JP7051367B2 - Mechanical parking device and its control device, control method, and control program - Google Patents

Description

The present invention relates to a mechanical parking device and its control device, a control method, and a control program.

Conventionally, a mechanical parking device having a hierarchical structure including a plurality of berths is known (see, for example, Patent Documents 1 and 2).
In Patent Document 1, in a mechanical parking device having one lift for two berths, an alternate warehousing / delivery mode for alternately performing warehousing and warehousing with one lift, both of which are warehousing berths. It has multiple operation modes such as a continuous warehousing mode in which only warehousing is performed continuously by using it, and a continuous warehousing mode in which both berths are used as warehousing berths and only warehousing is performed continuously. The mechanical parking device to be adopted is disclosed.
Patent Document 2 discloses a layout in which a warehousing berth and a warehousing berth are installed in the middle or both sides of a plurality of lifts.

Japanese Unexamined Patent Publication No. 5-214832 Japanese Unexamined Patent Publication No. 6-88455

Patent Document 1 discloses that the warehousing / delivery efficiency is improved by switching the function assigned to each berth to either warehousing or warehousing. However, Patent Document 1 does not disclose a specific method for determining a warehousing / transporting route from a warehousing berth to a storage shelf or a warehousing / transporting route from a storage shelf to a warehousing berth.

The present invention has been made in view of such circumstances, and is a mechanical parking device capable of improving the warehousing / delivery efficiency in a mechanical parking device including a plurality of warehousing berths or a plurality of warehousing berths, and a mechanical parking device thereof. It is an object of the present invention to provide a control device, a control method, and a control program.

The first aspect of the present invention is a control device used for a mechanical parking device including a plurality of warehousing berths, which is a storage means for storing a plurality of warehousing modes and a plurality of the warehousing modes depending on an operating state. The warehousing mode selection means for selecting one as the current warehousing mode is provided, and the plurality of warehousing modes include a warehousing free mode that does not limit the warehousing transport route of the warehousing vehicle warehousing in each warehousing berth, and at least one of the above. It is a control device of a mechanical parking device having a warehousing restriction mode that restricts a warehousing transport route of the warehousing vehicle that has been warehousing in the warehousing berth.

According to the control device of the mechanical parking device, the warehousing free mode and the warehousing restriction mode are set as the warehousing mode, and one of the warehousing modes is selected by the warehousing mode selection means according to the operating state of the mechanical parking device. Will be done. This makes it possible to transport the warehousing vehicle using a suitable warehousing mode according to the operating state.

The mechanical parking device has a hierarchical structure, and each storage floor is provided with vehicle transport means for storing the warehousing vehicle in the storage shelf. In the warehousing free mode, all the warehousing berths are provided. The vehicle transport means may be enabled, and in the warehousing restriction mode, the vehicle transport means that can be used for each warehousing berth may be restricted.

According to the control device of the mechanical parking device, when the warehousing restriction mode is selected, the vehicle transport means that can be used for each warehousing berth is limited. As a result, the warehousing vehicles stopped at each warehousing berth are stored in the storage shelves using only the vehicle transport means associated with the warehousing berth. In this way, when the warehousing restriction mode is selected, the storage shelves that are the storage destinations of the warehousing vehicles are limited for each warehousing berth.

In the control device of the mechanical parking device, the warehousing restriction mode is assigned, for example, as a vehicle transporting means in which different vehicle transporting means can be used for each warehousing berth.

According to the control device of the mechanical parking device, it is possible to avoid competing for a common vehicle transport means among a plurality of warehousing berths.

In the control device of the mechanical parking device, the warehousing mode selection means determines whether or not it is a busy season depending on whether or not a preset condition is satisfied, and when it is determined that it is a busy season, the warehousing restriction mode is set. You may choose.

According to the control device of the mechanical parking device, since the warehousing restriction mode is selected during busy times, it is possible to avoid competing for a common vehicle transport means among a plurality of warehousing berths. This makes it possible to expect a reduction in vehicle transport time at the time of warehousing.

In the control device of the mechanical parking device, the warehousing mode selection means determines whether or not there is an unusable warehousing berth, and if there is an unusable warehousing berth, the warehousing free mode is set. You may choose.

According to the control device of the mechanical parking device, when there is an unusable warehousing berth, the warehousing free mode is selected, so that the available warehousing berth can be transported without limiting the vehicle transport means that can be used. It becomes possible to realize the processing.

In the control device of the mechanical parking device, the warehousing mode selection means may select the warehousing free mode when at least one of the vehicle transporting means fails. ..

According to the control device of the mechanical parking device, when at least one vehicle transport means fails, the warehousing free mode is selected, so that the warehousing process in the warehousing berth to which the failed vehicle transport means is assigned can be performed. It is possible to avoid performance degradation.

In the control device of the mechanical parking device, the warehousing mode selection means may select the warehousing free mode when any of the storage floors is full or nearly full.

According to the control device of the mechanical parking device, when one of the storage floors is full or nearly full, the warehousing free mode is selected, so that the storage floor is full or close to full. It is possible to avoid deterioration of the performance of the warehousing process in the warehousing berth to which the vehicle transport means associated with the above is assigned.

A second aspect of the present invention is a mechanical parking device including the control device for the mechanical parking device according to any one of the above.

The mechanical parking device may have a warehousing operation panel provided corresponding to each warehousing berth, and the warehousing operation panel may be provided with a notification means for notifying the current warehousing mode.

According to the mechanical parking device, the current warehousing mode can be notified to the user (manager, driver, etc.).

In the mechanical parking device, the warehousing operation panel may include a warehousing mode switching means for manually switching the current warehousing mode.

According to the mechanical parking device, it is possible to manually switch the warehousing mode.

A third aspect of the present invention is a control device used for a mechanical parking device including a plurality of delivery berths, which is a storage means for storing a plurality of delivery modes and a plurality of the delivery modes depending on an operating state. A mode selection means for selecting one as the current issue mode is provided, and the plurality of issue modes include a issue free mode that does not limit the issue transfer route from the storage shelf to each issue berth, and each issue from the storage shelf. It is a control device of a mechanical parking device having a delivery restriction mode for restricting a delivery transfer route to a berth.

According to the control device of the mechanical parking device, there are a warehousing free mode and a warehousing restriction mode as warehousing modes, and one of the warehousing modes is selected by the warehousing mode selection means according to the operating state of the mechanical parking device. Will be done. This makes it possible to transport the delivery vehicle using a suitable delivery mode according to the operating state.

The mechanical parking device has a hierarchical structure, and each storage floor is provided with vehicle transport means for carrying out vehicles from the storage shelves. The vehicle transport means can be used, and in the delivery restriction mode, the vehicle transport means that can be used for each delivery berth may be restricted.

According to the control device of the mechanical parking device, when the delivery restriction mode is selected, the vehicle transport means that can be used for each delivery berth is limited. As a result, the delivery berth to which the delivery vehicle is to be carried out is restricted according to the storage shelf in which the delivery vehicle is stored. In this way, by restricting the delivery berth that is the delivery destination of the delivery vehicle, for example, it is possible to prohibit the delivery from the delivery berth far from the storage shelf and to make the delivery only from the delivery berth near the storage shelf. Become. This makes it possible to shorten the vehicle transport time at the time of delivery.

In the control device of the mechanical parking device, the delivery restriction mode is assigned, for example, as a vehicle transport means in which different vehicle transport means can be used for each delivery berth.

According to the control device of the mechanical parking device, it is possible to avoid competing for a common vehicle transport means among a plurality of delivery berths. This makes it possible to efficiently perform the transport process at the time of delivery.

In the control device of the mechanical parking device, the delivery mode selection means determines whether or not it is a busy season depending on whether or not a preset condition is satisfied, and when it is determined to be a busy season, the delivery restriction mode is set. You may choose.

According to the control device of the mechanical parking device, when it is determined that the busy season is reached, the delivery restriction mode is selected, so that the delivery destination delivery berth of the delivery vehicle can be limited according to the storage shelf. As a result, for example, it is possible to prevent the delivery vehicle from being carried out from the delivery berth far from the storage shelf, and it is possible to carry out the delivery vehicle from the delivery berth as close as possible. This makes it possible to avoid inefficient unloading at the time of delivery.

In the control device of the mechanical parking device, the delivery mode selection means may select the delivery free mode when any of the delivery berths becomes unavailable.

According to the control device of the mechanical parking device, when one of the delivery berths becomes unavailable, the delivery free mode is selected, so that the vehicle stored in the storage shelf can be used as the other delivery berth. Can be transported to.

A fourth aspect of the present invention is a mechanical parking device including a control device for any of the above mechanical parking devices.

The mechanical parking device may have a delivery operation panel provided corresponding to each delivery berth, and the delivery operation panel may be provided with a notification means for notifying the current delivery mode.

According to the mechanical parking device, the current delivery mode can be notified to the user (manager, driver, etc.).

In the mechanical parking device, the warehousing operation panel may include a warehousing mode switching means for manually switching the current warehousing mode.

According to the mechanical parking device, the current delivery mode can be manually switched depending on the situation.

A fifth aspect of the present invention is a control method for a mechanical parking device including a plurality of warehousing berths, wherein a warehousing mode selection step of selecting one of the plurality of warehousing modes as the current warehousing mode according to an operating state is performed. The plurality of warehousing modes include a warehousing free mode that does not limit the warehousing and transporting route of the warehousing vehicle that has been warehousing in each of the warehousing berths, and a warehousing and transporting route of the warehousing vehicle that has been warehousing in at least one of the warehousing berths. It is a control method of a mechanical parking device having a warehousing restriction mode.

The sixth aspect of the present invention is a control method for a mechanical parking device including a plurality of delivery berths, and has a mode selection step of selecting one of the plurality of delivery modes as the current delivery mode according to an operating state. However, the plurality of delivery modes include a delivery free mode that does not limit the delivery transfer route from the storage shelf to each delivery berth, and a delivery restriction mode that limits the delivery transfer route from the storage shelf to each delivery berth. It is a control method of a mechanical parking device having.

A seventh aspect of the present invention is a control program applied to a mechanical parking device including a plurality of warehousing berths, and is a warehousing mode in which one of the plurality of warehousing modes is selected as the current warehousing mode according to an operating state. A computer is made to execute a selection process, and the plurality of warehousing modes include a warehousing free mode that does not limit the warehousing transport route of the warehousing vehicle that has been warehousing in each warehousing berth, and the warehousing that has been warehousing in at least one warehousing berth. It is a control program of a mechanical parking device having a warehousing restriction mode that restricts a warehousing / transportation route of a vehicle.

The eighth aspect of the present invention is a control program applied to a mechanical parking device including a plurality of delivery berths, and a mode selection for selecting one of the plurality of delivery modes as the current delivery mode according to an operating state. The processing is executed by a computer, and the plurality of delivery modes restrict the delivery transfer route from the storage shelf to each delivery berth, and the delivery transfer route from the storage shelf to each delivery berth. It is a control program of a mechanical parking device having a delivery restriction mode.

According to the present invention, there is an effect that the warehousing / delivery efficiency can be improved in a mechanical parking device including a plurality of warehousing berths or a plurality of warehousing berths.

It is a perspective view which shows the schematic structure of the double row type machine parking apparatus which concerns on 1st Embodiment of this invention. It is a top view of the vicinity of the parking lot entrance / exit of the mechanical parking device according to the first embodiment of the present invention. It is a figure which looked at the exit berth from the parking lot entrance / exit side in the mechanical parking device which concerns on 1st Embodiment of this invention. It is a schematic diagram of the operation panel of the mechanical parking device which concerns on 1st Embodiment of this invention. It is a figure which showed the schematic structure of the control device of the mechanical parking device which concerns on 1st Embodiment of this invention. It is a functional block diagram of the control device of the mechanical parking device which concerns on 1st Embodiment of this invention. It is a figure which showed an example of the information stored in the storage part shown in FIG. It is a figure for demonstrating the relationship between the warehousing berth and the transport carriage in the mechanical parking device which concerns on 1st Embodiment of this invention. It is a figure which showed an example of the warehousing mode which concerns on 1st Embodiment of this invention. It is a flowchart which showed the procedure of the warehousing mode selection process which concerns on 1st Embodiment of this invention. It is a figure for demonstrating the relationship between the delivery berth and the transport carriage in the mechanical parking device which concerns on 1st Embodiment of this invention. It is a figure which showed an example of the delivery mode which concerns on 1st Embodiment of this invention. It is a flowchart which showed the procedure of the delivery mode selection process which concerns on 1st Embodiment of this invention. It is a flowchart which showed the procedure of the warehousing process executed by the control device at the time of warehousing of the mechanical parking device which concerns on 1st Embodiment of this invention. It is a flowchart which showed the procedure of the warehousing process executed by the control device at the time of warehousing of the mechanical parking device which concerns on 1st Embodiment of this invention. It is a flowchart which showed the procedure of the warehousing process executed by the control device at the time of warehousing of the mechanical parking device which concerns on 1st Embodiment of this invention. It is a flowchart which showed the procedure of the warehousing process executed by the control device at the time of warehousing of the mechanical parking device which concerns on 1st Embodiment of this invention. It is a figure for demonstrating the relationship between the warehousing berth and the transport carriage in the mechanical parking device which concerns on 2nd Embodiment of this invention. It is a figure for demonstrating the relationship between the delivery berth and the transport carriage in the mechanical parking device which concerns on 2nd Embodiment of this invention.

Hereinafter, the mechanical parking device and its control device, the control method, and the control program according to the first embodiment of the present invention will be described with reference to the drawings. In the following embodiment, a double-row mechanical parking device for delivering and delivering a vehicle by a conveyor as a mechanical parking device will be described as an example, but the present invention is not limited to this example, and the present invention is not limited to this example, for example, a plane reciprocating type. , A pallet type mechanical parking device such as a horizontal circulation type may be used.

FIG. 1 is a perspective view showing a schematic structure of a double-row mechanical parking device (hereinafter referred to as “mechanical parking device”) 10 according to the present embodiment. As shown in FIG. 1, the mechanical parking device 10 includes a double-row storage shelf group 12 and 13 and a transport carriage 5. In the double-row storage shelves 12 and 13, a plurality of types of storage shelves 22 and 23 for storing a plurality of types of vehicles (large vehicles, small vehicles, etc.) are continuously arranged to form a large number of hangars. Each of the storage shelves 22 and 23 is a group of double-row storage shelves including front shelves 22a and 23a and back shelves 22b and 23b, and horizontal feed conveyors 15a, 15b and 16a and 16b are arranged in the front and rear, respectively. There is.

The storage shelves 22 and 23 may be of a plurality of types of storage shelves having different sizes by changing the widths of the rear horizontal feed conveyors 15b and 16b, and the front horizontal feed conveyors 15a and 16a and the rear. It may be a storage shelf having the same width of the horizontal feed conveyors 15b and 16b.
One or a plurality of transport trolleys (vehicle transport means) 5 are movably arranged on the trolley running path 4 between the double-row storage shelves groups 12 and 13. The transport carriage 5 travels along the double-row storage shelves 12 and 13 by traveling on the rails 21 provided on the double-row storage shelf group 12 side and the double-row storage shelf group 13 side. be able to. The double-row storage shelves 12 and 13 have a hierarchical structure, and correspondingly, a transport carriage 5 is also provided on each storage floor.

A warehousing berth 2a provided with horizontal feed conveyors 14a and 14b is provided at the parking lot entrance 1 on the side of the double-row storage shelf group 13. This warehousing berth 2a is a warehousing stop space. On the side of the double-row storage shelf group 13, a warehousing lift (elevating device) 3 is provided as a vehicle transporting means for transporting the warehousing vehicle stopped at the warehousing berth 2a to the transport trolley 5. The warehousing lift 3 includes horizontal feed conveyors 17a and 17b. With such a configuration, for example, the warehousing vehicle stopped at the warehousing berth 2a is moved to the warehousing lift 3 by the horizontal feed conveyors 14a, 14b and 17a, 17b, and the warehousing lift 3 is used to store the vehicle. It is carried to the floor and carried into the transport trolley 5 by the horizontal feed conveyors 17a, 17b and 18a, 18b. The transport trolley 5 on which the warehousing vehicle is placed travels on the trolley travel path 4 (for example, the rail 21) and moves to a predetermined storage shelf 22 (or 23). After that, the warehousing vehicles on the transport trolley 5 are stored in a predetermined storage shelf by the horizontal feed conveyors 15a, 15b (or 16a, 16b) and the horizontal feed conveyors 18a, 18b.
Although only one warehousing berth 2a is shown in FIG. 1, the mechanical parking device 10 according to the present embodiment is located on the opposite side of the warehousing berth 2a with the warehousing lift 3 interposed therebetween, as shown in FIG. Also has a warehousing berth 2b.

At the parking lot exit 9 on the side of the double-row storage shelf group 13, a delivery berth 7a provided with the horizontal feed conveyors 20a and 20b is provided. The delivery berth 7a is a stop space for delivery. Further, on the side of the double-row storage shelf group 13, a delivery lift (elevating device) 8 is provided which receives the vehicles stored in the storage shelves 22 and 23 from the transport carriage 5 and transports them to the delivery berth 7a. The delivery lift 8 includes horizontal feed conveyors 19a and 19b. With such a configuration, for example, the delivery vehicle is carried out from the transport carriage 5 to the delivery lift 8 by the horizontal feed conveyors 18a, 18b and 19a, 19b, and is carried by the delivery lift 8 to the exit floor where the delivery berth 7a is provided. It is transferred to the exit berth 7a of the parking lot exit 9 by the horizontal feed conveyors 19a, 19b and 20a, 20b. Although only one delivery berth 7a is shown in FIG. 1, the mechanical parking device 10 according to the present embodiment is located on the opposite side of the delivery berth 7a with the delivery lift 8 interposed therebetween, as shown in FIG. There is also a delivery berth 7b.

In the present embodiment, a structure in which a hangar is provided below the boarding floor is illustrated, but the mechanical parking device of the present invention is not limited to the structure shown in FIG. 1, and is, for example, above the boarding floor. It may be a ground-based mechanical parking device provided with a hangar.

FIG. 2 is a top view of the vicinity of the parking lot entrance / exit 6 of the mechanical parking device 10 according to the present embodiment, and FIG. 3 is a view of the exit berths 7a and 7b from the parking lot entrance / exit 6 side. In FIG. 2, the horizontal feed conveyors 17a and 17b included in the warehousing lift 3 and the horizontal feed conveyors 19a and 19b included in the delivery lift 8 are not shown.

As shown in FIG. 2, in the mechanical parking device 10 according to the present embodiment, the parking lot entrance 1 and the parking lot exit 9 shown in FIG. 1 are provided on a common floor, and the common parking lot entrance / exit 6 is provided. It is possible to carry out warehousing and delivery at. The arrangement relationship between the parking lot entrance 1 and the parking lot exit 9 is not limited to this example, and may be provided as dedicated areas for each, or may be provided on different floors from each other. ..

As shown in FIGS. 2 and 3, the mechanical parking device 10 includes a plurality of warehousing berths 2a and 2b and a plurality of warehousing berths 7a and 7b. For example, the warehousing berth 2a has a wider space than the warehousing berth 2b, and is regarded as a barrier-free area. As a result, for example, it is possible to move with a wheelchair or the like. Similarly, the shipping berth 7a has a wider space than the shipping berth 7b.

Operation panels (warehousing operation panels) 30a and 30b are provided corresponding to the warehousing berths 2a and 2b, respectively. Similarly, operation panels (delivery operation panels) 30c and 30d are provided corresponding to the delivery berths 7a and 7b, respectively. The operation panels 30a and 30b are mainly operated by a manager at the time of warehousing of the vehicle. The operation panels 30c and 30d are mainly operated by the manager at the time of leaving the vehicle.

Automatic doors 34a and 34b are provided on the parking lot entrance 6 side of each warehousing berth 2a and 2b. The automatic doors 34a and 34b are entrance / exit doors used when moving between the warehousing berths 2a and 2b and the parking lot entrance / exit 6. Similarly, automatic doors 36a and 36b are provided on the parking lot entrance 6 side of the delivery berths 7a and 7b. The automatic doors 36a and 36b are entrance / exit doors used when moving between the parking lot entrance / exit 6 and the exit berths 7a and 7b.
The automatic doors 34a and 36a are designed to be wider than the width of the automatic doors 34b and 36b so that they can be smoothly moved by a wheelchair or the like.

A plurality of cameras (not shown) are installed in each of the warehousing berths 2a and 2b and the warehousing berths 7a and 7b. The plurality of cameras are controlled by the main control unit 50 (see FIG. 5) described later.
Further, a plurality of sensors are installed at various places of the warehousing berths 2a and 2b and the warehousing berths 7a and 7b. The detection signals of the various sensors are transmitted to the main control unit 50, and it is possible to detect a person or the like in the berth or the position of the vehicle.

FIG. 4 is a schematic view of the operation panel 30 (30a to 30d). Hereinafter, when the operation panels 30a to 30d are not distinguished, the operation panel 30 will be described.

The operation panel 30 includes an IC (integrated circuit) card reader 301, a parking ticket reader 302, a shutter 303, a monitor 304, a touch panel 305, and a switch 306. Accepts various operation inputs such as.

The manager (or user) who is permitted to operate the mechanical parking device 10 has an IC card for identifying the manager (or user). The administrator's identification information (hereinafter referred to as "user ID") is recorded on the IC card. When the IC card reader 301 detects the IC card in the readable range of the IC card reader 301, the IC card reader 301 reads the user ID transmitted from the IC card. The read user ID is transmitted to the main control unit 50 (FIG. 5) described later and used for user authentication.

The parking ticket reader 302 accepts the insertion of a parking ticket.
The monitor 304 includes a liquid crystal display device for displaying characters, images, and the like, an indicator lamp such as an LED, and the like. Further, it may be configured to provide various information to a manager or a user in combination with a voice, an alarm sound, and a speaker that emits a buzzer by a voice synthesizer. Further, the monitor 304 displays images taken by cameras (not shown) provided in the corresponding warehousing berths 2a and 2b and warehousing berths 7a and 7b. With such a configuration, the manager can confirm the safety of the warehousing berths 2a and 2b and the warehousing berths 7a and 7b at the time of warehousing and warehousing from the camera image.

The touch panel 305 is a touch panel type operation screen. Guidance and button display related to warehousing / delivery reservation are sequentially performed on the touch panel 305, and the administrator (or user) operates the touch panel 305 according to the guidance to easily perform an input operation related to warehousing or an input operation related to warehousing. You can do it.
The switch 306 is an emergency stop button or the like that makes an emergency stop of the operation of the mechanical parking device 10.

FIG. 5 is a diagram showing a schematic configuration of a control device 100 of the mechanical parking device 10 according to the present embodiment. The control device 100 of the mechanical parking device according to the present embodiment has operation panel control units 40a to 40d provided on each operation panel 30a to 30d (hereinafter, when the operation panel control units 40a to 40d are not distinguished). , Simply referred to as "operation panel control unit 40") and a main control unit 50. Each operation panel control unit 40 controls the IC card reader 301, the parking ticket reader 302, the touch panel 305, the monitor 304, and the like included in the operation panel 30. The main control unit 50 is connected to the operation panel control units 40a to 40d included in the operation panel 30a to 30d, and is configured to enable bidirectional communication with the operation panel control units 40a to 40d. The main control unit 50 controls the entire mechanical parking device 10 by exchanging information with the operation panel control units 40a to 40d.

The operation panel control units 40a to 40d and the main control unit 50 are, for example, information processing devices, and function as a CPU, an auxiliary storage device for storing programs executed by the CPU, and a work area at the time of executing each program. It is equipped with a main memory, a communication interface for connecting to the network, and so on.
As an example, a series of processes for realizing various functions described later are stored in a storage medium or the like in the form of a program (for example, a control program), and the CPU reads this program into the main memory to provide information. Various functions are realized by executing the processing and arithmetic processing of. The program is installed in a ROM or other storage medium in advance, is provided in a state of being stored in a computer-readable storage medium, or is distributed via a 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.

FIG. 6 is a diagram showing a functional block diagram of the operation panel control unit 40 and the main control unit 50. In the present embodiment, the operation panel control units 40a to 40d have the same functions, but for example, the operation panel control units 40a and 40b used for warehousing and the operation panel control units 40c and 40d used for warehousing. It may be configured so that the mounted functions are different. As shown in FIG. 6, the operation panel control unit 40 includes an operation screen control unit 42, a communication unit 44, and a storage unit 46 as main configurations.
The operation screen control unit 42 causes the touch panel 305 to display a screen corresponding to the operating state of the mechanical parking device 10, a result of user authentication, and the like.

The communication unit 44 transmits the user ID read by the IC card reader 301, various operation input information input by operating the touch panel 305 by the user, and the like to the main control unit 50. Further, the communication unit 44 receives from the main control unit 50 operation state information indicating the operation state of the mechanical parking device 10, authentication result information indicating the result of user authentication, and the like.
The storage unit 46 stores various programs and data executed by the operation panel control unit 40.

The main control unit 50 includes a storage unit 51, a communication unit 52, a user authentication unit 53, a machine control unit 54, a warehousing mode selection unit 55, a warehousing mode selection unit 56, a warehousing processing unit 57, a warehousing processing unit 58, and the like.

The storage unit 51 stores various programs executed by the main control unit 50 and various data required at the time of program execution. For example, as shown in FIG. 7, in the storage unit 51, as an example of information referred to when executing each program, a registered user ID used for user authentication, information on a storage shelf of a warehousing vehicle, and parking ticket information Parking management information associated with, a plurality of warehousing modes, and a plurality of warehousing modes are stored. Specifically, as a plurality of warehousing modes, for example, a warehousing free mode that does not limit the warehousing transport route of the warehousing vehicles stored in each warehousing berth 2a and 2b, and a warehousing vehicle stored in at least one warehousing berth 2a and 2b. There is a warehousing restriction mode that restricts the warehousing and transportation route. Further, as a plurality of shipping modes, for example, a shipping free mode that does not limit the shipping route from the storage shelf to the shipping berths 7a and 7b, and a shipping restriction that limits the shipping route from the storage shelf to the shipping berths 7a and 7b. Modes and the like can be mentioned. The details of these warehousing modes and warehousing modes will be described later.

The communication unit 52 receives the user ID, operation input information, etc. from the operation panel control unit 40, and transmits the operation status information and the authentication result information to the operation panel control unit 40.

The user authentication unit 53 collates the user ID received by the communication unit 52 with the registered user ID registered in advance in the storage unit 51, and performs user authentication. The result of user authentication by the user authentication unit 53 is transmitted to the operation panel control unit 40 via the communication unit 52.

The machine control unit 54 includes each mechanism included in the mechanical parking device 10, for example, lateral feed conveyors 14a, 14b, 15a, 15b, 16a, 16b, 17a, 17b, 18a, 18b, 19a, 19b, 20a, 20b, and transport. It controls the trolley 5, the warehousing lift 3, the warehousing lift 8, and the like. Information indicating the operating state of each mechanism by the machine control unit 54 is transmitted to the operation panel control unit 40 via the communication unit 52 as operating state information and the like.

The warehousing mode selection unit 55 selects any warehousing mode as the current warehousing mode according to the operating state of the mechanical parking device 10.
The delivery mode selection unit 56 selects one of the delivery modes as the current delivery mode according to the operating state of the mechanical parking device 10.
The warehousing processing unit 57 mainly executes the warehousing processing described later.
The delivery processing unit 58 mainly executes the delivery processing described later.

Next, the warehousing mode and the warehousing mode according to the present embodiment will be described in detail with reference to the drawings. In the following description, for convenience, as shown in FIGS. 8 and 11, the mechanical parking device 10 has a four-story structure, the first transport trolley 5a is on the first floor, and the second transport trolley 5b is on the second floor. A case where the third transport trolley 5c is arranged on the third floor and the fourth transport trolley 5d is arranged on the fourth floor will be described.
Further, in FIG. 8, the warehousing berth 2a shown in FIGS. 1 and 2 is represented as the first warehousing berth, and the warehousing berth 2b is represented as the second warehousing berth.
As shown in FIG. 8, each of the first warehousing berths 2a and the second warehousing berths 2b has a configuration in which the first to fourth transport trolleys 5a to 5d can be structurally used.

FIG. 9 shows an example of the warehousing mode. As shown in FIG. 9, the warehousing mode has a warehousing restriction mode and a warehousing free mode.
In the warehousing restriction mode, the first warehousing berth 2a is assigned the first transport trolley 5a and the third transport trolley 5c as the transport trolleys that can be used at the time of warehousing, and the second warehousing berth 2b is assigned the second transport trolley 5b and the fourth transport trolley. A dolly 5d is assigned. As a result, for example, when the warehousing restriction mode is selected, the warehousing vehicle warehousing in the first warehousing berth 2a is transported to the first floor or the third floor by the warehousing lift 3, and is provided on the first floor. It is transported to a predetermined storage shelf by a transport trolley 5a or a third transport trolley 5c provided on the third floor. Similarly, the warehousing vehicle warehousing in the second warehousing berth 2b is transported to the second floor or the fourth floor by the warehousing lift 3, and the second transport trolley 5b provided on the second floor or the fourth transport trolley provided on the fourth floor. It is transported to a predetermined storage shelf by 5d. As described above, in the warehousing restriction mode, different transport trolleys are assigned to the warehousing berths 2a and 2b, and the transport trolleys used at the time of warehousing are restricted.

In the warehousing free mode, there is no restriction as in the warehousing restriction mode, and the first warehousing berth 2a and the second warehousing berth 2b are assigned the first transport trolleys 5a to the fourth transport trolleys 5d, respectively.
In FIG. 12, a transport trolley is assigned to each delivery berth, but since the transport trolley is provided corresponding to each storage floor, it is agreed that the transport trolley is assigned to the storage floor. Is. That is, the storage floor may be assigned instead of the transport trolley.

Next, an example of the warehousing mode selection process executed by the warehousing mode selection unit 55 will be described with reference to FIG. 10.

First, the warehousing mode selection unit 55 determines whether or not it is a busy season (SA1). Whether or not it is a busy season is determined, for example, by determining whether or not the number of reservations for warehousing in a predetermined time (for example, 5 minutes, 10 minutes, 1 hour, etc.) exceeds a predetermined value. The criteria for determining whether or not it is a busy season is not limited to this example, and the conditions for determining whether or not it is a busy season are registered in advance, and whether or not it is a busy season depends on whether or not the registered conditions are met. It may be determined whether or not. Alternatively, the administrator may manually input whether it is a busy season or not from the touch panel 305 of the operation panel.

If it is determined in step SA1 that it is not a busy season (“NO” in SA1), the warehousing free mode is selected (SA6), and the process is terminated. On the other hand, if it is determined that the season is busy (“YES” in SA1), it is determined whether or not there is an unusable warehousing berth (SA2).

An unusable warehousing berth means that the berth cannot be used due to, for example, a failure of the corresponding operation panel or an abnormality in the sensors, cameras, etc. installed in the berth. say. As a result, if there is an unusable warehousing berth (“YES” in SA2), the warehousing free mode is selected (SA6), and the process is terminated.

On the other hand, if there is no unusable warehousing berth (“NO” in SA2), it is determined whether or not there is a transport trolley that is out of order (SA3). "Failure" means that the transport trolley cannot transport the vehicle. If there is a transport trolley that is out of order (“YES” in SA3), the warehousing free mode is selected (SA6), and the process ends. On the other hand, if there is no transport trolley that is out of order (“NO” in SA3), it is determined whether or not there is a full storage floor (SA4). In this step SA4, it may be determined whether or not there is a storage floor that is almost full. As a result, if there is a storage shelf that is full or nearly full (“YES” in SA4), the warehousing free mode is selected (SA6), and the process is terminated. On the other hand, if there is no storage shelf that is full or nearly full (“NO” in SA4), the warehousing restriction mode is selected (SA5).

As described above, in the present embodiment, the warehousing restriction mode is selected when it is a busy season, there is no unusable warehousing berth, there is no transport trolley 5 which is out of order, and there is no storage floor in a full state. To. For example, in the busy season, by limiting the transport trolleys 5 used in the first warehousing berth 2a and the second warehousing berth 2b, it is possible to avoid the conflict between the transport trolleys 5 and improve the warehousing efficiency. Will be. In addition, when it is not a busy season, the operating rate of the transport trolley is not so high, so in this case, the warehousing free mode is selected.

In addition, when there is an unusable warehousing berth, there is no need to limit the transport trolleys assigned to the available warehousing berths, so the warehousing free mode is selected.
Further, when there is a transport trolley 5 that is out of order, the warehousing shelves that can be warehousing from the warehousing berth associated with the transport trolley 5 that is out of order are extremely limited. select. For example, if the first transport trolley 5a fails, the storage shelves in which the warehousing vehicles in the warehousing berth 2a can be stored are limited to the storage shelves on the third floor. Therefore, in such a case, the storage floor is not restricted by selecting the warehousing free mode.

Further, in general, the warehousing vehicle is operated so as to be stored in a storage shelf in the vicinity of the warehousing lift 3 as much as possible in consideration of the efficiency of the transport time. On the storage floor, which is almost full, the warehousing vehicles are stored in the storage shelves far from the warehousing lift 3, which may deteriorate the transportation efficiency. Therefore, when there are storage shelves that are full or nearly full, the storage shelves on each floor that are considered to be optimal from the viewpoint of transport efficiency are selected without limiting the storage floors.

Further, the warehousing mode can be manually switched by the warehousing mode switching button (not shown) provided on the operation panels 30a and 30b. The manager can switch the currently selected warehousing mode to another warehousing mode by operating the warehousing mode switching button.
Further, the mechanical parking device 10 according to the present embodiment includes a notification means for notifying the currently selected warehousing mode (current warehousing mode). The notification means may be provided on the operation panels 30a and 30b, for example, or may be provided at another location. In the operation panels 30a and 30b, for example, the currently selected warehousing mode may be displayed on a part of the monitor 304 or the touch panel 305 (see FIG. 4). Alternatively, an LED (not shown) may be provided for each warehousing mode, and the LED corresponding to the selected warehousing mode may be turned on to notify the currently selected warehousing mode. Further, instead of or in addition to the case of visual notification as described above, the notification may be performed audibly by notifying by voice from the speaker.

Next, the delivery mode according to the present embodiment will be described in detail with reference to FIGS. 11 to 13. In FIG. 11, the delivery berth 7a shown in FIGS. 1 and 2 is represented as the first delivery berth, and the delivery berth 7b is represented as the second delivery berth.
As shown in FIG. 11, each of the first delivery berths 7a and the second delivery berth 7b has a configuration in which the first to fourth transport carriages 5a to 5d can be structurally used.

FIG. 12 shows an example of the delivery mode. As shown in FIG. 12, the delivery mode has a delivery restriction mode and a delivery free mode.
In the delivery restriction mode, the first delivery berth 7a is assigned the first transport trolley 5a and the third transport trolley 5c as the transport trolleys that can be used at the time of delivery, and the second delivery berth 7b is assigned the second transport trolley 5b and the fourth transport trolley. A dolly 5d is assigned. As a result, for example, when the delivery restriction mode is selected, the vehicle stored in the storage shelf on the first floor or the third floor is transported to the delivery lift 8 by the first transport trolley 5a or the third transport trolley 5c. Then, it is moved to the exit floor by the delivery lift 8 and carried out to the first delivery berth 7a. Similarly, the vehicles stored in the storage shelves on the 2nd or 4th floor are transported to the delivery lift 8 by the 2nd transport carriage 5b or the 4th transport carriage 5d, moved to the exit floor by the delivery lift 8, and are moved to the exit floor. 2 Delivered to the delivery berth 7b.
As described above, in the delivery restriction mode, different transport carriages 5 are assigned to the delivery berths 7a and 7b, and the transport carriage 5 used at the time of delivery is restricted. In other words, depending on the storage floor where the vehicle is stored, the delivery berth where the vehicle is carried out is restricted.

In the warehousing free mode, there is no restriction as in the warehousing restriction mode, and the first trolleys 5a to 4d are assigned to the first berth 7a and the second berth 7b, respectively.

Next, an example of the delivery mode selection process executed by the delivery mode selection unit 56 will be described with reference to FIG. 13.

First, the delivery mode selection unit 56 determines whether or not it is a busy season (SB1). Whether or not it is a busy season is determined, for example, by determining whether or not the number of reservations for delivery in a predetermined time (for example, 5 minutes, 10 minutes, 1 hour, etc.) exceeds a predetermined value. The criteria for determining whether or not it is a busy season is not limited to this example, and the conditions for determining whether or not it is a busy season are registered in advance, and whether or not it is a busy season depends on whether or not the registered conditions are met. It may be determined whether or not. Alternatively, the administrator may manually input from the touch panel 305 of the operation panel 30 whether it is a busy season or not.

If it is determined in step SB1 that it is not a busy season (“NO” in SB1), the issue free mode is selected (SB4), and the process is terminated. On the other hand, if it is determined that the season is busy (“YES” in SB1), it is determined whether or not there is an unusable delivery berth (SB2).

An unusable delivery berth means that the berth cannot be used due to, for example, a failure of the corresponding operation panel or an abnormality in the sensors, cameras, etc. installed in the berth. say. It also includes the case where another person cannot use the delivery berth because the vehicle moved to the delivery berth cannot move from the berth due to a breakdown or the like.
As a result, if there is an unusable delivery berth (“YES” in SB2), the delivery free mode is selected (SB4), and the process is terminated.

On the other hand, if there is no unusable delivery berth (“NO” in SB2), the delivery restriction mode is selected (SB3).

As described above, in the present embodiment, the delivery restriction mode is selected in the busy season and when there is no unusable delivery berth. For example, in the busy season, by limiting the transport trolleys 5 used in the first warehousing berth 7a and the second warehousing berth 7b, it is possible to avoid the conflict between the transport trolleys 5 and improve the warehousing efficiency. Is possible. In addition, when it is not a busy season, the operating rate of the transport trolley is not so high, so in this case, the delivery free mode is selected.

Further, when there is an unusable delivery berth, there is no need to limit the transport trolleys assigned to the available delivery berths, so the delivery free mode is selected.

Further, the delivery mode can be manually switched by the delivery mode switching button (not shown) provided on the operation panels 30c and 30d. The manager can switch the currently selected delivery mode to another delivery mode by operating the delivery mode switching button.
Further, the mechanical parking device 10 according to the present embodiment includes a notification means for notifying the currently selected delivery mode (current delivery mode). The notification means may be provided, for example, on the operation panels 30c and 30d, or may be provided at another location. In the operation panels 30c and 30d, for example, the current delivery mode may be displayed on a part of the monitor 304 or the touch panel 305. Alternatively, an LED may be provided for each delivery mode, and the LED corresponding to the current delivery mode may be turned on to notify the currently selected delivery mode. Further, instead of or in addition to the case of visual notification as described above, the notification may be performed audibly by notifying by voice from the speaker.

〔Warehousing processing〕
Next, the warehousing process executed by the control device 100 at the time of warehousing of the mechanical parking device according to the present embodiment will be described with reference to the drawings. 14 and 15 are flowcharts showing the procedure of the warehousing process executed by the control device 100. The warehousing process described below is mainly realized by the cooperation between the warehousing processing unit 57 of the main control unit 50 and the operation panel control unit 40.

First, when warehousing, the user follows the guidance of the manager and causes the vehicle to be warehousing in the warehousing berth 2a or 2b from the direction of arrow A in FIG. In the following description, for convenience, a case where a vehicle is stored in the warehousing berth 2a will be described. When the driver stops the vehicle at an appropriate position in the warehousing berth 2a, the driver gets off and moves to the parking lot entrance / exit 6 through the automatic door 34a.

When it is detected by various sensors or the like installed in the warehousing berth 2a that the user has left the warehousing berth 2a (SC1), the operation panel 30a is based on the signal from the warehousing processing unit 57 of the main control unit 50. The first user authentication screen is displayed on the touch panel (SC2).
When the administrator brings the IC card into contact with the IC card reader 301 according to the first user authentication screen, the user ID registered in the IC card is read (SC3) and transmitted to the main control unit 50. When the user ID is input, the user authentication unit 53 of the main control unit 50 uses the operation panel 30a by determining whether or not the input user ID is registered as a registered user ID in the storage unit 51. The first user authentication for determining whether or not the person who is trying to have a legitimate authority is performed (SC4).

When the first user authentication is successful (“YES” in SC4), the first authentication completion signal is transmitted from the main control unit 50 to the operation panel 30a. Upon receiving the first authentication completion signal, the operation screen control unit 42 of the operation panel 30a displays the parking ticket insertion screen on the touch panel 305 (SC5). On the parking ticket insertion screen, for example, a guidance display such as "Please insert a parking ticket" is displayed. When the parking ticket is inserted into the parking ticket reader 302 by the administrator (“YES” in SC6), the operation screen control unit 42 displays a warehousing preparation screen indicating warehousing preparation on the touch panel 305 (SC7). Further, the parking ticket insertion completion signal is transmitted from the operation panel 30a to the main control unit 50.
When the main control unit 50 receives the parking ticket insertion completion signal, the machine control unit 54 moves the warehousing lift 3 to the entrance floor where the warehousing berth 2a is located (SC8).

When the warehousing lift 3 arrives at the entrance floor, the operation screen control unit 42 of the operation panel 30a displays an unmanned confirmation screen on the touch panel 305 (SC9). On the unmanned confirmation screen, for example, an "unmanned confirmation button" is displayed along with guidance prompting the unmanned confirmation in the vehicle, such as "Please confirm that there are no people in the vehicle". Further, at this time, the monitor 304 displays an image of the venue taken by a plurality of cameras installed in the warehousing berth 2a. According to this guidance, the driver (user) confirms that there is no person or the like in the warehousing berth 2a, and presses the "unmanned confirmation button" on the touch panel 305 (SC10). When the unattended confirmation button is pressed, the operation screen control unit 42 causes the touch panel 305 to display the second user authentication screen (SC11).

When the administrator brings the IC card into contact with the IC card reader 301 (“YES” in SC12 of FIG. 15), the user ID is transmitted from the operation panel 30a to the main control unit 50. In the user authentication unit 53 of the main control unit 50, the second user authentication for determining whether or not the user ID at the time of performing the first user authentication matches the user ID input in step SC12 is performed. Will be. Then, when the two match, the second authentication completion signal is transmitted from the main control unit 50 to the operation panel 30a (“YES” in SC13).

When the operation panel 30a receives the second authentication completion signal, the operation screen control unit 42 of the operation panel 30a displays the safety confirmation screen on the touch panel 305 (SC14). On the safety confirmation screen, a "safety confirmation button" is displayed along with guidance prompting the safety confirmation in the venue, such as "Please confirm the safety in the venue on the monitor". Further, at this time, the monitor 304 displays an image of the venue taken by a plurality of cameras installed in the warehousing berth 2a. After confirming that there are no people in the warehousing berth 2a, the manager presses the safety confirmation button displayed on the touch panel 305.

When the safety confirmation button is pressed (“YES” in SC15), the operation screen control unit 42 subsequently displays a start screen on the touch panel 305 (SC16). On the start-up screen, a start-up button is displayed with guidance for re-checking the safety in the warehousing berth 2a. Further, at this time, the monitor 304 displays an image of the venue taken by a plurality of cameras installed in the warehousing berth 2a. When the manager confirms that there is no person in the warehousing berth 2a by the monitor 304, he presses the start button displayed on the touch panel 305. When the start button is pressed (“YES” in SC17), a start instruction signal is transmitted from the operation panel 30a to the main control unit 50.

Upon receiving the start instruction signal, the main control unit 50 performs a storage process of the warehousing vehicle (SC18). Further, in parallel with the storage process of the warehousing vehicle, the parking ticket is discharged from the parking ticket reader 302 of the operation panel 30a (SC19). When the driver or passenger receives the parking ticket, the parking ticket is stored until the time of departure.

In the storage process of the warehousing vehicle, the warehousing processing unit 57 determines a storage shelf for storing the warehousing vehicle according to the warehousing mode selected as the current warehousing mode. For example, when the current warehousing mode is the warehousing free mode, the warehousing processing unit 57 determines the storage shelf on any of the first to fourth floors as the storage destination based on a predetermined algorithm. , The determined storage destination information is output to the machine control unit 54.
On the other hand, when the warehousing restriction mode is selected as the current mode, the warehousing processing unit 57 determines as the storage destination any storage shelf on the first floor or the third floor assigned to the first warehousing berth 2a. , The storage destination information is output to the machine control unit 54.

The machine control unit 54 controls the drive of the warehousing lift 3, the transport trolley 5, and the like in order to store the warehousing vehicle in the input storage destination. When the storage process of the warehousing vehicle is completed, the parking ticket information, the warehousing vehicle, and the storage shelf are associated with each other and stored in the storage unit 51 as parking management information (SC20).

[Delivery process]
Subsequently, the delivery process executed by the control device 100 at the time of delivery will be described with reference to FIGS. 16 and 17. 16 and 17 are flowcharts showing the procedure of the shipping process executed by the control device 100. The warehousing process described below is mainly realized by the cooperation between the warehousing processing unit 58 of the main control unit 50 and the operation panel control unit 40.
In the following description, for convenience, a case where a delivery reservation is made from the operation panel 30c corresponding to the delivery berth 7a will be described.

At the time of delivery, the driver or passenger first pays the fare in advance using a payment machine, etc., and hands the parking ticket to the manager. The administrator brings the IC card into contact with the IC card reader 301 according to the first user authentication screen displayed on the touch panel 305 of the operation panel 30c (SD1 and SD2 in FIG. 16).

The user ID read from the IC card is transmitted to the main control unit 50, and the first user authentication is performed as in the case of warehousing. When the first user authentication is successful, the first authentication completion signal is transmitted from the main control unit 50 to the operation panel 30c (“YES” in SD3). Upon receiving the first authentication completion signal, the operation screen control unit 42 of the operation panel 30c displays a parking ticket insertion screen on the touch panel 305 (SD4). On the parking ticket insertion screen, for example, a guidance display such as "Please insert a parking ticket" is displayed. When the parking ticket is inserted into the parking ticket reader 302 by the administrator (“YES” in SD5), the parking ticket information is read (SD6) and transmitted to the main control unit 50. The delivery processing unit 58 of the main control unit 50 refers to the parking management information of the storage unit 51 from the received parking ticket information, and identifies the storage shelf in which the delivery vehicle is stored (SD7).

Subsequently, the delivery processing unit 58 determines whether or not the delivery vehicle can be carried out from the specified storage shelf to the delivery berth 7a for which the delivery reservation has been made (SD8).
Specifically, the issue processing unit 58 confirms whether the current issue mode selected by the issue mode selection unit 56 is the issue free mode or the issue restriction mode. Then, when the delivery free mode is selected as the current delivery mode, it is determined that the delivery is possible (“YES” in SD8), and the information on the storage shelf of the delivery vehicle is output to the machine control unit 54.

On the other hand, when the delivery restriction mode is selected as the current delivery mode, the delivery vehicle is transported by the first transport trolley 5a and the third transport trolley 5c associated with the first delivery berth 7a for which the delivery reservation is made. Is possible or not. In other words, it is determined whether the storage floor of the delivery vehicle is the first floor or the third floor. As a result, if the storage floor of the delivery vehicle is the first floor or the third floor, it is determined that the first transport trolley 5a or the third transport trolley 5c can be transported (“YES” in SD8), and the machine control unit 54 The information of the storage shelf of the delivery vehicle is output to. When the machine control unit 54 receives the information on the storage shelf of the delivery vehicle from the delivery processing unit, the machine control unit 54 performs a transport process of the delivery vehicle to move the delivery vehicle from the specified storage shelf to the exit floor (SD9).

On the other hand, if the current delivery mode is the delivery restriction mode and the storage floor of the delivery vehicle is the second floor or the fourth floor, the delivery vehicle cannot be carried out to the first delivery berth. In this case, the delivery processing unit 58 determines that the delivery is not possible (“NO” in SD8), and outputs that fact to the operation panel 30c. The operation screen control unit 42 of the operation panel 30c displays a screen that cannot be delivered (SD10), and ends the process. On the delivery impossible screen, it is displayed that the delivery from the first delivery berth 7a is impossible and that the delivery reservation is made again from the second delivery berth 7b.

On the other hand, when the delivery lift 8 on which the delivery vehicle is placed reaches the exit floor where the delivery berth 7a is located (“YES” in SD11), the touch panel 305 displays the second user authentication screen (SD12 in FIG. 17). When the administrator confirms the second user authentication screen displayed on the touch panel 305 of the operation panel 30c, the administrator brings the IC card into contact with the IC card reader 301 of the operation panel 30c (“YES” in step SD13). As a result, it is determined whether or not the user ID of the first user authentication input in step SD2 and the user ID input this time match. Then, when the two match (“YES” in SD14), the second authentication completion signal is transmitted from the main control unit 50 to the operation panel 30c.

When the operation panel 30c receives the second authentication completion signal, the operation screen control unit 42 of the operation panel 30c displays the safety confirmation screen on the touch panel 305 (SD15). On the safety confirmation screen, for example, a "safety confirmation button" is displayed along with guidance prompting the safety confirmation such as "Please confirm the safety in the hall on the monitor". At this time, images in the hall taken by a plurality of cameras provided in the delivery berth 7b are displayed on the monitor 304, and the manager confirms the hall by the monitor 304.

After confirming that there are no people in the delivery berth 7a, the manager presses the safety confirmation button displayed on the touch panel 305. When the safety confirmation button is pressed (“YES” in SD16), the operation screen control unit 42 subsequently displays a start screen on the touch panel 305 (SD17). On the start-up screen, a start-up button is displayed with guidance for re-checking the safety in the delivery berth 7a. Further, at this time, the monitor 304 continues to display the images of the venue taken by the plurality of cameras installed in the delivery berth 7a.

Here, the start button is an input means for instructing the delivery vehicle mounted on the delivery lift 8 to be carried out to the delivery destination berth, that is, the delivery berth 7a. When the manager confirms that there is no person in the delivery berth 7a by the monitor 304, he presses the start button displayed on the touch panel 305. When the start button is pressed (“YES” in SD18), a start instruction signal is transmitted from the operation panel 30c to the main control unit 50.

When the main control unit 50 receives the start instruction signal, the machine control unit 54 opens the partition door that separates the delivery berth 7a and the storage shelf, and the horizontal feed conveyors 19a and 19b of the delivery lift 8 and the horizontal feed conveyor 20a of the delivery berth 7a. , 20b is activated. As a result, the delivery vehicle placed on the delivery lift 8 is laterally fed and moved to the delivery berth 7a (SD19). After that, the machine control unit 54 closes the partition door (not shown) that separates the delivery berth 7a and the delivery lift 8. The driver and the passenger enter the exit berth 7a through the automatic door 36a, board the vehicle, and drive the vehicle in the direction of arrow B in FIG. 2 to exit the exit berth 7a.

As described above, according to the mechanical parking device, the control device thereof, the control method, and the control program according to the present embodiment, the warehousing free mode and the warehousing restriction mode are provided as the warehousing mode, and the mechanical parking device has. One of the warehousing modes is selected by the warehousing mode selection unit 55 according to the operating state. This makes it possible to transport the warehousing vehicle using a suitable warehousing mode according to the operating state. For example, since the warehousing restriction mode is selected during busy times, it is possible to avoid competing for a common transport trolley 5 among a plurality of warehousing berths. This makes it possible to expect a reduction in vehicle transport time at the time of warehousing. Further, when there is an unusable warehousing berth, the warehousing free mode is selected, so that the transport processing can be realized without limiting the transport trolley 5 that can use the usable warehousing berth. Further, when any of the transport carriages 5 fails, the warehousing free mode is selected, so that it is possible to avoid deterioration in the performance of the warehousing process in the warehousing berth to which the failed transport carriage 5 is assigned. Furthermore, if any of the storage floors is full or nearly full, the warehousing free mode is selected, so the warehousing process is stored in a storage floor that is not the full or near full storage floor. Is possible.

Further, according to the mechanical parking device, its control device, the control method, and the control program according to the present embodiment, the delivery free mode and the delivery restriction mode are provided as the delivery modes, depending on the operating state of the mechanical parking device. Any one of the delivery modes is selected by the delivery mode selection unit 56. This makes it possible to transport the delivery vehicle using a suitable delivery mode according to the operating state.
For example, when the delivery restriction mode is selected, the transport trolley 5 that can be used for each delivery berth is limited. As a result, the delivery berth to which the delivery vehicle is to be carried out is restricted according to the storage shelf in which the delivery vehicle is stored. In this way, by restricting the delivery berth that is the delivery destination of the delivery vehicle, for example, it is possible to prohibit the delivery from the delivery berth far from the storage shelf and to make the delivery only from the delivery berth near the storage shelf. Become. This makes it possible to shorten the vehicle transport time at the time of delivery. In particular, in the busy season when delivery reservations are concentrated, the delivery efficiency can be improved by selecting the delivery restriction mode.
In addition, when one of the shipping berths becomes unavailable, the shipping free mode is selected, so the vehicle stored in the storage shelf can be transported to another usable shipping berth and shipped. Will be.

In the present embodiment, the current warehousing mode is manually switched by operating the warehousing mode switching buttons (not shown) provided on the operation panels 30a and 30b, but the means for switching the current warehousing mode is Not limited to this example, it may be provided in a place other than the operation panels 30a and 30b. For example, the administrator may be provided on a remote controller capable of remotely controlling the operation panels 30a and 30b.
Similarly, in the present embodiment, the current shipping mode is manually switched by operating the shipping mode switching button (not shown) provided on the operation panels 30c and 30d, but the means for switching the current shipping mode is The present invention is not limited to this example, and may be provided in a place other than the operation panels 30c and 30d. For example, the administrator may be provided with a remote controller capable of remotely controlling the operation panels 30c and 30d.

Next, a mechanical parking device, a control device thereof, a control method, and a control program according to the second embodiment of the present invention will be described. In the first embodiment described above, as shown in FIG. 2, two warehousing berths 2a and 2b and warehousing berths 7a and 7b are provided on the same plane, and warehousing reservations and warehousing reservations are made from a common parking lot entrance / exit 6. Although a possible mechanical parking device has been described as an example, the mechanical parking device according to the present embodiment has, for example, as shown in FIGS. 18 and 19, in the building A, the first warehousing berth 2a and the first. A warehousing berth 7a is provided, and a second warehousing berth 2b and a second warehousing berth 7b are provided in building B.

In Building A, a first warehousing lift 3a is provided corresponding to the first warehousing berth 2a, and a first warehousing lift 8a is provided corresponding to the first warehousing berth 7a. The warehousing vehicle moved by the first warehousing lift 3a is configured to be able to be delivered to the first transport trolley 5a or the third transport trolley 5c, and is stored in the storage shelves on the corresponding storage floors.

Similarly, in Building B, a second warehousing lift 3b is provided corresponding to the second warehousing berth 2b, and a second warehousing lift 8b is provided corresponding to the second warehousing berth 7b. The warehousing vehicle moved by the second warehousing lift 3b is configured to be handable to the second transport trolley 5b or the fourth transport trolley 5d, and is stored in the storage shelves on the corresponding storage floors.

Further, the first transport trolley 5a and the second transport trolley 5b are configured so that vehicles can be delivered via the first conveyor 28a. Similarly, the third transport trolley 5c and the fourth transport trolley 5d are configured so that vehicles can be delivered via the second conveyor 28b. As a result, for example, the vehicles warehousing from the first warehousing berth 2a are the first warehousing lift 3a, the first transport trolley 5a (or the third transport trolley 5c), the first conveyor 28a (or the second conveyor 28b), and the first. It is sequentially delivered to the two transport trolleys 5b (or the fourth transport trolley 5d), and can be stored in a predetermined storage shelf on the storage floor corresponding to the second transport trolley 5b or the fourth transport trolley 5d. Similarly, for example, vehicles warehousing from the second warehousing berth 2b include a second warehousing lift 3b, a second transport trolley 5b (or a fourth transport trolley 5d), a first conveyor 28a (or a second conveyor 28b), and a second. It is sequentially delivered to one transport trolley 5a (or a third transport trolley 5c), and can be stored in a predetermined storage shelf on a storage floor corresponding to the first transport trolley 5a or the third transport trolley 5c.

The same applies to the delivery of goods. For example, the vehicles stored on the storage floor corresponding to the first transport truck 5a or the third transport carriage 5c are not only the first delivery berth 7a but also the first conveyor 28a or the second. It is also possible to deliver from the second delivery berth 7b through the conveyor 28b. Similarly, the vehicle stored in the storage floor corresponding to the third transport trolley 5c or the fourth transport trolley 5d is not only the second warehousing berth 7b, but also the first warehousing berth 7a through the first conveyor 28a or the second conveyor 28b. It is said that it can be shipped from.

Similarly to the first embodiment described above, the mechanical parking device having such a configuration also has a warehousing restriction mode and a warehousing free mode as shown in FIG. 9, and a warehousing restriction mode and a warehousing free mode as shown in FIG. Is provided.

Also in this embodiment, the warehousing mode selection process shown in FIG. 10 and the warehousing mode selection process shown in FIG. 13 are performed by the warehousing mode selection unit 55 and the warehousing mode selection unit 56. Since the various functions included in the control device according to the present embodiment and the various processes executed by the control device are the same as those in the first embodiment, detailed description thereof will be omitted.

According to the control device, the control method, and the control program of the mechanical parking device according to the present embodiment, the first warehousing berth 2a and the first warehousing berth 7a are different from the second warehousing berth 2b and the second warehousing berth 7b. Since it is installed in the building, for example, the vehicle stored in the warehousing berth 2a provided in the A building is stored in the storage shelf provided in the B building, or stored in the storage shelf provided in the A building. If the vehicle is moved to be delivered from the delivery berth 7b provided in the building B, the transportation becomes inefficient.
Therefore, by providing the warehousing restriction mode and the warehousing restriction mode, the vehicles warehousing in the warehousing berth 2a of the A building are stored in the predetermined storage shelves of the A building by the first transport trolley 5a or the third transport trolley 5c, and the warehousing is carried out. At times, it can be delivered only from the delivery berth 7a in Building A. Similarly, the vehicles stored in the warehousing berth 2b of the B building are stored in the predetermined storage shelves of the B building by the second transport trolley 5b or the fourth transport trolley 5d, and at the time of delivery, from the warehousing berth 7b of the B building. Only can be shipped. That is, when the warehousing restriction mode is selected, for example, the vehicle warehousing from the warehousing berth 2a cannot be stored in the storage floor corresponding to the second transport trolley 5b and the fourth transport trolley 5d. This makes it possible to improve the vehicle transport efficiency at the time of warehousing. Further, when the delivery restriction mode is selected, the vehicles stored in the storage floor corresponding to the first transport trolley 5a and the third transport trolley 5c can be delivered only from the first delivery berth 7a, and the second It cannot be delivered from the delivery berth 7b. This makes it possible to improve the vehicle transport efficiency at the time of delivery.

In addition, when one of the warehousing berths becomes unusable, the warehousing free mode is selected, so that the warehousing berth corresponding to the warehousing berth that has failed is also warehousing from the warehousing berth that has not failed. It is possible to make it.

Furthermore, if one of the shipping berths becomes unusable, the shipping free mode is selected, so the vehicle stored in the building where the unusable shipping berth is provided is different. It is possible to issue goods from the delivery berth provided in. For example, even if the delivery berth 7a becomes unusable, the vehicle stored in the building A can be carried out from the delivery berth 7b.

Although the present invention has been described above with reference to each embodiment, the technical scope of the present invention is not limited to the scope described in the above-described embodiment. Various changes or improvements can be made to the above embodiments without departing from the gist of the invention, and the modified or improved embodiments are also included in the technical scope of the present invention.

For example, in the above-described embodiment, a configuration including two warehousing berths 2a and 2b and two warehousing berths 7a and 7b has been described as an example, but the number of warehousing berths and warehousing berths to be installed is not particularly limited. Further, the number of warehousing berths installed and the number of warehousing berths installed may be different.

Further, in the first embodiment, the warehousing lift 3 common to the warehousing berths 2a and 2b is used, but instead of this, the warehousing lift 3 is provided corresponding to each warehousing berth 2a and 2b. May be good. Similarly, as for the delivery berth, the delivery lift 8 may be provided corresponding to the respective delivery berths 7a and 7b.

In the above embodiment, a case where the warehousing process and the warehousing process are realized by the cooperation of the main control unit 50 and the operation panel control units 40a to 40d provided on the operation panels 30a to 30d has been described as an example. The main control unit 50 may directly control the operation panels 30a to 30d without providing the operation panel control units 40a to 40d. Further, the functions provided by the main control unit 50 and the operation panel control units 40a to 40d are not limited to the above examples, and for example, the operation panel control units 40a to 40d are configured to include some of the functions provided by the main control unit 50. Alternatively, it is possible to configure the main control unit 50 to include a part of the functions provided by the operation panel control units 40a to 40d.

Further, the flow of the warehousing mode selection process, the warehousing mode selection process, the warehousing process, and the warehousing process described in the above embodiment is also an example, and unnecessary steps may be deleted or newly added within the range not deviating from the gist of the present invention. Steps may be added or the processing order may be changed.

2a (1st) warehousing berth 2b (2nd) warehousing berth 3 warehousing lift 3a 1st warehousing lift 3b 2nd warehousing lift 5 transport trolley 5a 1st transport trolley 5b 2nd transport trolley 5c 3rd transport trolley 5d 4th transport trolley 7a (1st) delivery berth 7b (2nd) delivery berth 8 delivery lift 8a 1st delivery lift 8b 2nd delivery lift 10 Mechanical parking device 28a 1st conveyor 28b 2nd conveyor 30 (30a-30d) Operation panel 40 ( 40a to 30d) Operation panel control unit 50 Main control unit 51 Storage unit 52 Communication unit 53 User authentication unit 54 Machine control unit 55 Warehousing mode selection unit 56 Warehousing mode selection unit 57 Warehousing processing unit 58 Warehousing processing unit 100 Control device 304 Monitor 305 Touch panel

Claims (22)

A control device used for mechanical parking devices equipped with multiple warehousing berths.
A storage means for storing multiple warehousing modes and
It is provided with a warehousing mode selection means for selecting one of the plurality of warehousing modes as the current warehousing mode according to the operating state.
The plurality of the above-mentioned warehousing modes are
A warehousing free mode that does not limit the warehousing transportation route of the warehousing vehicles stored in each warehousing berth,
A control device for a mechanical parking device having a warehousing restriction mode for limiting a warehousing transfer route for moving the warehousing vehicle stored in at least one warehousing berth from the warehousing berth to a storage shelf . It is a control device used for a mechanical parking device having a plurality of warehousing berths, a hierarchical structure, and a vehicle transport means for storing warehousing vehicles in storage shelves on each storage floor.
A storage means for storing multiple warehousing modes and
With a warehousing mode selection means for selecting one of the plurality of warehousing modes as the current warehousing mode according to the operating status.
Equipped with
The plurality of the above-mentioned warehousing modes are
A warehousing free mode that does not limit the warehousing transportation route of the warehousing vehicles stored in each warehousing berth,
A warehousing restriction mode that limits the warehousing transport route of the warehousing vehicle that has been warehousing in at least one warehousing berth.
Have,
In the warehousing free mode, all the vehicle transport means can be used for each warehousing berth.
In the warehousing restriction mode, a control device for a mechanical parking device in which the vehicle transport means that can be used for each warehousing berth is limited. The control device for a mechanical parking device according to claim 2, wherein the warehousing restriction mode is assigned as a vehicle transporting means capable of using different vehicle transporting means for each warehousing berth. The control device for a mechanical parking device according to claim 3, wherein the warehousing mode selection means determines whether or not it is a busy season based on a predetermined condition, and selects the warehousing restriction mode when the warehousing mode is determined to be a busy season. The warehousing mode selection means will determine whether or not there is an unusable warehousing berth, and if there is an unusable warehousing berth, claim 3 or 4 will select the warehousing free mode. Control device for mechanical parking equipment. The mechanical parking according to any one of claims 3 to 5, wherein the warehousing mode selecting means selects the warehousing free mode when at least one of the vehicle transporting means fails. Device control device. The control of the mechanical parking device according to any one of claims 3 to 6, wherein the warehousing mode selecting means selects the warehousing free mode when any of the storage floors is full or nearly full. Device. A mechanical parking device including the control device for the mechanical parking device according to any one of claims 1 to 7. It has a warehousing operation panel provided for each warehousing berth.
The mechanical parking device according to claim 8, wherein the warehousing operation panel includes a notification means for notifying the current warehousing mode. The mechanical parking device according to claim 9, wherein the warehousing operation panel includes a warehousing mode switching means for manually switching the current warehousing mode. A control device used for mechanical parking devices equipped with multiple delivery berths.
A storage means for storing multiple shipping modes and
It is provided with a shipping mode selection means for selecting one of the plurality of shipping modes as the current shipping mode according to the operating state.
The multiple delivery modes are
A shipping free mode that does not limit the shipping route from the storage shelf to each shipping berth,
A control device for a mechanical parking device having a delivery restriction mode for limiting a delivery transfer route for moving a vehicle stored in a storage shelf from the storage shelf to each delivery berth. It is a control device used for a mechanical parking device that is provided with a plurality of delivery berths, has a hierarchical structure, and is provided with vehicle transport means for carrying out the delivery vehicles from the storage shelves on each storage floor.
A storage means for storing multiple shipping modes and
With a delivery mode selection means for selecting one of the plurality of delivery modes as the current delivery mode according to the operation status.
Equipped with
The multiple delivery modes are
A shipping free mode that does not limit the shipping route from the storage shelf to each shipping berth,
With the delivery restriction mode that restricts the delivery transfer route from the storage shelf to each delivery berth.
Have,
In the delivery free mode, all the vehicle transport means can be used for each delivery berth.
In the delivery restriction mode, a control device for a mechanical parking device in which the vehicle transport means that can be used for each delivery berth is limited. The control device for a mechanical parking device according to claim 12, wherein the delivery restriction mode is assigned as a vehicle transport means that can be used by the vehicle transport means that is different for each delivery berth. The mechanical type according to claim 13, wherein the delivery mode selection means determines whether or not it is a busy season depending on whether or not a preset condition is satisfied, and when it is determined to be a busy season, the delivery restriction mode is selected. Parking device control device. The control device for a mechanical parking device according to claim 13 or 14, wherein the delivery mode selection means selects the delivery free mode when any of the delivery berths becomes unavailable. A mechanical parking device comprising the control device for the mechanical parking device according to any one of claims 11 to 15. It has a delivery operation panel provided corresponding to each delivery berth, and has a delivery operation panel.
The mechanical parking device according to claim 16, wherein the delivery operation panel includes a notification means for notifying the current delivery mode. The mechanical parking device according to claim 17, wherein the warehousing operation panel includes a warehousing mode switching means for manually switching the current warehousing mode. It is a control method for a mechanical parking device equipped with multiple warehousing berths.
It has a warehousing mode selection process that selects one of a plurality of warehousing modes as the current warehousing mode according to the operating status.
The plurality of warehousing modes are a warehousing free mode that does not limit the warehousing transport route of the warehousing vehicle that has been warehousing in each warehousing berth, and the warehousing vehicle that has been warehousing in at least one warehousing berth from the warehousing berth to the storage shelf. A control method for a mechanical parking device having a warehousing restriction mode that restricts a warehousing transport route for movement . It is a control method for a mechanical parking device equipped with multiple delivery berths.
It has a shipping mode selection process that selects one of the multiple shipping modes as the current shipping mode according to the operating status.
The plurality of delivery modes are a delivery free mode that does not limit the delivery transfer route from the storage shelf to each delivery berth, and a delivery mode for moving the vehicle stored in the storage shelf from the storage shelf to each delivery berth. A control method for a mechanical parking device having a delivery restriction mode that restricts a transport route. A control program for a mechanical parking device for allowing a computer to function as the control device according to any one of claims 1 to 7 . A control program for a mechanical parking device for allowing a computer to function as the control device according to any one of claims 11 to 15 .

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