JP6833435B2 - Motion detector and mechanical parking equipment - Google Patents

Description

The present invention relates to motion detection.

Patent Documents 1 and 2 disclose a technique for detecting a moving object in a vehicle in a mechanical parking facility.

Further, Patent Document 3 and Non-Patent Document 1 disclose a distance measuring technique for measuring a distance to an object.

JP-A-2010-191857 Japanese Unexamined Patent Publication No. 2014-80735 Japanese Unexamined Patent Publication No. 2007-93576

Ishikawa, et al., "Distance measurement method using phase difference of distance spectrum in standing wave radar", IEICE Transactions B, IEICE, 2010, Vol. J93-B, No. 7, p. 1017-1024

By the way, when detecting a moving object in a vehicle, it is desired to improve the detection accuracy.

Therefore, the present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a technique capable of improving the detection accuracy of a moving object in a vehicle in a mechanical parking facility.

In order to solve the above problems, one aspect of the motion detection device according to the present invention is a motion detection device provided in a mechanical parking facility to detect a motion in a vehicle and detect a motion in the vehicle. in motion detection, and signal generator that generates a signal wave transmission, in the vehicle in motion detection, a luer antenna to transmit a pre Kioku signal wave as a radio wave, in the vehicle in motion detection, pre Kioku Shin and waves, are received in the previous Kia container, based on the standing wave caused by the reflected waves are synthesized in the plurality of reflection comprising said body, the distance from the motion detection device as a variable, It generates a determination function that changes according to the value of the variable, and a stamp tough you determine whether the moving object is present in the vehicle using the determination function.

Further, in one embodiment of the motion detection apparatus according to the present invention, prior to Kia antenna transmits a pre Kioku signal wave toward the windshield of the vehicle.

Further, in one embodiment of the motion detection apparatus according to the present invention, before Symbol antenna transmits the transmission waves obliquely downward toward the windshield.

Further, one aspect of the motion detection device according to the present invention is a motion detection device that is provided in a mechanical parking facility and detects a motion in a vehicle to detect a motion in the vehicle. 1 A first signal generator that generates a transmitted wave, a first antenna that transmits the first transmitted wave as a radio wave in the detection of an in-vehicle moving object, and the first transmitted wave in the detection of an in-vehicle moving object. With the first determination unit that determines whether or not the moving object exists in the vehicle based on the first combined wave with the reflected wave of the plurality of reflecting objects including the moving object received by the first antenna. In the vehicle in-vehicle moving object detection, the second signal generator that generates the second transmitted wave, in the in-vehicle moving object detection, the second antenna that transmits the second transmitted wave as a radio wave, and in the in-vehicle moving object detection. Based on the second composite wave of the second transmitted wave and the reflected wave of the plurality of reflecting objects including the moving object received by the second antenna, whether or not the moving body exists in the vehicle. The vehicle is provided with a second determination unit for determining whether or not the vehicle is viewed from the front glass side of the vehicle, and is located on the left side of the front row of the vehicle and on the right side of the front row. It has a second seat, the first antenna transmits the first transmitted wave from the first seat side of the front glass toward the rear of the second seat, and the second antenna transmits the first transmitted wave. The second transmitted wave is transmitted from the second seat side of the front glass toward the rear of the first seat.

Further, in one aspect of the motion detection device according to the present invention, the motion detection device detects the motion in the vehicle existing in the boarding / alighting room of the mechanical parking facility, and detects the motion in the vehicle. The detection device detects the moving object in the vehicle with the door of the boarding / alighting room open.

Further, one aspect of the mechanical parking equipment according to the present invention is the mechanical parking equipment provided with the above-mentioned motion detection device.

According to one aspect of the present invention, the accuracy of detecting a moving object in a vehicle in a mechanical parking facility is improved.

It is a figure which shows an example of the appearance of a mechanical parking facility. It is a figure which shows an example of the state of the boarding / alighting room. It is a figure which shows an example in the vicinity of a warehousing / delivery port. It is a figure which shows an example of the operation panel. It is a block diagram which shows an example of the structure of a part of the mechanical parking equipment. It is a figure which shows the arrangement example of the detection sensor and the motion detection device. It is a figure which shows an example of the structure of the motion detection device. It is a figure which shows the sinc function. It is a flowchart which shows an example of operation of a motion detecting apparatus. It is a flowchart which shows an example of the operation of a mechanical parking facility. It is a flowchart which shows an example of the operation of a mechanical parking facility. It is a figure which shows the display example of the display part of the operation panel. It is a figure which shows the display example of a display device. It is a figure which shows the display example of a display device. It is a figure which shows the display example of a display device. It is a figure which shows the display example of a display device. It is a figure which shows the display example of the display part of the operation panel. It is a figure which shows the display example of the display part of the operation panel. It is a figure which shows the display example of the display part of the operation panel. It is a flowchart which shows an example of the operation of a mechanical parking facility. It is a flowchart which shows an example of the operation of a mechanical parking facility. It is a figure for demonstrating the arrangement position of the motion detection device. It is a figure for demonstrating the arrangement position of the motion detection device. It is a figure for demonstrating the arrangement position of the motion detection device. It is a figure for demonstrating the arrangement position of the motion detection device. It is a figure for demonstrating the arrangement position of the motion detection device.

FIG. 1 is a diagram showing an example of the appearance of the mechanical parking facility 1 according to the present embodiment. The mechanical parking facility 1 is, for example, an elevator type or a circulation type mechanical parking facility. The mechanical parking facility 1 is composed of, for example, a plurality of floors. In the mechanical parking facility 1, for example, a plurality of parking rooms (also referred to as parking spaces, storage locations, or storage shelves) are provided on each of the second and higher floors. It is possible to park the vehicle 10 of an automobile in each parking room. Hereinafter, the mechanical parking facility 1 may be simply referred to as "parking facility 1".

The vehicle 10 enters the boarding / alighting room 5 (also referred to as a boarding room or a boarding section) in the parking facility 1 from the entrance / exit 2 of the parking facility 1. FIG. 2 is a diagram showing an example of the inside of the boarding / alighting room 5.

As shown in FIG. 2, the vehicle 10 is located on the pallet 6 in the boarding / alighting room 5. In the parking facility 1, the vehicle 10 is transported while being mounted on the pallet 6. The vehicle 10 is conveyed by the pallet 6 being conveyed by the carrier. The pallet 6 can be turned by the turntable 7. As a result, the vehicle 10 can turn and change its direction. The vehicle 10 may be directly transported by a carrier without being mounted on the pallet 6.

A mirror 8 and a display device 9 are provided in the boarding / alighting room 5 so as to face the entrance / exit 2 with the vehicle 10 in the boarding / alighting room 5 sandwiched between them. At least when the vehicle 10 is warehousing, various information is displayed on the display device 9.

In the case of warehousing, the vehicle 10 enters the boarding / alighting room 5 from the warehousing / exiting port 2 and is located on the pallet 6. The vehicle 10 enters the boarding / alighting room 5 from the front, for example. Then, after a person gets off the vehicle 10, the pallet 6 is transported from the boarding / alighting room 5 to an empty parking room by a carrier. From this, the vehicle 10 is parked in the parking room.

On the other hand, in the case of leaving the garage, the pallet 6 on which the vehicle 10 is mounted is transported from the parking room to the boarding / alighting room 5 by the carrier. As a result, the vehicle 10 is transported to the boarding / alighting room 5. Then, when the turntable 7 turns, the direction of the vehicle 10 is rotated by 180 degrees, and the front of the vehicle 10 faces the entrance / exit 2. After that, after a person gets on the vehicle 10 in the boarding / alighting room 5, the vehicle 10 goes out from the entrance / exit 2 to the outside of the parking facility 1.

Hereinafter, in the boarding / alighting room 5, the entrance / exit 2 side may be referred to as the “front side” and the display device 9 side may be referred to as the “back side”. Further, in the boarding / alighting room 5, the right side and the left side when viewed from the front side to the back side may be simply referred to as "right side" and "left side", respectively.

FIG. 3 is a diagram showing an example of a state in the vicinity of the entrance / exit 2 when the parking facility 1 is viewed from the outside. As shown in FIG. 3, a door 3 is provided at the entrance / exit 2. The door 3 is, for example, a sliding door. In the example of FIG. 2, the door 3 of the entrance / exit 2 is opened, in other words, the door 3 of the entrance / exit room 5 is opened.

On the outer wall of the parking facility 1, a driving operation panel 4 is provided near the entrance / exit 2. The operator can input information or give an instruction to the parking facility 1 by operating the operation panel 4. The operator may be, for example, the driver of the vehicle 10 or the administrator of the parking facility 1.

FIG. 4 is a diagram showing an example of the operation panel 4. The operation panel 4 includes a display unit 40, a numeric keypad 41, and a plurality of operation buttons 42. The display unit 40 is, for example, a touch panel display, and can display various information such as characters, symbols, and figures. The numeric keypad 41 and the plurality of operation buttons 42 are, for example, hardware buttons. The display unit 40 can display an operation button which is a software button. The operator can input information or give an instruction to the parking facility 1 by operating the operation buttons, the numeric keypad 41, and the operation buttons 42 displayed on the display unit 40. For example, the operator can open and close the door 3, turn the turntable 7, and transport the pallet 6 to the parking facility 1.

The parking facility 1 according to the present embodiment can determine whether or not an object such as a person or luggage exists outside the vehicle 10 in the parking facility 1. Here, for example, the parking facility 1 determines whether or not an object exists outside the vehicle 10 in the boarding / alighting room 5. Hereinafter, this determination may be referred to as "outside vehicle determination".

Further, the parking facility 1 can determine whether or not a moving object exists in the vehicle 10 in the parking facility 1. Here, for example, the parking facility 1 determines whether or not a moving object having a high possibility of being a person exists in the vehicle 10 existing in the boarding / alighting room 5. Hereinafter, this determination may be referred to as "in-vehicle determination". In addition, determining whether or not there is a moving object that is likely to be a person may be simply referred to as "determining whether or not a person exists." It can be said that the in-vehicle determination is a process of determining whether or not a person exists in the vehicle 10.

FIG. 5 is a block diagram mainly showing an example of the configuration related to the determination outside the vehicle and the determination inside the vehicle provided in the parking facility 1. As shown in FIG. 5, the parking facility 1 includes a control device 11, a detection sensor group 12 including a plurality of detection sensors 120 for determining the outside of the vehicle, and a plurality of motion detection devices 13 for determining the inside of the vehicle. .. The parking facility 1 includes, for example, two motion detection devices 13. The two motion detection devices 13 make in-vehicle determinations independently of each other. The control device 11 makes a determination outside the vehicle using the detection sensor group 12.

The control device 11 comprehensively manages the operation of the parking facility 1 by controlling other components of the parking facility 1. The control device 11 includes, for example, a CPU (Central Processing Unit), a storage unit including a RAM (Random Access Memory), a ROM (Read Only Memory), and various other circuits. At least some of the functions included in the control device 11 are realized by the CPU executing various programs in the storage unit.

It should be noted that all the functions of the control device 11 or some functions of the control device 11 may be realized by a hardware circuit that does not require software to realize the functions. Further, the storage unit of the control device 11 may include a non-temporary recording medium other than the ROM and RAM that can be read by a computer. The storage unit may include, for example, a small hard disk drive and an SSD (Solid State Drive).

The control device 11 controls the drive device 14 and each motion detection device 13 in addition to the display device 9, the operation panel 4, and the turntable 7 described above. The drive device 14 drives a carrier 15 that conveys the vehicle 10. The drive device 14 controls the carrier 15 in response to an instruction from the control device 11.

Each detection sensor 120 of the detection sensor group 12 is, for example, a phototube sensor (also referred to as a photocell sensor). The detection sensor 120 includes a light emitting unit and a light receiving unit. The light projecting unit outputs visible light, for example. The light emitting part and the light receiving part are arranged apart from each other. Since the detection sensor 120 reacts when an object exists between the light emitting unit and the light receiving unit, it is possible to detect the existence of an object between the light emitting unit and the light receiving unit. Each detection sensor 120 is arranged, for example, in the boarding / alighting room 5 around the space where the vehicle 10 stops. As a result, the control device 11 can detect an object located around the vehicle 10 stopped in the boarding / alighting room 5 by using the detection sensor group 12. The light projecting unit may output light other than visible light, for example, infrared light. Further, the detection sensor 120 may be a sensor other than the phototube sensor.

Each motion detection device 13 is arranged in the boarding / alighting room 5. Each motion detection device 13 can detect a motion object in the vehicle that detects a motion object that is likely to be a person in the vehicle 10 stopped in the boarding / alighting room 5. Hereafter, detecting a moving object that is likely to be a person may be simply referred to as "detecting a person".

FIG. 6 is a diagram showing an arrangement example of each detection sensor 120 and each motion detection device 13 of the detection sensor group 12. FIG. 6 shows a vehicle 10 that is parked inward.

As shown in FIG. 6, the detection sensor group 12 includes, for example, detection sensors 120a to 120g. The light emitting unit 121a and the light receiving unit 122a of the detection sensor 120a are arranged near the entry / exit port 2. The detection sensor 120a can detect an object existing in the entry / exit port 2.

The light emitting unit 121b and the light receiving unit 122b of the detection sensor 120b are arranged in the boarding / alighting room 5 on the front side of the stopped vehicle 10. Therefore, the detection sensor 120b can detect an object existing in front of the vehicle 10 in the boarding / alighting room 5.

The light emitting unit 121c and the light receiving unit 122c of the detection sensor 120c are arranged in the boarding / alighting chamber 5 on the back side of the vehicle 10. Therefore, the detection sensor 120c can detect an object existing behind the vehicle 10 in the boarding / alighting room 5.

The light emitting unit 121d and the light receiving unit 122d of the detection sensor 120d are arranged on the right side of the vehicle 10 in the boarding / alighting room 5. Therefore, the detection sensor 120d can detect an object existing on the right side of the vehicle 10 in the boarding / alighting room 5. In addition, the detection sensor 120d can also detect that the door existing on the right side of the boarding / alighting room 5 in the vehicle 10 is open.

The light emitting unit 121e and the light receiving unit 122e of the detection sensor 120e are arranged on the right side of the light emitting unit 121d and the light receiving unit 122d of the detection sensor 120d in the boarding / alighting chamber 5. Therefore, the detection sensor 120e can detect an object existing on the right side of the range in which the detection sensor 120d detects the object in the boarding / alighting room 5.

The light emitting unit 121f and the light receiving unit 122f of the detection sensor 120f are arranged on the left side of the vehicle 10 in the boarding / alighting room 5. Therefore, the detection sensor 120f can detect an object existing on the left side of the vehicle 10 in the boarding / alighting room 5. In addition, the detection sensor 120f can also detect that the door existing on the left side of the boarding / alighting room 5 in the vehicle 10 is open.

The light emitting unit 121g and the light receiving unit 122g of the detection sensor 120g are arranged on the left side of the light emitting unit 121f and the light receiving unit 122f of the detection sensor 120f in the boarding / alighting chamber 5. Therefore, the detection sensor 120g can detect an object existing on the left side of the range in which the detection sensor 120f detects the object in the boarding / alighting room 5.

The control device 11 confirms whether or not an object is detected for each of the detection sensors 120a to 120g in the determination outside the vehicle. Then, when at least one of the detection sensors 120a to 120g detects the object, the control device 11 determines that the object exists outside the vehicle 10. On the other hand, when none of the detection sensors 120a to 120g detects the object, the control device 11 determines that the object does not exist outside the vehicle 10.

The two motion detection devices 13 are arranged behind the vehicle 10 in the boarding / alighting room 5. The two motion detection devices 13 are arranged apart from each other. The detection areas 230 of the two motion detection devices 13 partially overlap. The detection area 230 of the two motion detection devices 13 covers most of the space in the vehicle 10 stopped in the boarding / alighting room 5.

On the other hand, the detection area 230 of the motion detection device 13 mainly covers the rear portion from the driver's seat in the front row to the passenger seat in the front row in the space in the vehicle 10 that stops in the back direction. Therefore, one of the motion detection devices 13 can mainly detect a person present in the driver's seat, a person present in the seat behind the passenger seat, and the like in the vehicle interior determination (vehicle interior motion detection). On the other hand, the motion detection device 13 can also detect a person existing in another part of the vehicle 10.

The detection area 230 of the other motion detection device 13 mainly covers the portion of the space inside the vehicle 10 that is stopped facing backward from the passenger seat in the front row to the rear portion of the driver's seat in the front row. Therefore, the other motion detection device 13 can mainly detect a person present in the passenger seat, a person present in the seat behind the driver's seat, and the like in the vehicle interior determination (vehicle interior motion detection). The other motion detection device 13 can also detect a person existing in another part of the vehicle 10.

The number and arrangement examples of the detection sensors 120 included in the detection sensor group 12 are not limited to the example of FIG. Further, the number and arrangement examples of the motion detection device 13 are not limited to the example of FIG. Further, when the vehicle 10 is viewed from the windshield side, the driver's seat and the passenger seat may be located on the left side and the right side of the front row, respectively, or may be located on the right side and the left side of the front row, respectively. That is, the vehicle 10 may have a right-hand drive or a left-hand drive.

<Details of motion detection device>
FIG. 7 is a diagram showing an example of the configuration of the motion detecting device 13. The plurality of motion detection devices 13 included in the parking facility 1 have the same configuration as each other. The motion detecting device 13 outputs the transmitted wave VT, and receives the reflected wave VR on the reflector 300 for the transmitted wave VT. Then, the motion detection device 13 detects a person in the vehicle 10 based on the transmitted wave VT and the reflected wave VR.

As shown in FIG. 7, the motion detection device 13 includes a signal generator 130, an antenna 131, detectors 132 and 133, an A / D converter 134, and a control unit 135. These components are housed in, for example, one case 139. The motion detection device 13 transmits the transmitted wave (traveling wave) VT generated by the signal generator 130 from the antenna 131, and receives the reflected wave VR by the plurality of reflectors 300 for the transmitted wave VT by the antenna 131. .. Then, the motion detecting device 13 detects a person in the vehicle 10 based on a standing wave (combined wave) generated by combining the transmitted wave VT and the plurality of reflected waves VR received by the antenna 131. To do. The plurality of reflectors 300 include a person in the vehicle 10, a car accessory, and the like.

The signal generator 130 can change the frequency of the output wave VT according to the instruction from the control unit 135. The transmitted wave VT transmitted from the antenna 131 is a radio wave. Radio waves are electromagnetic waves whose frequency is 3000 GHz or less. In this embodiment, the transmitted wave VT is, for example, a microwave. Microwaves are electromagnetic waves whose frequency is 3 GHz or more and 30 GHz or less.

The detectors 132 and 133 detect the power of the standing wave at different positions and output a detection signal indicating the detected power. The A / D converter 134 converts the detection signals output from the detectors 132 and 133 from the analog format to the digital format and outputs the signals.

The control unit 135 is, for example, a microcomputer configured by a CPU or the like. The control unit 135 is a kind of digital circuit, and determines the presence or absence of a person based on a digital type detection signal output from the A / D converter 134. The control unit 135 includes a function generation unit 136, a moving body determination unit 137, and a frequency control unit 138 as functional blocks. The function generation unit 136 generates a determination function described later based on the detection signal output from the A / D converter 134. The moving body determination unit 137 determines the presence or absence of a person in the vehicle 10 based on the determination function generated by the function generation unit 136. The frequency control unit 138 controls the frequency of the transmission wave VT generated by the signal generator 130.

In the motion detection device 13 having the above configuration, the detectors 132 and 133, the A / D converter 134, the function generator 136, and the motion determination unit 137 are used to move a person in the vehicle 10 based on a standing wave (composite wave). A determination unit 140 for determining whether or not is present is configured.

The A / D converter 134 may be included in the control unit 135, which is a microcomputer. Further, the control device 11 may have at least a part of the functions of the control unit 135. Further, at least a part of the functions included in the control unit 135 may be composed of hardware circuits that do not require software to realize the functions.

<Judgment function>
Next, a method of generating a judgment function will be described. In the following description, in order to distinguish the plurality of reflectors 300, a plurality of consecutive positive integers from No. 1 are assigned to the plurality of reflectors 300, respectively.

In this embodiment, the x-axis is defined as shown in FIG. The origin x = 0 on the x-axis may be any point, but in the present embodiment, for example, the position of the signal generator 130 is set as the origin. Assuming that the amplitude and frequency of the transmitted wave VT are A and f and the speed of light is c, the transmitted wave VT is represented by the following equation (1).

The frequency f can be changed from f = f0-fw / 2 to f = f0 + fw / 2 by the control of the signal generator 130 by the frequency control unit 138.

Assuming that the distance to the reflected object 300 of the kth is dk and the ratio of the magnitude of the reflected wave VR to the transmitted wave VT and the phase difference between the two at an arbitrary point on the x-axis are γk and φk, respectively, the kth is The reflected wave VRk from the reflector 300 of the above is represented by the following equation (2).

When there are n (≧ 1) reflectors 300, the power p (f, x) of the standing wave at a certain frequency f is represented by the following equation (3).

Here, the frequency f can be expressed by the following equation (4), where f0 is the center frequency and fd is the variable representing the change in frequency.

At the points x = x1 and x2 between the signal generator 130 and the antenna 131 as shown in FIG. 7, it can be considered as γk << 1 in consideration of the proximity of the signal source and the propagation loss in space. it can. In this case, p (f, x) can be approximated as a function of fd as shown in the following equation (5).

However, Θ in the formula (5) is represented by the following formula (6).

In the present embodiment, the transmitted wave VT is, for example, a radio wave in the 24 GHz band, and the occupied bandwidth of the transmitted wave VT is 76 MHz or less. Therefore, it can be considered as f0 >> fd. In this case, Θ can be approximated by the following equation (7).

When the detectors 132 and 133 detect the power p (fd, x) of the standing wave at two places where Θ = 0 and Θ = π / 2, the detectors 132 and 133 explain below. Two detection signals that are orthogonal to each other are output.

In the equation (7), if the position x at which Θ = 0 is the detection position x1, then x1 = 0. Further, if the position x at which Θ = π / 2 is the detection position x2, then x2 = −λ / 8. However, λ = c / f0.

Therefore, the standing wave power p (fd, x1) detected at the position of x = x1 and the standing wave power p (fd, x2) detected at the position of x = x2 are given by the equation (5). Therefore, it is represented by the following equations (8) and (9).

In the present embodiment, the detector 132 detects the power of the standing wave at the position of x = x1 and outputs the detection signal p (fd, 0) represented by the equation (8). On the other hand, the detector 133 detects the power of the standing wave at the position of x = x2 and outputs the detection signal p (fd, −λ / 8) represented by the equation (9). The A / D converter 134 converts the analog-format detection signal p (fd, 0) and the detection signal p (fd, −λ / 8) output from the detectors 132 and 133 into a digital format, and the control unit 135. Output to.

If p (fd, 0) and p (fd, -λ / 8) are differentiated by fd and are pdiff (fd, 0) and pdiff (fd, -λ / 8), respectively, then pdiff (fd, 0) , Pdiff (fd, −λ / 8) are represented by the following equations (10) and (11).

The analysis signal pa (fd) having −pdiff (fd, −λ / 8) as a real part and −pdiff (fd, 0) as an imaginary part is expressed by the following equation (12).

When the analysis signal pa (fd) is Fourier transformed with respect to fd, the signal P (x) represented by the following equation (13) is obtained.

Sa (z) in the equation (13) is a sinc function and is represented by the following equation (14).

The signal P (x) is a function whose variable is the distance x. The signal P (x) is shown as the distance spectrum P (x) in Non-Patent Document 1 described above.

In the present embodiment, the function generation unit 136 of the control unit 135 receives the signal P (x) based on the detection signals p (fd, 0) and p (fd, −λ / 8) from the A / D converter 134. To ask. Then, the function generation unit 136 uses the obtained signal P (x) as the determination function P (x). The function generation unit 136 has the detection signals p (fd, 0), p (fd, −λ / 8) to the signals pdiff (fd, 0), pdiff (fd, −λ) represented by the equations (10) and (11). / 8) is obtained, and the analysis signal pa (fd) represented by the equation (12) is obtained from the signals pdiff (fd, 0) and pdiff (fd, −λ / 8). Then, the function generation unit 136 obtains the determination function P (x) from the analysis signal pa (fd).

When there is one reflector 300 (n = 1), the amplitude of the determination function P (x) is when x = d1, that is, when the distance x coincides with the distance d1 to the reflector 300 (x). −D1 = 0), which is the maximum.

It can be said that the determination function P (x) is a complex signal in which the distance x is a variable and the amplitude and phase change according to the value of the variable. Equation (13) can be rewritten as the following equation (15).

Equation (15) can be rewritten as the following equation (16).

Dk (x) and Ek (x) are represented by the following equations (17) and (18).

Dk (x) e ^{jEk (x)} is a complex signal corresponding to the reflector 300 of the kth, and shows the influence of the reflector 300 of the k on P (x). When Dk (x) e ^{jEk (x)} is called an individual complex signal, the determination function P (x) is a plurality of individual complex signals D1 (x) corresponding to a plurality of reflectors 300 of Nos. 1 to n. ^{e jE1 (x) ~Dn (x} ) e jEn (x) the sum combined signal, i.e. the combined signal of the plurality of discrete complex signals ^{D1 (x) e jE1 (x} ) ~Dn (x) e jEn (x) It can be said that. The individual complex signal Dk (x) e ^{jEk (x)} is the difference distance between the variable x and the distance dk to the kth reflector 300 according to the individual complex signal Dk (x) e ^{jEk (x).} It changes according to. Specifically, as shown in equation (17), the amplitude Dk individual complex signal Dk ^{(x) e JEK (x)} (x) is a variable x, the individual complex signal Dk ^{(x) e JEK ( The distance to the reflecting object 300 according to x)} changes according to the difference distance (x−dk) from the dk.

Further, since the amplitude Dk (x) of the individual complex signal Dk (x) e ^{jEk (x)} includes the sinc function in the equation showing the amplitude Dk (x), if the distance dk is constant, The larger the absolute value | x-dk | of the difference distance (x-dk), the smaller the tendency.

FIG. 8 is a diagram showing the relationship between (x-dk) and Sa (x-dk). As shown in FIG. 8, as (x−dk) increases or (x−dk) decreases, Sa (x−dk) tends to decrease. Therefore, Sa (2πfw / c × (x−dk)) in the equation (17) tends to decrease as the absolute value | x−dk | increases. Therefore, if the distance dk is constant, the amplitude Dk (x) tends to decrease as the absolute value | x−dk | increases. Therefore, the amplitude Dk (x) becomes maximum when x = dk.

In the determination function P (x), when the variable x matches the distance dk to the reflector 300 of the kth due to the existence of Sa (2πfw / c × (x−dk)), there are a plurality of reflectors. Of the 300, the influence of the k-th reflecting object 300 appears relatively strongly.

As described above, the control unit 135 obtains the determination function P (x) based on the standing wave. The moving body determination unit 137 of the control unit 135 determines the presence or absence of a person based on the determination function P (x) obtained by the function generation unit 136.

<Motion detection>
When the reflecting object 300 of the kth is a moving body, the reflecting object 300 moves, so that the distance dk to the reflecting object 300 changes. As a result, as can be seen from the equation (15), the amplitude | P (x) | and the phase arg (P (x)) of the determination function P (x) change. On the other hand, as described above, in the determination function P (x), when the variable x matches the distance dk to the reflection object 300 of k, the reflection of k of the plurality of reflectors 300 The influence of the object 300 appears strongly. Therefore, by observing the time change of the amplitude | P (xz) | of the function value P (xz) (complex signal P (xz)) of the judgment function P (x) at a certain target distance xz, the target distance It is possible to determine whether or not there is a moving object in xz. Similarly, by observing the time change of the phase arg (P (xz)) of the function value P (xz), it is possible to determine whether or not a moving object exists at the target distance xz.

Therefore, the moving body determination unit 137 determines the presence or absence of a moving body that is likely to be a human being, based on the time change of the amplitude | P (x) | and the phase arg (P (x)). This point will be described in detail below. Hereafter, determining the presence or absence of a moving object that is likely to be a person may be simply referred to as "determining the presence or absence of a person."

Let the amplitude | P (x) | and the phase arg (P (x)) at time t be AM (xz, t) and PH (xz, t), respectively. Then, the amplitude change amount ΔAM (xz, t) representing the time change of the amplitude AM (xz, t) and the phase change amount ΔPH (xz, t) representing the time change of the phase PH (xz, t) are obtained. It is expressed by the following equations (19) and (20).

As shown in the equation (19), the amplitude change amount ΔAM (xz, t) is the amplitude AM at a time (t−Δt) slightly earlier than the amplitude AM (xz, t) at the time t. It is a difference value obtained by subtracting (xz, t−Δt). Similarly, the phase change amount ΔPH (xz, t) is, as shown in the equation (20), at a time (t−Δt) slightly earlier than the phase PH (xz, t) at the time t. It is a difference value obtained by subtracting the phase PH (xz, t−Δt) of.

In the present embodiment, the moving body determination unit 137 has an amplitude change amount ΔAM (xz, t) and a phase change amount ΔPH (xz) with respect to the target distance xz from the determination function P (x) obtained by the function generation unit 136. , T) is calculated. Then, the moving body determination unit 137 determines whether or not a person exists in the vehicle 10 based on the obtained amplitude change amount ΔAM (xz, t) and phase change amount ΔPH (xz, t).

When determining the presence or absence of a person based on ΔAM (xz, t) and ΔPH (xz, t), the moving object determination unit 137 uses ΔAM (xz, t) and ΔPH (xz, t), for example. The determination value R represented by the following equation (21) is obtained.

When the determination value R is larger than the threshold value, it can be said that there is a high possibility that a moving object having a high possibility of being a human being exists at the distance xz from the moving object detecting device 13. On the other hand, when the determination value R is equal to or less than the threshold value, it can be said that there is a high possibility that there is no moving object that is likely to be a human being at the distance xz from the moving object detecting device 13. The moving body determination unit 137 determines whether or not a person exists in the vehicle 10 based on the determination value R.

In this way, the determination unit 140 can determine whether or not a person is present in the vehicle 10 based on the standing wave.

<Details of in-vehicle judgment>
Next, the operation of the motion detection device 13 when the motion detection device 13 determines the inside of the vehicle will be described in detail. FIG. 9 is a flowchart showing an example of in-vehicle determination. Here, it is assumed that the space inside the vehicle 10 stopped in the boarding / alighting room 5 generally exists in the range of 1 m to 5 m from the motion detecting device 13. The two motion detection devices 13 operate in the same manner as each other.

In this example, the detection area 230 of the motion detection device 13 is in the range of 1 m to 5 m from the motion detection device 13. Then, in the vehicle interior determination (vehicle interior motion detection), for example, 17 target distances xz are used. Specifically, 1m, 1.25m, 1.5m, 1.75m, 2m, 2.25m, 2.5m, 2.75m, 3m, 3.25m, 3.5m, 3.75m, 4m, 4 .25m, 4.5m, 4.75m, 5m are used as the target distance xz. Thereby, the motion detection device 13 can determine whether or not a person exists at any of the 17 target distances xz within the range of 1 m to 5 m from the motion detection device 13. That is, the space inside the vehicle 10 can be appropriately set in the detection area 230.

As shown in FIG. 9, in the in-vehicle determination, first, in step s1, the moving object determination unit 137 determines AM (xz) and PH at each of the 17 target distances xz based on the determination function P (x). (Xz) is calculated twice every predetermined time Δt. As a result, AM (xz, t), AM (xz, t−Δt), PH (xz, t) and PH (xz, t−Δt) can be obtained for each of the 17 target distances xz.

Next, in step s2, the moving object determination unit 137 uses the AM (xz, t) and AM (xz, t−Δt) obtained in step s1 for each of the 17 target distances xz, and ΔAM (xz, Find t). Similarly, the moving object determination unit 137 uses the PH (xz, t) and PH (xz, t−Δt) obtained in step s1 for each of the 17 target distances xz to obtain ΔPH (xz, t). Ask.

Next, in step s3, the moving body determination unit 137 obtains the determination value R for each of the 17 target distances xz using the ΔAM (xz, t) and ΔPH (xz, t) obtained in step s2. As a result, 17 determination values R corresponding to the 17 target distances xz can be obtained.

Next, in step s4, when the maximum value among the 17 determination values R obtained in step s3 is larger than the threshold value, the moving object determination unit 137 is within the range of 1 m to 5 m from the moving object detecting device 13. That is, it is determined that a person exists in the vehicle 10. On the other hand, when the maximum value is equal to or less than the threshold value, the moving object determination unit 137 determines that there is no person within the range of 1 m to 5 m from the moving object detecting device 13, that is, in the vehicle 10.

In step s4, the motion detection device 13 determines that a person exists in the vehicle 10 when the maximum value among the 17 determination values R is equal to or greater than the threshold value, and the maximum value corresponds to the value. If it is less than the threshold value, it may be determined that there is no person in the vehicle 10.

Further, in step s4, the motion detection device 13 determines that a person exists in the vehicle 10 when the total value of the 17 determination values R is larger than the threshold value, and the total value is equal to or less than the threshold value. In this case, it may be determined that there is no person in the vehicle 10.

Further, in step s4, the motion detection device 13 determines that a person exists in the vehicle 10 when the total value of the 17 determination values R is equal to or greater than the threshold value, and the total value is less than the threshold value. In some cases, it may be determined that there is no person in the vehicle 10.

Further, when the motion detection device 13 determines at which position in the vehicle 10 whether or not a person is present, the determination value R is equal to or greater than the threshold value for each of the 17 determination values R. It may be determined whether or not it is larger than the threshold value. In this case, if the determination value R corresponding to the target distance xz is equal to or greater than the threshold value or is larger than the threshold value, the motion detection device 13 has a person at the target distance xz in the vehicle 10. Then it is determined.

Further, the motion detecting device 13 may make an in-vehicle determination based only on ΔAM (xz, t) out of ΔAM (xz, t) and ΔPH (xz, t). In this case, the determination value R is represented by, for example, the following equation (22).

Further, the motion detection device 13 may make an in-vehicle determination based only on ΔPH (xz, t) of ΔAM (xz, t) and ΔPH (xz, t). In this case, the determination value R is represented by, for example, the following equation (23).

Further, in the above example, each of the two motion detection devices 13 performs the in-vehicle determination, but instead, the control device 11 uses the determination function P (x) generated by the two motion detection devices 13. Based on this, an in-vehicle determination for determining whether or not a person exists in the vehicle 10 may be performed.

<Operation flow of parking equipment at the time of warehousing>
Next, the operation flow of the parking facility 1 at the time of warehousing will be described. 10 and 11 are flowcharts showing the operation of the parking facility 1 at the time of warehousing. For example, when the personal identification number of the user (driver of the vehicle 10) is input, the control device 11 uses the personal identification number to authenticate whether or not the user of the parking facility 1 is a legitimate user. I do. The operator can input the secret number to the control device 11 by operating the numeric keypad 41 of the operation panel 4.

If the user authentication fails, the control device 11 displays, for example, that fact on the display unit 40 of the operation panel 4. On the other hand, if the user authentication is successful (step s11), the control device 11 determines in step s12 whether or not it is a warehousing call. Specifically, in step s12, the control device 11 determines whether or not the user's vehicle 10 is parked in the parking facility 1. When the control device 11 determines that the user's vehicle 10 is not parked in the parking facility 1, it determines that it is a warehousing call. When the control device 11 determines that the warehousing call is made, in step s13, the control device 11 controls the carrier 15 through the drive device 14, and causes the carrier 15 to convey an empty pallet to the boarding / alighting room 5. Until the empty pallet arrives at the boarding / alighting room 5, the display unit 40 of the operation panel 4 displays, for example, notification information 400 notifying that the empty pallet is being transported, as shown in FIG. To.

On the other hand, when the control device 11 determines that the user's vehicle 10 is parked in the parking facility 1, it determines that it is a warehousing call. After that, the parking facility 1 performs a warehousing operation. The operator can have the control device 11 execute the user authentication by using the card or the remote controller.

When the empty pallet arrives at the boarding / alighting room 5, in step s14, the control device 11 starts the out-of-vehicle determination using the detection sensor group 12. When the vehicle outside determination is started, the control device 11 continuously performs the vehicle outside determination.

Next, in step s15, the control device 11 opens the door 3 of the boarding / alighting room 5. At this time, as shown in FIG. 13, the display device 9 in the boarding / alighting room 5 displays the notification information 900 notifying that the warehousing is possible. After that, when the vehicle 10 enters the boarding / alighting room 5, the detection sensor 120a near the entrance / exit 2 reacts, and the control device 11 determines that an object exists outside the vehicle 10 in the continuous out-of-vehicle determination. Determine (step s16).

After step s16, in step s17, the control device 11 sets the state of the parking facility 1 to the operation lock. When the state of the parking facility 1 is set to the operation lock, the parking facility 1 does not accept the operation on the operation panel 4, and the operator can open / close the door 3 or move the carrier 14 to the parking facility 1. It disappears.

After step s17, in step s18, the control device 11 determines whether or not the vehicle 10 has stopped at a fixed position in the boarding / alighting room 5. The parking facility 1 is provided with a plurality of detection sensors similar to the detection sensor 120 for determining whether or not the vehicle 10 has stopped at a fixed position. In step s16, the control device 11 determines whether or not the vehicle 10 has stopped at a fixed position in the boarding / alighting room 5 by using the plurality of detection sensors. The control device 11 repeatedly executes step s18 until it is determined that the vehicle 10 has stopped at a fixed position in the boarding / alighting room 5.

In the boarding / alighting room 5, when the vehicle 10 is in front of the fixed position (back side), the display device 9 indicates that the vehicle 10 is in front of the fixed position, as shown in FIG. The notification information 901 to be notified is displayed. Further, when the vehicle 10 is behind the fixed position (front side), as shown in FIG. 15, the display device 9 is notified that the vehicle 10 is behind the fixed position. 902 is displayed. Further, when the height of the vehicle 10 exceeds the limit, as shown in FIG. 16, the display device 9 displays the notification information 903 notifying that the height of the vehicle 10 exceeds the limit. To. The parking facility 1 is provided with a detection sensor similar to the detection sensor 120 for determining whether or not the height of the vehicle 10 exceeds the limit. The control device 11 uses the detection sensor to determine whether or not the height of the vehicle 10 exceeds the limit. The notification information 900 to 903 may also be displayed on the display unit 40 of the operation panel 4.

When it is determined in step s18 that the vehicle 10 has stopped at a fixed position in the boarding / alighting room 5, the control device 11 determines in step s19 whether or not the user has left the boarding / alighting room 5. The control device 11 repeatedly executes step s19 until it is determined that the user has left the boarding / alighting room 5. When the control device 11 determines that the object does not exist outside the vehicle 10 in the vehicle exterior determination immediately after the detection sensor 120a detects the object, it determines that the user has left the boarding / alighting room 5.

In step s19, when the control device 11 determines that the user has left the boarding / alighting room 5, the parking facility 1 is in a state where it can accept the operation for the safety confirmation button in step s20.

The safety confirmation button is included in a plurality of operation buttons 42 included in the operation panel 4. The safety confirmation button is a button for notifying the parking facility 1 that the operator has confirmed the unmanned person in the boarding / alighting room 5. When the parking facility 1 is in a state where it can accept the operation for the safety confirmation button, the parking facility 1 confirms the unmanned person in the boarding / alighting room 5, and after confirming the unmanned person in the boarding / alighting room 5, the safety confirmation button. Notify the operator that the operation is to be performed. For example, as shown in FIG. 17, the display unit 40 of the operation panel 4 has notification information 410 for notifying that the unmanned person in the boarding / alighting room 5 is confirmed, and safety after confirming the unmanned person in the boarding / alighting room 5. Notification information 411 notifying that the confirmation button is operated is displayed.

At least one of the notification information 410 and 411 may be represented by a graphic instead of a character string. Further, in addition to the display of the notification information 410 or instead of the display of the notification information 410, the operator may be notified by voice that the unmanned person in the boarding / alighting room 5 is confirmed. Further, in addition to displaying the notification information 411 or instead of displaying the notification information 410, the operator may be notified by voice that the safety confirmation button is to be operated.

After step s20, when the operator operates the safety confirmation button in step s21, in step s22, the control device 11 causes each motion detection device 13 to start the vehicle interior determination, as shown in FIG. When the vehicle interior determination is started, each motion detection device 13 repeatedly executes the vehicle interior determination shown in FIG. 9 above.

In the first in-vehicle determination after step s22, if at least one of the two motion detection devices 13 determines that a person is present in the vehicle 10 (Yes in step s23), in step s24, the parking facility 1 is the vehicle. Notify that the unmanned person in 10 is confirmed. Further, in step s24, the parking facility 1 is in a state where it can accept an operation on the in-vehicle confirmation button. On the other hand, if each of the two motion detection devices 13 determines in the first in-vehicle determination that there is no person in the vehicle (No in step s23), step s26 is executed.

The vehicle interior confirmation button is included in a plurality of operation buttons 42 included in the driving operation panel 4. The vehicle interior confirmation button is a button for notifying the parking facility 1 that the operator has confirmed that the vehicle is unmanned.

In step s24, for example, as shown in FIG. 18, the display unit 40 of the driving operation panel 4 displays the notification information 420 notifying that the unmanned vehicle in the vehicle 10 is confirmed. Further, the display unit 40 displays notification information 421 notifying that the vehicle interior confirmation button is operated after confirming the unmanned vehicle interior.

At least one of the notification information 420 and 421 may be represented by a graphic instead of a character string. Further, in addition to displaying the notification information 420 or instead of displaying the notification information 420, the operator may be notified by voice that the unmanned person in the vehicle 10 is confirmed. Further, in addition to the display of the notification information 421 or instead of the display of the notification information 421, the operator may be notified by voice that the in-vehicle confirmation button is to be operated. Further, the in-vehicle confirmation button may be a software button displayed by the display unit 40.

After step s24, when the operator operates the in-vehicle confirmation button in step s25, step s26 is executed. In step s26, the operation lock is released. When the operation lock is released, the display unit 40 of the operation panel 4 displays the notification information 430 notifying that the door 3 is closed, as shown in FIG.

Further, when the operation lock is released, in step s27, the parking facility 1 is in a state where it can accept the end door closing process by the operator. The end door closing process is a process for closing the door 3 after the warehousing is completed. The end door closing process includes a process for re-authenticating the user and an operation of the door closing button. As a process for re-authenticating the user, for example, input of the user's personal identification number can be considered.

After step s27, when the user's personal identification number is input, the control device 11 authenticates whether or not the user is a legitimate user and uses the personal identification number to authenticate the user. Is the same as the user who authenticated at the beginning of warehousing. If the control device 11 determines that the user is a legitimate user and is the same as the user who was first authenticated for warehousing (step s28), in step s29, the parking facility 1 has a door closing button. It becomes possible to accept the operation for. The door closing button is included in a plurality of operation buttons 42 included in the operation panel 4.

When the door closing button is operated in step s30 after step s29, the control device 11 causes each motion detection device 13 to end the vehicle interior determination in step s31. Further, the parking facility 1 closes the door 3.

In step s32, which is a few seconds after the door 3 is completely closed, the control device 11 ends the vehicle outside determination. After that, the control device 11 controls the carrier 15 through the drive device 14, and causes the carrier 15 to transport the vehicle 10 to an empty parking room. When the vehicle 10 is transported to the parking room, the control device 11 associates the user identification information for identifying the user with the parking room identification information for identifying the parking room to which the vehicle 10 is transported. Register in the parking management table. As a result, the warehousing operation of the parking facility 1 is completed. In step s12 described above, the control device 11 can specify whether or not the user's vehicle 10 is parked in the parking facility 1 by referring to the parking management table. The user identification information may be a personal identification number or information obtained from a card or a remote controller used at the time of warehousing.

After the operation lock is released in step s26 and before the operation of the door closing button is accepted in step s30, if it is determined by the outside vehicle determination that an object exists outside the vehicle 10, the state of the parking facility 1 is the operation lock. It becomes. After that, step s19 is executed. For example, when the user returns to the boarding / alighting room 5 immediately after the vehicle interior confirmation button is operated, it is determined that an object exists outside the vehicle 10 in step s33 shown in FIG. Sometimes. In this case, in step s34, the state of the parking facility 1 is set to the operation lock. After that, when step s19 shown in FIG. 10 is executed again, the parking facility 1 operates in the same manner.

Further, in step s19, if it is determined by the outside determination that an object exists outside the vehicle 10 from the determination that the user has left the boarding / alighting room 5 to the execution of step s26, step s19 is performed. It will be executed again.

Further, if it is determined by the outside determination that an object exists outside the vehicle 10 from the operation of the door closing button to the end of the outside determination, the state of the parking facility 1 is the operation lock. In this case, the parking facility 1 may notify the monitoring center or the like of an abnormality in the parking facility 1. If the parking facility 1 does not notify the management center or the like of an abnormality, the next user or the like who discovers that the parking facility 1 is in the operation lock will contact the monitoring center or the like.

Further, the in-vehicle determination may be performed after it is determined in step s23 that a person is present in the vehicle 10 and before step s25 is executed. In this case, when it is determined in the vehicle interior determination performed between steps s23 and step s25 that a person exists in the vehicle 10, the vehicle interior status confirmation notification is maintained, and the parking facility 1 operates the vehicle interior confirmation button. The acceptable state is maintained. On the other hand, when it is determined in the vehicle interior determination that no person exists in the vehicle 10, for example, step s26 is executed to release the driving lock. Alternatively, the control device 11 gives priority to the determination that a person exists in the vehicle 10 in step s23, and ignores the determination that no person exists in the vehicle 10 in the subsequent in-vehicle determination. As a result, the in-vehicle state confirmation notification is maintained, and the state in which the parking facility 1 can accept the operation for the in-vehicle confirmation button is maintained.

In this way, since the parking facility 1 determines the outside of the vehicle, the vehicle 10 is in a state where a person is trapped inside the parking facility 1 or an object such as a person or luggage exists outside the vehicle 10. The possibility of being transported can be reduced. Further, in the parking facility 1, since the determination inside the vehicle is performed, it is possible to reduce the possibility that the vehicle 10 is transported while a person is present in the vehicle 10. Therefore, the safety of the parking facility 1 can be improved.

Further, in this example, when it is determined in step s23 that a person exists in the vehicle 10, the operation lock is released by the operator operating the vehicle interior confirmation button. Therefore, even if it is determined in the vehicle interior determination that the swaying car accessory or the like in the vehicle 10 is a moving object with a high possibility of being a person, the operator confirms the unmanned vehicle interior and then the vehicle interior confirmation button. The operation lock can be released by the parking facility 1 by operating. Therefore, even if a moving object other than a human being is determined as a moving object having a high possibility of being a human being in the in-vehicle determination, the parking facility 1 can continue the warehousing operation.

In the above example, the in-vehicle determination is started after the safety confirmation button is operated, but the in-vehicle determination may be started before the safety confirmation button is operated. 20 and 21 are flowcharts showing an example of the operation of the parking facility 1 when the in-vehicle determination is started before the safety confirmation button is operated.

As shown in FIG. 20, the parking facility 1 performs the above steps s11 to s19. When it is determined in step s19 that the user has left the boarding / alighting room 5, in step s51, the control device 11 causes each motion detection device 13 to start the vehicle interior determination.

Next, in step s20, the parking facility 1 is in a state where it can accept an operation on the safety confirmation button. After that, when the control device 11 receives the operation for the safety confirmation button in step s21, the operation lock is released in step s26. After that, the parking facility 1 operates in the same manner as described above.

Further, after step s20, if it is determined that an object exists outside the vehicle 10 in the continuous out-of-vehicle determination (step s52), step s19 is executed in the same manner as described above.

Further, in this example, since the in-vehicle determination is started immediately after it is determined that the user has left the boarding / alighting room 5 in step s19, unlike the examples shown in FIGS. 10 and 11, before step s21. However, it may be determined that a person exists in the vehicle 10. In this case, step s24 is executed in the same manner as described above, the vehicle interior status confirmation notification is given, and the parking facility 1 is in a state where it can accept the operation for the vehicle interior confirmation button. For example, as shown in FIG. 21, in step s53 between step s20 and step s21, if at least one of the two motion detection devices 13 determines that a person is present in the vehicle 10, step s24 is executed. .. After that, when the vehicle interior confirmation button is operated in step s25 and the safety confirmation button is operated in step s21, the operation lock is released in step s26. After that, the parking facility 1 operates in the same manner.

Further, in this example, the in-vehicle determination may be performed after it is determined in step s53 that a person exists in the vehicle 10 and before the step s25 is executed. In this in-vehicle determination, when it is determined that a person exists in the vehicle 10, the in-vehicle state confirmation notification is maintained, and the state in which the parking facility 1 can accept the operation for the in-vehicle confirmation button is maintained. On the other hand, when it is determined in the vehicle interior determination that no person exists in the vehicle 10, for example, the vehicle interior status confirmation notification is completed and the parking facility 1 can accept the operation for the vehicle interior confirmation button. Is released. Alternatively, the control device 11 gives priority to the determination that a person exists in the vehicle 10 in step s53, and ignores the determination that no person exists in the vehicle 10 in the subsequent in-vehicle determination. As a result, the in-vehicle state confirmation notification is maintained, and the state in which the parking facility 1 can accept the operation for the in-vehicle confirmation button is maintained.

In the examples of FIGS. 20 and 21, the driving operation panel 4 may be provided with one combined confirmation button that also serves as the safety confirmation button and the in-vehicle confirmation button. In this case, as shown in FIG. 21, when step s53 between steps s20 and s21 is executed, step s25 is not executed and the combined confirmation button is operated in step s21.

Further, step s51 may be executed before step s19. For example, step s51 may be executed between step s13 and step s15.

Further, in the examples of FIGS. 10, 11, 20, and 21, the inside judgment was completed immediately after the door closing button was operated, but the inside of the car was judged several seconds after the door 3 was completely closed, as in the case of the outside judgment. The determination may be completed. In this case, if it is determined by the in-vehicle determination that there is a person in the vehicle 10 from the operation of the door closing button to the end of the in-vehicle determination, the state of the parking facility 1 is the operation lock. After that, for example, the parking facility 1 notifies the monitoring center or the like of the abnormality of the parking facility 1. If the parking facility 1 does not notify the management center or the like of an abnormality, the next user or the like who discovers that the parking facility 1 is in the operation lock will contact the monitoring center or the like.

Further, the in-vehicle determination may be performed only when the door closing button is operated. For example, the in-vehicle determination may start when the door close button is operated and end a few seconds after the door 3 is completely closed.

As described above, in the parking facility 1, the motion detecting device 13 determines whether or not a person exists in the vehicle 10 based on a standing wave which is a combined wave of the transmitted wave VT and the reflected wave VR. .. As described above, by using the standing wave, it is possible to determine whether or not a moving object exists at the target distance xz. Therefore, by appropriately changing the target distance xz, the space inside the vehicle 10 can be appropriately set in the detection area 230 of the motion detection device 13.

On the other hand, consider a case where a person in the vehicle 10 is detected by using a Doppler sensor as described in Patent Document 1 described above. When a Doppler sensor is used, it is difficult to determine whether or not a moving object exists at a certain distance from the Doppler sensor. Therefore, even if a person exists outside the vehicle 10, that person can be used. It will be detected. As a result, there is a possibility that it is erroneously determined that there is a person in the vehicle 10 even though there is no person in the vehicle 10. Further, when the door 3 is closed and a person in the vehicle 10 is detected by using the Doppler sensor, when the door 3 vibrates due to wind or the like, the vibration of the door is detected as a moving body. It ends up. As a result, there is a possibility that it is erroneously determined that there is a person in the vehicle 10 even though there is no person in the vehicle 10.

In this example, since the range inside the vehicle 10 can be appropriately set in the detection area 230 of the motion detection device 13, the motion detection device 13 detects a person outside the vehicle 10 and vibration of the door 3. It becomes difficult. Therefore, the motion detection device 13 can more accurately determine whether or not a person is present in the vehicle 10. As a result, the detection accuracy of a person in the vehicle 10 can be improved.

Further, when the Doppler sensor is used to detect a moving object in the vehicle 10 with the door 3 open, there is a possibility that a person existing outside the entrance / exit 2 may be detected.

On the other hand, in this example, since the range inside the vehicle 10 can be appropriately set in the detection area 230 of the motion detection device 13, the motion detection is performed even when the door 3 is open as described above. The device 13 can appropriately detect a person in the vehicle 10.

When the inside of the vehicle is determined with the door 3 open as in this example, when it is determined that a person exists in the vehicle 10, the operator performs an operation for opening the door 3 in the parking facility 1. The state inside the vehicle 10 can be confirmed immediately without need.

Further, since it is highly possible that the operator does not exist near the parking facility 1 after the door 3 is closed, the operator can know the result even if the vehicle interior judgment is performed after the door 3 is closed. It may not be possible. On the other hand, when the door 3 is open, the operator is near the parking facility 1, so that the operator can confirm the result by making an in-vehicle judgment with the door 3 open. You can know. Therefore, the possibility that a person is trapped in the parking facility 1 can be reduced.

Further, as in this example, when the mechanical configuration of the carrier 15 or the like starts to operate immediately after the door 3 is closed, the parking facility 1 is determined by making an in-vehicle judgment with the door 3 open. It is possible to more reliably prevent the mechanical configuration from moving in the presence of a person inside. Therefore, the safety of the parking facility 1 can be further improved.

<Details of the placement position of the motion detection device>
22 and 23 are diagrams for explaining in detail the arrangement positions of the two motion detection devices 13. FIG. 22 shows a state in which the vehicle 10 stopped in the boarding / alighting room 5 is viewed from the roof side. FIG. 23 shows a state in which the vehicle 10 stopped in the boarding / alighting room 5 is viewed from the side glass side. In FIGS. 22 and 23, the maximum accommodating vehicle 10A, which is the maximum accommodating vehicle 10 that the parking facility 1 can accommodate, and the smaller vehicle 10B are shown. Regarding the vehicle 10B, the driver's seat 10x and the passenger seat 10y located in the front row of the vehicle 10 and the rear seat 10z located in the rear row of the vehicle 10 are shown in FIG. The positions of the driver's seat 10x and the passenger seat 10y may be reversed. Further, in FIG. 22, the parking room 500 when the vehicle 10 is parked in the parking room 500 is virtually shown by a two-dot chain line. In this example, the area of the parking room 500 is almost the same as the area of the pallet 6. In FIG. 22, for convenience of explanation, it is assumed that the area of the parking room 500 and the area of the pallet 6 are the same. Hereinafter, the stopped vehicle 10 means the vehicle 10 stopped in the boarding / alighting room 5.

As shown in FIG. 22, the two motion detection devices 13 are arranged side by side in front of the stopped vehicle 10 along the width direction DR1 of the stopped vehicle 10. When the boarding / alighting room 5 is viewed from the ceiling side, as shown in FIG. 22, one motion detecting device 13 has a motion detecting device 13 with respect to the center line CL passing through the center in the width direction DR1 of the stopped vehicle 10. It is located on the opposite side of. The two motion detection devices 13 are located at the same distance D2 from the center line CL.

The distance D1 between the two motion detection devices 13 is set to a predetermined value α or less. The predetermined value α is equivalent to the width W20 of the parking room 500. That is, the predetermined value α is the same as or almost the same as the width W20. The distance D1 is set to, for example, 80% to 90% with respect to the width W20. The width W20 of the parking room 500 is set to a value obtained by adding a predetermined value β to the width W10 of the maximum accommodating vehicle 10A, that is, the maximum width W10 of the vehicle 10 accommodating the parking facility 1. The predetermined value β is set to, for example, a few percent of the width W10.

As shown in FIG. 23, the heights H1 of the two motion detection devices 13 are the same as each other. The height H1 is equivalent to the height H10 of the maximum accommodating vehicle 10A, that is, the maximum height H10 of the vehicle 10 accommodating the parking facility 1. That is, the height H1 is the same as or almost the same as the height H10. The height H1 is set to, for example, 90% to 110% of the height H10.

As described above, each of the two motion detection devices 13 arranged in the boarding / alighting chamber 5 transmits a transmission wave VT toward the windshield 10f of the stopped vehicle 10, as shown in FIGS. 22 and 23. On the other hand, the motion detection device 13 transmits the transmission wave VT from the driver's seat 10x side of the windshield 10f toward the rear of the passenger seat 10y. The other motion detection device 13 transmits the transmission wave VT from the passenger seat 10y side of the windshield 10f toward the rear of the driver's seat 10x.

Further, as shown in FIG. 23, each motion detection device 13 transmits a transmission wave VT diagonally downward toward the windshield 10f of the stopped vehicle 10.

The transmitted wave VT transmitted from each motion detection device 13 toward the windshield 10f passes through the windshield 10f and enters the vehicle 10. Then, the reflected wave VR of the transmitted wave VT in the moving body in the vehicle 10 is transmitted through the windshield 10f and received by the antenna 131 of the moving body detecting device 13.

In this way, since the motion detection device 13 transmits the transmission wave VT toward the windshield 10f, it is possible to more accurately determine whether or not a person is present in the stopped vehicle 10. This point will be described in detail below.

<Transmission of transmitted wave toward the windshield>
Here, it is considered that a person in the vehicle 10 is detected by using an optical sensor that transmits visible light, such as the detection sensor 120 described above. Since the windshield 10f requires a visible light transmittance of 70% or more, the visible light transmitted by the optical sensor passes through the windshield 10f and reaches the inside of the vehicle 10. Therefore, it may be possible to detect people present in the driver's seat 10x and the passenger seat 10y using an optical sensor that transmits visible light toward the windshield 10f. However, since visible light does not pass through the seat in the vehicle 10, it is difficult to detect a person in the rear seat 10z by using the optical sensor.

On the other hand, since the transmission wave VT transmitted by the motion detection device 13 is a radio wave, it can pass through the seat in the vehicle 10. Further, when a metal film for heat absorption or the like is attached to the windshield 10f, the ETC (Electronic Toll Collection System) on-board unit arranged near the windshield 10f becomes difficult to receive radio waves, so that the windshield 10f It is unlikely that a metal film will be attached to the. Therefore, when the motion detecting device 13 transmits the transmitted wave VT toward the windshield 10f, the transmitted wave VT passes through the windshield 10f, further passes through the driver's seat 10x and the passenger seat 10y, and reaches the rear seat 10z. Therefore, the motion detection device 13 can detect not only the person existing in the driver's seat 10x and the passenger seat 10y but also the person in the rear seat 10z.

<Transmission of transmitted waves to the side glass on the driver's seat and passenger seat side>
Similar to the windshield 10f, the side glass on the driver's seat 10x and the passenger seat 10y side (hereinafter referred to as "front side glass") requires a visible light transmittance of 70% or more. Therefore, it may be possible to detect people present in the driver's seat 10x and the passenger seat 10y using an optical sensor that transmits visible light toward the front side glass. However, as described above, since visible light does not pass through the seat, it is difficult to detect a person in the rear seat 10z by using the optical sensor.

Further, a metal film for heat absorption or the like may be attached to the front side glass. Therefore, when the motion detection device 13 transmits the transmission wave VT toward the front side glass, it may be difficult for the transmission wave VT to reach the inside of the vehicle 10. Therefore, in this case, the human detection accuracy of the motion detection device 13 may decrease.

<Transmission of transmitted waves to the side glass and rear glass on the rear seat side>
There is no provision for visible light transmittance for the side glass on the rear seat side (hereinafter referred to as the "rear side glass") and the rear glass. Therefore, a mirror film, a curtain, or the like may be attached to the rear side glass and the rear glass. Therefore, when an optical sensor that transmits visible light toward the rear side glass or the rear glass is used, it may not be possible to detect a person in the vehicle 10.

In addition, a metal film for heat absorption or the like may be attached to the rear side glass and the rear glass. Therefore, when the motion detection device 13 transmits the transmission wave VT toward the rear side glass or the rear glass, it may be difficult for the transmission wave VT to reach the inside of the vehicle 10. Therefore, in this case, the human detection accuracy of the motion detection device 13 may decrease.

As described above, it is unlikely that a metal film is attached to the windshield 10f, and radio waves pass through the seats in the vehicle 10. Therefore, as shown in FIGS. By transmitting the wave VT as a radio wave toward the windshield 10f, it is possible to more reliably determine whether or not a person is present in the vehicle 10. Therefore, the detection accuracy of the person in the vehicle 10 is further improved.

Further, when the distance D1 between the two motion detection devices 13 becomes large, the transmission wave VT transmitted by each motion detection device 13 easily hits the side glass, and for the above reason, it is difficult for the transmission wave VT to reach a wide range in the vehicle 10. Become. As in this example, when the distance D1 is set to a predetermined value α or less, which is equivalent to the width W20 of the parking room 500, the transmitted wave VT easily hits the windshield 10f. As a result, the transmitted wave VT can easily reach a wide range in the vehicle 10, and the detection accuracy of a person in the vehicle 10 is further improved.

Further, as shown in FIG. 23, when the motion detecting device 13 transmits the transmitted wave VT diagonally downward toward the windshield 10f, the tall vehicle 10 such as the maximum accommodating vehicle 10A Even if there is a short vehicle 10B, the transmitted wave VT can easily enter the vehicle 10 from the windshield 10f. Therefore, the detection accuracy of the person in the vehicle 10 is further improved.

Further, if the height H1 of the motion detecting device 13 is too large, it becomes difficult for the transmitted wave VT transmitted through the windshield 10f to reach the rear seats. Further, if the height H1 is too small, it becomes difficult for the transmitted wave VT to reach the windshield 10f of the tall vehicle 10 like the maximum accommodating vehicle 10A. As in this example, the height H1 is set to be equal to the height H10 of the maximum accommodating vehicle 10A, so that each of the tall vehicle 10 and the short vehicle 10 is transmitted over a wide range in the vehicle 10. Wave VT is easier to reach. Therefore, the detection accuracy of the person in the vehicle 10 is further improved.

Further, as shown in FIG. 22, when a part of the transmitted wave VT passes between the driver's seat 10x and the passenger seat 10y, specifically, the backrest 10xx of the driver's seat 10x and the passenger seat 10y When passing between the backrests 10 yy, some of the parts will not be damped by the seats. Therefore, the transmitted wave VT can easily reach the rear seat 10z. Further, when a part of the transmitted wave VT passes between the backrest 10xx of the driver's seat 10x and the backrest 10yy of the passenger seat 10y, a part of the reflected wave VR from the moving body of the rear seat 10z is also a part of the driver's seat 10x. It becomes easier to pass between the backrest 10xx and the backrest 10yy of the passenger seat 10y, and a part of the backrest is not attenuated by the seat. As a result, the detection accuracy of the person in the vehicle 10 is further improved.

Further, as shown in FIG. 22, when the motion detecting device 13 transmits the transmitted wave VT from the driver's seat 10x side of the windshield 10f toward the rear of the passenger seat 10y, the transmitted wave VT is transmitted. , It becomes easier to pass between the driver's seat 10x and the passenger seat 10y. Similarly, when the motion detection device 13 transmits a transmission wave VT from the passenger seat 10y side of the windshield 10f toward the rear of the driver's seat 10x, the transmission wave VT is the driver's seat 10x and the passenger seat. It becomes easier to pass between 10y. Therefore, the detection accuracy of the person in the vehicle 10 is further improved.

In the above example, the heights of the two motion detection devices 13 are the same, but they may be different from each other. In this case, it becomes easy to detect a person in the vehicle 10 for each of the plurality of types of vehicles 10 having different vehicle heights.

Further, even when each motion detection device 13 is arranged as in the example shown in FIGS. 22 and 23, the transmitted wave VT and the reflected wave VR pass through the windshield 10f, and the transmitted wave VT passes through the rear seat. It reaches up to 10z, and the transmitted wave VT and the reflected wave VR can pass between the driver's seat 10x and the passenger seat 10y.

For example, as shown in FIG. 24, the transmitted wave VT and the reflected wave even when the distance D1 of the two motion detection devices 13 is larger than the width W20 of the parking room 500, unlike the example of FIG. The VR passes through the windshield 10f, the transmitted wave VT reaches the rear seat 10z, and a part of the transmitted wave VT and the reflected wave VR can pass between the driver's seat 10x and the passenger seat 10y.

Further, even when the two motion detection devices 13 do not transmit the transmission wave VT in the directions intersecting each other, but transmit the transmission wave VT in the directions parallel to each other as shown in FIG. The transmitted wave VT and the reflected wave VR pass through the front glass 10f, the transmitted wave VT reaches the rear seat 10z, and a part of the transmitted wave VT and the reflected wave VR passes between the driver's seat 10x and the passenger seat 10y. it can.

Further, in the above example, the boarding / alighting chamber 5 is provided with two motion detection devices 13, but three or more motion detection devices 13 may be provided. Further, only one motion detection device 13 may be provided in the boarding / alighting room 5. FIG. 26 is a diagram showing an example in which only one motion detecting device 13 is provided in the boarding / alighting room 5. Even in the example of FIG. 26, the transmitted wave VT and the reflected wave VR pass through the windshield 10f, the transmitted wave VT reaches the rear seat 10z, and a part of the transmitted wave VT and the reflected wave VR is the driver's seat 10x and the passenger. You can pass between the seats 10y.

Further, the motion detection device 13 may be arranged in the boarding / alighting room 5 on the front side (entrance / exit port 2 side) of the vehicle 10. In this case, the motion detection device 13 transmits the transmission wave VT toward the rear glass of the vehicle 10. Further, the motion detection device 13 may be arranged on the right side or the left side of the vehicle 10 in the boarding / alighting room 5. In this case, the motion detection device 13 may transmit the transmitted wave VT toward the side glass in front of the vehicle 10 or may transmit the transmitted wave VT toward the side glass behind the vehicle 10. Further, in the boarding / alighting room 5, at least one motion detection device 13 may be arranged at a plurality of locations on the back side, the front side, the right side, and the left side of the vehicle 10.

Further, in the above example, the height H1 of the motion detecting device 13 is fixed, but the control device 11 may be able to change the height H1. In this case, a sensor for detecting the height of the vehicle 10 stopped in the boarding / alighting room 5 is provided, and the control device 11 sets the height H1 of the motion detecting device 13 according to the height detected by the sensor. It may be changed. As a result, the detection accuracy of the person in the vehicle 10 is further improved.

Further, in the above example, the distance D1 of the two motion detection devices 13 is fixed, but the control device 11 may be able to change the distance D1. In this case, a sensor for detecting the width of the vehicle 10 stopped in the boarding / alighting room 5 may be provided, and the control device 11 may change the distance D1 according to the width detected by the sensor. As a result, the detection accuracy of the person in the vehicle 10 is further improved.

Further, in the above example, the direction in which the motion detection device 13 transmits the transmission wave VT is fixed, but the control device 11 may be able to change the direction. In this case, a sensor for detecting at least one of the height and width of the vehicle 10 stopped in the boarding / alighting room 5 is provided, and the control device 11 responds to at least one of the height and width detected by the sensor. , The direction in which the motion detection device 13 transmits the transmission wave VT may be changed. As a result, the detection accuracy of the person in the vehicle 10 is further improved.

Further, in the above example, it is determined whether or not a person exists in the vehicle 10 existing in the door 3 and the boarding / alighting room 5 surrounded by the wall, but it exists in a space different from the boarding / alighting room 5 described above. It may be determined whether or not there is a person in the vehicle 10. For example, it may be determined whether or not a person exists in the vehicle 10 in the parking room 500. Further, it may be determined whether or not a person exists in the vehicle 10 existing in the space without the door. Further, it may be determined whether or not a person exists in the vehicle 10 existing in the space without the wall and the door. Further, it may be determined whether or not a person exists in the vehicle 10 existing in the space surrounded by the fence. Further, it may be determined whether or not a person exists in the vehicle 10 existing in the space having the gate instead of the door.

As described above, the parking facility 1 has been described in detail, but the above description is an example in all aspects, and the present invention is not limited thereto. In addition, the various modifications described above can be applied in combination as long as they do not contradict each other. Then, it is understood that innumerable variations not illustrated can be assumed without departing from the scope of the present invention.

1 Mechanical parking equipment 13 Motion detectors 10, 10A, 10B Vehicle 10f Windshield 130 Signal generator 131 Antenna 140 Judgment unit 300 Reflector VT Transmit wave VR Reflected wave

Claims (6)

It is a moving object detection device that is installed in a mechanical parking facility and detects moving objects in the vehicle.
In the vehicle interior motion detection, a signal generator that generates a transmitted wave and
In the vehicle interior motion detection, an antenna that transmits the transmitted wave as a radio wave and
In the motion detection device in the vehicle, the motion detection device is based on a standing wave generated by combining the transmitted wave and the reflected wave received by the antenna by a plurality of reflecting objects including the motion object. It is provided with a determination unit that uses the distance from the vehicle as a variable, generates a determination function that changes according to the value of the variable, and determines whether or not the moving object exists in the vehicle using the determination function. , Motion detector. The motion detection device according to claim 1.
The antenna is a motion detecting device that transmits the transmitted wave toward the windshield of the vehicle. The motion detection device according to claim 2.
Before SL antenna, the transmitting transmission waves obliquely downward toward the front glass, motion detection device. It is a moving object detection device that is installed in a mechanical parking facility and detects moving objects in the vehicle.
In the vehicle interior motion detection, the first signal generator that generates the first transmission wave and
In the vehicle interior motion detection, the first antenna that transmits the first transmitted wave as a radio wave and
In the in-vehicle moving object detection, the said in the vehicle based on the first composite wave of the first transmitted wave and the reflected wave of a plurality of reflecting objects including the moving object received by the first antenna. The first determination unit that determines whether or not a moving object exists, and
In the vehicle interior motion detection, the second signal generator that generates the second transmission wave and
In the vehicle interior motion detection, the second antenna that transmits the second transmission wave as a radio wave and
In the in-vehicle moving object detection, the said in the vehicle based on the second composite wave of the second transmitted wave and the reflected wave of the plurality of reflecting objects including the moving object received by the second antenna. It is equipped with a second determination unit that determines whether or not a moving object exists.
The vehicle has a first seat located on the left side of the front row of the vehicle and a second seat located on the right side of the front row when the vehicle is viewed from the windshield side of the vehicle.
The first antenna transmits the first transmitted wave from the first seat side of the windshield toward the rear of the second seat.
The second antenna is a motion detecting device that transmits the second transmitted wave from the second seat side of the windshield toward the rear of the first seat. The motion detection device according to any one of claims 1 to 4.
The motion detection device detects the motion object in the vehicle existing in the boarding / alighting room of the mechanical parking facility, and detects the motion object in the vehicle.
The motion detection device is a motion detection device that detects motion in a vehicle with the door of the boarding / alighting room open. A mechanical parking facility including the motion detection device according to any one of claims 1 to 5.

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