein when the vehicle state signal indicates a state that is not appropriate for warehousing of the vehicle, the warehousing operation of the mechanical parking device is stopped. apparatus.   An operation panel;
  Receiving means for receiving a vehicle state signal indicating the state of the vehicle transmitted from the vehicle;
With
  The control of the mechanical parking device according to any one of claims 1 to 7, wherein when the vehicle state signal indicates a state that is not appropriate for receiving the vehicle, the state of the vehicle is displayed on the operation panel. apparatus.   An operation panel;
  Receiving means for receiving a vehicle state signal indicating the state of the vehicle transmitted from the vehicle;
With
  When the vehicle state signal indicates a state that is not appropriate for receiving the vehicle, when the command for correcting the state of the vehicle is input from the operation panel, the vehicle control means indicates the state of the vehicle. The control device for a mechanical parking device according to any one of claims 1 to 7, wherein a guidance control signal for correcting the signal is generated.   Has an operation panel,
  Receiving means for receiving a vehicle state signal indicating the state of the vehicle transmitted from the vehicle;
  The machine according to any one of claims 1 to 9, wherein when the vehicle state signal indicates an appropriate state for warehousing of the vehicle, guidance for prompting closing of the warehousing door is displayed on the operation panel. Type parking device control device. The vehicle control means, while the mechanical parking device is carrying the vehicle, the guidance control signal for disabling the unlocked by remote control, of claims 1 to 10 to be transmitted to said transmission means The control apparatus of the mechanical parking apparatus in any one of Claims. The control device for a mechanical parking device according to any one of claims 1 to 11 , wherein the transmission means performs narrow area communication.   A control device for a mechanical parking device in which a vehicle that can be driven and controlled by a control signal transmitted from the mechanical parking device enters and exits,
  Vehicle control means for generating a guidance control signal for performing driving control of the vehicle according to the driving state of the mechanical parking device;
  A transmission means installed in the mechanical parking device for transmitting the guidance control signal to the vehicle;
  The said vehicle control means is a control apparatus of the mechanical parking apparatus which makes the said transmission means transmit the said guidance control signal which invalidates unlocking by remote operation, while the said mechanical parking apparatus is conveying the said vehicle. A mechanical parking device in which a vehicle that can be operated and controlled by a control signal transmitted from the mechanical parking device enters and exits,
Mechanical parking device with a control equipment according to any one of claims 13 claim 1. A control method of a mechanical parking device in which a vehicle that can be operated and controlled by a control signal transmitted from a mechanical parking device enters and exits,
Depending on the operating condition of the mechanical parking device, and as engineering that generates a guidance control signal for limiting the driving operation of the user relative to the vehicle entry and leaving the mechanical parking device,
And the transmission of the derived control signal to the pre-Symbol vehicle as row Cormorants Engineering,
Control method for mechanical parking apparatus including   The guidance control signal includes at least one of a guidance control signal for limiting a maximum speed of the vehicle to a predetermined speed or less, a guidance control signal for prohibiting an accelerator operation of the vehicle, and a guidance control signal for prohibiting the vehicle from moving backward. The control method of the mechanical parking apparatus of Claim 15 containing.   The mechanical parking device has an operation panel,
  Receiving a vehicle state signal indicating the state of the vehicle from the vehicle;
  When the vehicle state signal indicates a state that is not appropriate for receiving the vehicle and a command for correcting the vehicle state is input from the operation panel, the vehicle state is corrected. Generating a guidance control signal for
The control method of the mechanical parking apparatus of Claim 15 or Claim 16 containing these.   A control method of a mechanical parking device in which a vehicle that can be operated and controlled by a control signal transmitted from a mechanical parking device enters and exits,
  Generating a guidance control signal for performing driving control of the vehicle according to a driving state of the mechanical parking device;
  Transmitting the guidance control signal to the vehicle;
Have
  A control method for a mechanical parking device that transmits the guidance control signal for invalidating unlocking by remote operation to the vehicle while the mechanical parking device is transporting the vehicle.

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