JP7054353B2 - Vehicle transport parking system - Google Patents

Description

The present invention relates to a vehicle transport parking system.

In recent years, the development of self-driving cars that can freely travel without the involvement of occupants has been rapidly progressing, and is expected to become widespread in the future.

As a general technical level related to an autonomous vehicle, for example, Patent Document 1 is available.

JP-A-2015-75899

By the way, in future parking facilities, it is expected that not only self-driving cars but also non-self-driving cars driven by users will coexist, but self-driving cars and non-self-driving cars will coexist in parking. In the equipment, vehicles that do not support autonomous driving must be driven and parked by the user himself.

However, if the user himself drives a car that does not support autonomous driving and parks, not only is the parking act troublesome, but the user also has to enter the inside of the parking facility and get on and off the car. It was necessary to install multiple sensors, etc., which could lead to an increase in cost.

In addition, even if vehicles that do not support autonomous driving are parked by some means, it is expected that it will take time and the waiting time will be long if the vehicles are warehousing one by one, especially when it is crowded.

The present invention has been made in view of the above-mentioned conventional problems, and an object of the present invention is to provide a vehicle transport parking system capable of smoothly and efficiently realizing unmanned parking.

In order to achieve the above object, the vehicle transport parking system of the present invention has a boarding / alighting area where a user gets on and off a vehicle and a boarding / alighting area.
A multi- storey parking area where vehicles are stored,
A vehicle carrier that can automatically travel in all directions and can load and unload vehicles,
It is equipped with a guidance robot that guides a plurality of the vehicle transport trolleys from the boarding / alighting area to the parking area at the time of warehousing.
The guidance robot is deployed on each floor of the parking area having a multi-story structure, and the vehicle transport trolley can be handed over between the guidance robots deployed on the upper and lower floors .

In the vehicle transport parking system, the guidance robot can guide one vehicle transport trolley from the parking area to the boarding / alighting area at the time of leaving the parking lot.

In the vehicle transport parking system, a vehicle is placed and stored on a pallet in the parking area.
The vehicle transport trolley can be loaded with and unloaded with the pallet on the trolley body.

In the vehicle transport parking system, the vehicle is directly stored in the parking area.
The vehicle transport trolley can be made to directly load and unload the vehicle on the trolley body.

In the vehicle transport parking system, the self-driving car and the non-self-driving car can be stored in the parking area in a mixed manner.

According to the vehicle transport parking system of the present invention, it is possible to obtain an excellent effect that unmanned parking can be realized smoothly and efficiently.

It is a schematic block diagram which shows the boarding / alighting area in an Example of the vehicle transport parking system of this invention. It is a schematic block diagram which shows the parking area in the Example of the vehicle transport parking system of this invention. It is a reference figure which shows an example of the current general parking area. It is a schematic operation diagram which shows the guidance robot at the time of warehousing, and the vehicle transport trolley to be guided in the embodiment of the vehicle transport parking system of the present invention. It is a block diagram which shows the control system of the guidance robot and the vehicle transport carriage in the embodiment of the vehicle transport parking system of this invention. It is a schematic operation diagram which shows the example of deploying the guidance robot in the embodiment of the vehicle transport parking system of this invention on each floor of the parking area of a multi-story structure. It is a schematic operation diagram which shows the guidance robot at the time of leaving a garage and the vehicle transport trolley to be guided in the embodiment of the vehicle transport parking system of the present invention. It is a top view which shows the other example of the vehicle transport trolley in the embodiment of the vehicle transport parking system of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

1 to 7 are examples of the vehicle transport parking system of the present invention.

In the case of this embodiment, the boarding / alighting area 10, the parking area 20, the vehicle transport trolley 30, and the guidance robot 40 are provided.

The boarding / alighting area 10 is an area where the user gets on / off the vehicle 50. In the example of FIG. 1, the disembarking area of the vehicle 50B not compatible with autonomous driving, the disembarking area of the autonomous driving vehicle 50A, the autonomous driving vehicle 50A, and the automatic driving vehicle 50A are used. It is formed separately from the return boarding area of the non-driving vehicle 50B. The disembarkation area of the non-autonomous driving vehicle 50B is connected to the traveling lane 60 of the non-autonomous driving vehicle extending from the entrance. The disembarkation area of the self-driving car 50A is formed in the middle of the self-driving car traveling lane 61 extending from the entrance. The return boarding area of the self-driving car 50A and the non-self-driving car 50B leads to the exit. However, the disembarkation area and the boarding area may be formed without being separated. Further, in the boarding / alighting area 10, a vertical lane 62 for waiting for transportation to the parking area 20 of the vehicle transport vehicle 30 on which the non-autonomous driving compatible vehicle 50B is mounted and a non-automatic driving compatible vehicle 50B are mounted. The waiting lane 63 for the disembarkation area (boarding / alighting area 10) of the empty vehicle transporting vehicle 30 and the boarding area (boarding / alighting area 10) of the vehicle transporting vehicle 30 on which the self-driving non-compatible vehicle 50B from the parking area 20 is mounted. A standby lane 64 to the area 10) and a standby lane 65 to the boarding area (boarding / alighting area 10) of the autonomous vehicle 50A from the parking area 20 are arranged side by side.

As shown in FIG. 2, the parking area 20 is an area in which the vehicle 50 is stored, and is a lane 21 having a width through which one vehicle transport trolley 30 or one autonomous driving vehicle 50A can pass, and the lane. 21 is provided with parallel storage spaces 22 formed on both sides in the width direction. In the parking area 20, a vehicle 50B not compatible with automatic driving is placed and stored on the pallet 70, and the automatic driving vehicle 50A is directly stored in a dedicated space without the pallet 70 by automatic driving. It has become.

The vehicle transport trolley 30 can automatically travel in all directions and can freely load and unload the vehicle 50. In the case of this embodiment, as shown in FIG. 4, the vehicle carrier trolley 30 can load and unload the pallet 70 with respect to the trolley main body 31 by a lifter (not shown).

In this embodiment, as shown in FIG. 4, a warehousing slope 80 is installed in the disembarking area of the vehicle 50B that does not support automatic driving as the boarding / alighting area 10, and the pallet 70 of the vehicle transport trolley 30 is installed at the front end of the warehousing slope 80. With the rear end arranged, the vehicle 50B that does not support autonomous driving can get on the pallet 70 from the road surface.

The guidance robot 40 is adapted to guide a plurality of vehicle transport trolleys 30 from the boarding / alighting area 10 to the parking area 20 at the time of warehousing. For example, a telepresence robot provided with a traveling body 41 and a display 42. Telepresence Robot) can be used. In the example of FIG. 4, the guidance robot 40 guides five vehicle transport trolleys 30 from the boarding / alighting area 10 to the parking area 20, but the number of vehicle transport trolleys 30 to be guided is necessary. It can be changed accordingly.

As shown in FIG. 5, the guidance robot 40 includes a guidance controller 43, a guidance drive device 44, and a guidance transmitter 45. Information about the boarding / alighting area 10 and the parking area 20 is input / output to / from the control device (not shown) of the parking facility, and the guidance controller 43 controls the overall operation of the guidance robot 40. There is. The inductive drive device 44 drives the traveling body 41 based on the inductive drive signal output from the inductive controller 43. The guidance transmitter 45 is adapted to transmit a guidance signal to the vehicle transport carriage 30.

As shown in FIG. 5, the vehicle carrier trolley 30 includes a trolley controller 32, a tracking sensor 33, a traveling drive device 34, and a succeeding transmitter 35. The bogie controller 32 controls the overall operation of the vehicle transport bogie 30. The tracking sensor 33 is adapted to receive a guidance signal transmitted from the guidance transmitter 45. The traveling drive device 34 drives the vehicle transporting carriage 30 based on the traveling drive signal output from the carriage controller 32. The trailing transmitter 35 is adapted to transmit a trailing signal to the trailing vehicle carrier trolley 30. The tracking sensor 33 of the vehicle transport trolley 30 following the vehicle transport trolley 30 receives the subsequent signal output from the subsequent transmitter 35 of the preceding vehicle transport trolley 30.

Further, as shown in FIG. 6, the guidance robot 40 is deployed on each floor of the parking area 20 having a multi-story structure, and the vehicle is transferred from the guidance robot 40 deployed on the lower floor to the guidance robot 40 deployed on the upper floor. The transport trolley 30 can be handed over, or conversely, the vehicle transport trolley 30 can be handed over from the guidance robot 40 deployed on the upper floor to the guidance robot 40 deployed on the lower floor.

Furthermore, as shown in FIG. 7, the guidance robot 40 guides one vehicle transport trolley 30 from the parking area 20 to the boarding / alighting area 10 at the time of delivery.

Further, as shown in FIG. 7, a delivery slope 81 is installed in the boarding area of the vehicle 50B that does not support automatic driving as the boarding / alighting area 10, and the front end of the pallet 70 is arranged at the rear end of the delivery slope 81. Therefore, the vehicle 50B that does not support automatic driving can get off the road surface from the pallet 70.

Next, the operation of the above embodiment will be described.

At the time of warehousing of the non-autonomous driving compatible vehicle 50B, the user gets the non-autonomous driving compatible vehicle 50B from the warehousing slope 80 onto the pallet 70 of the vehicle transport trolley 30 waiting in the disembarkation area (boarding / alighting area 10). After stopping, get off and start warehousing. The warehousing start operation is performed, for example, by the user pressing a warehousing button (not shown) provided in the disembarkation area (boarding / alighting area 10). The warehousing start operation can also be performed from a smartphone owned by the user.

When the warehousing start operation is performed by the user, the vehicle transport trolley 30 on which the non-autonomous driving compatible vehicle 50B is placed on the pallet 70 moves to the parallel lane 62 for waiting for transport to the parking area 20. Behind the guidance robot 40.

When a plurality of vehicle transport trolleys 30 (for example, five) on which the automatic driving non-compatible vehicle 50B to be stored is placed on the pallet 70 are arranged in the parallel lane 62, the guidance robot 40 moves to the parking area 20. Start moving towards.

Here, a guidance signal is transmitted from the guidance transmitter 45 (see FIG. 5) of the guidance robot 40, and the tracking sensor 33 of the leading vehicle carrier 30 following the guidance robot 40 is the guidance transmitter 45. By receiving the guidance signal transmitted from the guidance robot 40, the guidance robot 40 is followed. A trailing signal is transmitted from the trailing transmitter 35 of the vehicle transport trolley 30, and the tracking sensor 33 of the vehicle transport trolley 30 following the vehicle transport trolley 30 transmits a trailing transmission of the preceding vehicle transport trolley 30. By receiving the following signal output from the device 35, the vehicle follows the preceding vehicle carrier trolley 30.

As shown in FIG. 2, the guidance robot 40 and the plurality of vehicle transport trolleys 30 pass through the lane 21 of the parking area 20 and stop in front of the parallel storage space 22 to be stored.

The plurality of vehicle transport trolleys 30 load and unload the pallet 70 on which the self-driving non-compatible vehicle 50B is placed into the parallel storage space 22 by a lifter (not shown).

As a result, the warehousing of the vehicle 50B that does not support automatic driving is completed.

The vehicle carrier trolley 30 on which the pallet 70 is loaded and unloaded returns to the boarding / alighting area 10 together with the guidance robot 40 after loading the empty pallet 70 in the parallel storage space 22. As shown in FIG. 1, the guidance robot 40 waits in the parallel lane 62 for the next guidance, and the vehicle transport trolley 30 on which the empty pallet 70 is placed stands by in the standby lane 63. ..

On the other hand, at the time of leaving the vehicle 50B that does not support automatic driving, the user performs a delivery start operation in the boarding area (boarding / alighting area 10). The warehousing start operation is performed, for example, by the user pressing a warehousing button (not shown) provided in the boarding area (boarding / alighting area 10). The delivery start operation can also be performed from a smartphone owned by the user.

When the delivery start operation is performed, the vehicle transport trolley 30 is loaded by a lifter (not shown) on which the pallet 70 on which the non-autonomous driving compatible vehicle 50B to be delivered is placed, and the guidance robot 40 is parked as shown in FIG. One vehicle transport trolley 30 is guided from the area 20 to the boarding area (boarding / alighting area 10). Regarding leaving the garage, the guidance robot 40 guides one vehicle transport trolley 30 from the parking area 20 to the boarding area (boarding / alighting area 10), so that there is no concern that the user will have to wait longer than necessary.

When the vehicle carrier 30 arrives at the boarding area (boarding / alighting area 10), the user gets into the self-driving non-compliant vehicle 50B, unloads the self-driving non-compliant vehicle 50B from the exit slope 81 to the road surface, and heads for the exit.

As a result, the delivery of the vehicle 50B that does not support automatic driving is completed.

In the case of this embodiment, it is not necessary for the user to drive the vehicle 50B that does not support automatic driving and park the vehicle, so that the user does not have to perform a troublesome parking act, and the user enters the inside of the parking area 20 and does not automatically drive. It is not necessary to get on and off the corresponding vehicle 50B, it is not necessary to install a plurality of motion sensors and the like, and it is possible to reduce the cost.

Further, when parking the vehicle 50B that does not support automatic driving, the guidance robot 40 guides a plurality of vehicle transport trolleys 30 to the parking area 20 in a row instead of warehousing one by one, which is particularly effective at the time of congestion. , Efficient warehousing becomes possible.

Furthermore, in the current general parking area, for example, as shown in FIG. 3, it is necessary to provide a wide lane with respect to the storage place of the vehicle, which is wasteful. However, in the present embodiment, as shown in FIG. 2, the road 21 may have a width that allows one vehicle transport vehicle 30 or one autonomous vehicle 50A to pass through, and the site may be effectively utilized. Is possible.

Further, as shown in FIG. 6, the guidance robot 40 is arranged on each floor of the parking area 20 having a multi-story structure. Therefore, the vehicle transport trolley 30 is handed over from the guidance robot 40 deployed on the lower floor to the guidance robot 40 deployed on the upper floor, or conversely, the guidance robot 40 deployed on the upper floor is below. The vehicle transport trolley 30 is handed over to the guidance robot 40 deployed on the floor. As a result, the guidance robot 40 only needs to have the ability to travel only on the flat portion on each floor of the parking area 20, and it is not necessary to impart the traveling body 41 an unnecessary climbing ability.

Regarding the warehousing of the self-driving car 50A, when the user gets off in the disembarkation area (boarding / alighting area 10) of the self-driving car 50A and performs the warehousing start operation, the self-driving car is automatically operated from the control device (not shown). A storage location signal indicating the storage location of the parking area 20 to be stored and a travel route signal indicating a travel route from the disembarkation area (boarding / alighting area 10) to the storage location are transmitted to the vehicle 50A, and the autonomous driving vehicle 50A receives the vehicle 50A. It will automatically drive to the storage location where it should be stored.

Regarding the exit of the autonomous vehicle 50A, when the user performs the exit start operation in the boarding area (boarding / alighting area 10), the vehicle gets on the autonomous vehicle 50A from the control device of the parking facility (not shown) from the storage location. A travel route signal indicating a travel route to the area (boarding / alighting area 10) is transmitted, and the autonomous driving vehicle 50A automatically travels toward the boarding area (boarding / alighting area 10).

In this way, unmanned parking can be realized smoothly and efficiently.

In the above embodiment, the vehicle 50B not compatible with autonomous driving to be stored in the parking area 20 is placed on the pallet 70, but the pallet 70 can be omitted.

In this case, as the vehicle transport trolley 30, for example, those disclosed in Japanese Patent Application Laid-Open No. 2013-19210 can be adopted. As shown in FIG. 8, the vehicle carrier trolley 30 includes a trolley main body 31 and a lifter 36. The bogie body 31 is self-propelled by the traveling drive device 34 and can enter the lower part of the vehicle 50B that does not support automatic driving. The lifter 36 has a retracted position along the side surface of the bogie frame 31a and each wheel 51 of the vehicle 50B not compatible with automatic driving on the lifter frame 36a attached to the bogie frame 31a of the bogie body 31 via a connecting member 37. It is formed by pivotally attaching a pair of lift bars 36b that can rotate between the deployment position that supports and lifts up while being sandwiched from the front and rear so as to correspond to the wheels 51 of the vehicle 50B that does not support automatic driving. There is.

The vehicle transport parking system of the present invention is not limited to the above-described embodiment, and the self-driving vehicle may be transported by the vehicle transport trolley in the same manner as the non-autonomous driving compatible vehicle. Of course, various changes can be made without departing from the gist of the present invention.

10 Boarding / alighting area 20 Parking area 21 Road 22 Column storage space 30 Vehicle transport vehicle 31 Vehicle body 31a Vehicle frame 32 Vehicle controller 33 Tracking sensor 34 Travel drive device 35 Subsequent transmitter 36 Lifter 36a Lifter frame 36b Lift bar 37 Connecting member 40 Guidance robot 41 Traveling body 42 Display 43 Guidance controller 44 Guidance drive device 45 Guidance transmitter 50 Vehicle 50A Autonomous driving vehicle 50B Autonomous driving non-compliant vehicle 51 Wheel 60 Autonomous driving non-compliant vehicle Driving lane 61 Self-driving car driving lane 62 Column lane 63 Standby lane 64 Standby lane 65 Standby lane 70 Pallet 80 Incoming slope 81 Outgoing slope

Claims (5)

The boarding / alighting area where users get on and off the vehicle,
A multi- storey parking area where vehicles are stored,
A vehicle carrier that can automatically travel in all directions and can load and unload vehicles,
It is equipped with a guidance robot that guides a plurality of the vehicle transport trolleys from the boarding / alighting area to the parking area at the time of warehousing.
The guidance robot is a vehicle transport parking system that is deployed on each floor of the parking area having a multi-story structure, and a vehicle transport trolley is handed over between the guidance robots deployed on the upper and lower floors . The vehicle transport parking system according to claim 1, wherein the guidance robot guides one vehicle transport trolley from the parking area to the boarding / alighting area at the time of leaving the garage. A vehicle is placed and stored on a pallet in the parking area.
The vehicle transport parking system according to claim 1 or 2, wherein the vehicle transport trolley is for loading and unloading the pallet on the trolley body. Vehicles are directly stored in the parking area.
The vehicle transport parking system according to claim 1 or 2, wherein the vehicle transport trolley directly loads and unloads the vehicle onto the trolley body. The vehicle transport parking system according to any one of claims 1 to 4, wherein an autonomous driving vehicle and a non-autonomous driving compatible vehicle are stored in the parking area in a mixed manner.

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