JP7198185B2 - Vehicle management system, vehicle management method, and program - Google Patents

Description

The present invention relates to a vehicle management system, vehicle management method, and program.

2. Description of the Related Art There is known a technique of transporting a vehicle by allowing a truck to enter the lower part of the vehicle and allowing the truck to run by itself with each wheel of the vehicle lifted (see, for example, Patent Literature 1). In addition, user authentication is performed based on information recorded on an IC (Integrated Circuit) card or magnetic card, and if the user authentication is successful, the user's vehicle can be unmanned into the parking lot, or the vehicle can be pulled out of the parking lot. is known (see Patent Document 2, for example).

JP 2016-216936 A JP-A-05-156837

However, with conventional technology, it is necessary to prepare a large-scale dedicated facility to manage the entry and exit of vehicles, which increases the cost of introducing the system and complicates the system. there was a case.

SUMMARY OF THE INVENTION One aspect of the present invention has been made in consideration of such circumstances, and an object thereof is to provide a vehicle management system, a vehicle management method, and a program capable of managing vehicles simply and at low cost. be one.

A vehicle management system, a vehicle management method, and a program according to the present invention employ the following configurations.

(1) One aspect of the present invention is a transport device capable of transporting an object by self-propelling, and a vehicle parked on the predetermined plane by allowing the transport device to propel itself on a predetermined plane. a control device for transporting the vehicles, the control device being a vehicle management system for causing the transporting device to park the plurality of vehicles side by side at a position deviated from the center on the predetermined plane.

Aspect (2) is the vehicle management system according to aspect (1), wherein the biased position is a position near the boundary between the predetermined plane and another area facing the predetermined plane from the center. The control device causes the transport device to park the plurality of vehicles in parallel at the offset position so that the traveling direction of the vehicles is aligned with the extending direction of the boundary line.

Aspect (3) is the vehicle management system according to aspect (2) above, wherein the controller causes the transport device to arrange the plurality of vehicles in tandem so that the distance between the vehicles is equal to or less than a predetermined distance. It is for parking.

Aspect (4) is the vehicle management system according to aspect (3) above, wherein the predetermined distance is within the plurality of vehicles parked in parallel even if the vehicle is turned back and forth while the vehicle is being moved back and forth. It is the distance that cannot be escaped from.

Aspect (5) is the vehicle management system according to any one of aspects (2) to (4) above, wherein the control device comprises a plurality of the vehicles capable of being parked in parallel at the biased positions. A combination with the shortest distance between the vehicles is selected from among the combinations of vehicles, and the vehicles of the selected combination are parked in the tandem position at the biased position.

Aspect (6) is the vehicle management system according to aspect (5) above, wherein the controller controls a vehicle having the longest overall length among the plurality of vehicles that can be parked in parallel at the biased position. A combination including is preferentially selected.

Aspect (7) is the vehicle management system according to any one of aspects (3) to (6) above, wherein the transport device transports the vehicle with the wheels of the vehicle separated from the ground surface. , the control device creates a space having a distance exceeding the predetermined distance in the extension direction in front of a first vehicle arranged at the head of the row among the plurality of vehicles parked in the tandem at the offset positions. is present, the conveying device causes the wheels of the first vehicle to move away from the ground surface, and among the plurality of vehicles parked in a row at the offset position, the first vehicle arranged at the end of the row When there is a space behind the second vehicle, the distance in the extending direction exceeds the predetermined distance, the conveying device separates the wheels of the second vehicle from the ground surface.

An aspect of (8) is the vehicle management system according to the aspect of (2), wherein the control device is arranged such that the distance between the vehicles is such that the vehicles are parked on the predetermined plane and parked at the eccentric position. A plurality of the vehicles are parked in parallel on the conveying device so that the vehicle width is less than that of the other vehicle.

Aspect (9) is the vehicle management system according to any one of aspects (1) to (8) above, wherein the control device communicates with a terminal device operable by a user of the vehicle, and the user When the terminal device is used to designate a vehicle to be parked at the biased position, at least the vehicle designated by the user is parked at the biased position in the conveying device.

(10) Another aspect of the present invention is a conveying device capable of conveying an object by self-propelled movement, and the conveying device being self-propelled on a predetermined plane on which a plurality of vehicles are arranged side by side. a control device for causing a device to transport the vehicle, wherein the control device communicates with a terminal device operable by a user of the vehicle, and the user uses the terminal device to park the vehicle on the predetermined plane. When at least one target vehicle is selected from a plurality of vehicles, another vehicle different from the target vehicle is moved to the transport device, and the other vehicle is moved to the transport device. The vehicle management system transports the target vehicle to a predetermined position through the formed space.

(11) According to another aspect of the present invention, the computer causes a transport device capable of transporting an object by self-propelling on a predetermined plane, and transports a vehicle parked on the predetermined plane to the transport device. and park the plurality of vehicles side by side in a position deviated from the center on the predetermined plane.

(12) According to another aspect of the present invention, a computer causes a transport device capable of transporting an object by self-propelled motion on a predetermined plane, and a vehicle parked on the predetermined plane is transported by the transport device. and a process of arranging and parking the plurality of vehicles on the predetermined plane at a position deviated from the center on the predetermined plane.

According to any one of the above aspects, vehicles can be managed simply and at low cost without providing facilities such as fences that demarcate the boundaries of the areas on the predetermined plane.

In addition, according to the aspects (3) and (4), the distance between the vehicles is a predetermined distance that prevents the vehicle from escaping from the plurality of vehicles parked in parallel even if the vehicle is turned back and forth while the vehicle is being moved back and forth. Since a plurality of vehicles are parked in parallel at positions offset from the center of a predetermined plane as follows, the vehicles parked in parallel at the offset positions and functioning as fences themselves are illegally removed from the specified plane. can be suppressed.

Further, according to the aspect of (5), among the combinations of a plurality of vehicles that can be parked in parallel at a position deviated from the center of the predetermined plane, the combination that minimizes the distance between the vehicles is selected. It is possible to clearly divide the predetermined plane and other areas. In other words, it is possible to further enhance the function as a fence for vehicles parallel parked at a position deviated from the center of the predetermined plane.

Further, according to the aspect of (6), in order to select a combination including a vehicle with the longest overall length among a plurality of vehicles that can be parked in a row at a position deviated from the center of the predetermined plane, When leaving a vehicle or entering a vehicle on a predetermined plane, only the vehicle with the longest overall length is moved to facilitate the loading and unloading of the vehicle.

Further, according to the aspect of (7), the boundary line between the predetermined plane and the other area extends in front of the leading vehicle or behind the last vehicle among the plurality of parallel parked vehicles. When a space with a directional distance exceeding a predetermined distance is formed, the transport device is parked in parallel at a position offset from the center of the predetermined plane in order to separate the wheels of the leading vehicle or the rearmost vehicle from the ground plane. It is possible to prevent the vehicle itself, which serves as a fence, from leaving the parking lot illegally from a predetermined plane.

Further, according to the aspect of (8), the distance between the vehicles is less than the vehicle width of the other vehicle that is parked on the predetermined plane and is not parked at a position deviated from the center of the predetermined plane. Since a plurality of vehicles are parked in parallel, it is possible to prevent other vehicles from illegally exiting from the predetermined plane.

Further, according to the aspect (9), since the user can arbitrarily select a vehicle parked in a row at a position deviated from the center of the predetermined plane, the vehicle parked at a position deviated from the center of the predetermined plane has a display effect. can give

1 is a configuration diagram of a vehicle management system according to a first embodiment; FIG. BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic diagram which shows an example of the vehicle conveying apparatus which concerns on 1st Embodiment. FIG. 10 is a diagram showing an example of operations of a first transport robot and a second transport robot when transporting a vehicle; FIG. 10 is a diagram showing an example of operations of a first transport robot and a second transport robot when transporting a vehicle; It is a figure which shows an example of the structure of the 1st transfer robot which concerns on 1st Embodiment. It is a figure which shows an example of the structure of the 1st transfer robot which concerns on 1st Embodiment. 4 is a diagram showing an example of a functional configuration of a first transport robot according to the first embodiment; FIG. It is a figure showing an example of functional composition of a vehicle management server concerning a 1st embodiment. 4 is a sequence diagram showing an example of warehousing processing by the vehicle management system according to the first embodiment; FIG. It is a figure showing typically a mode that a vehicle is parked in a parking lot. It is a figure showing typically a mode that a vehicle is parked in a parking lot. It is a figure which shows an example of the scene which parallel-parks a vehicle in a predetermined position. It is a figure which shows an example of the scene which parallel-parks a vehicle in a predetermined position. It is a figure which shows an example of the scene which parallel-parks a vehicle in a predetermined position. FIG. 4 is a sequence diagram showing an example of leaving processing by the vehicle management system according to the first embodiment; 4 is a flow chart showing the flow of a series of processes of the vehicle management server according to the first embodiment; It is a figure which shows an example of the vehicle parked in the parking lot. It is a figure which shows an example of the combination of vehicles. FIG. 10 is a diagram showing an example of a scene in which a vehicle exits from among a plurality of vehicles parked in parallel; FIG. 4 is a diagram for explaining a parking method in which the distance between vehicles arranged between the leading and trailing vehicles is equal to or less than a predetermined distance; FIG. 4 is a diagram for explaining a parking method in which the distance between vehicles is less than the vehicle width of another vehicle; It is a figure for demonstrating the moving method of the vehicle which concerns on 2nd Embodiment. It is a figure for demonstrating the moving method of the vehicle which concerns on 2nd Embodiment. It is a figure for demonstrating the moving method of the vehicle which concerns on 2nd Embodiment.

Embodiments of a vehicle management system, a vehicle management method, and a program according to the present invention will be described below with reference to the drawings.

<First embodiment>
[overall structure]
FIG. 1 is a configuration diagram of a vehicle management system S according to the first embodiment. A vehicle management system S transports a vehicle M to be transported into a parking space (hereinafter referred to as a parking space) using a vehicle transport device 1 on a predetermined plane, and places the vehicle M in the parking space. By parking the vehicle, the vehicle enters a predetermined plane. Such processing will be referred to as warehousing processing and will be described. The predetermined plane does not have to be a plane with no unevenness, and may have unevenness to the extent that the vehicle transport apparatus 1 can run by itself. The predetermined plane includes, for example, a parking lot PK, an exhibition hall, and the like. Hereinafter, as an example, the predetermined plane will be described as being the parking lot PK.

In addition, the vehicle management system S uses the vehicle transport device 1 to transport the vehicle M parked in the parking space toward the exit of the parking lot PK in the parking lot PK (an example of a predetermined plane). Exit from the car park PK. Such processing will be referred to as delivery processing and will be described. Thus, the vehicle management system S manages parking of the vehicle M in the parking lot PK. In addition, the vehicle M is not limited to a specific vehicle, and the vehicle management system S can make any vehicle to be transported.

A vehicle management system S according to the first embodiment includes, for example, a vehicle transport device 1 and a vehicle management server 200 . The vehicle management server 200 manages the entry of vehicles into parking spaces and the exit of vehicles from parking spaces. The vehicle management server 200 causes the vehicle transfer apparatus 1 to perform warehousing processing and warehousing processing of the vehicle M based on a request from the user H (for example, the occupant of the vehicle M) who wishes to park the vehicle M via the terminal device D. Vehicle management server 200 is an example of a “control device”. The terminal device D, the vehicle transport device 1, and the vehicle management server 200 can communicate with each other via the network NW. The network NW includes, for example, the Internet, WAN (Wide Area Network), LAN (Local Area Network), public lines, provider devices, leased lines, wireless base stations, and the like.

[Overview of Vehicle Transfer Device]
FIG. 2 is a schematic diagram showing an example of the vehicle transport device 1 according to the first embodiment. The vehicle transport apparatus 1 transports the vehicle M to a desired target position by moving in an arbitrary direction while carrying the vehicle M to be transported. The vehicle conveying apparatus 1 can convey the vehicle M in the front direction, the rear direction, the left direction, and the right direction (width direction) of the vehicle body of the vehicle M, for example. In addition, the vehicle transport device 1 can change the direction of the vehicle body of the vehicle M (rotate) without moving the vehicle M position.

The vehicle transport apparatus 1 may include, for example, a set of transport robots 10 capable of autonomous traveling (self-propelled) corresponding to the number of wheels of the vehicle M to be transported. Specifically, when the vehicle M to be transported is a four-wheeled vehicle, one set includes two transport robots 10, and when the vehicle M to be transported is a six-wheeled vehicle, one set includes three transport robots 10. , and when the vehicle M to be transported is an eight-wheeled vehicle, four transport robots 10 may be set as one set. Hereinafter, as an example, it is assumed that the vehicle M to be transported is a four-wheeled vehicle, and one transport robot 10 out of the set of transport robots 10 is referred to as a "first transport robot 10A". will be referred to as a "second transfer robot 10B".

During transportation, the first transport robot 10A enters under the vehicle M, lifts the front wheels of the vehicle M, and travels autonomously. The second transport robot 10B enters under the vehicle M, lifts the rear wheels of the vehicle M, and travels autonomously. The structures of the first transport robot 10A and the second transport robot 10B may be the same. One of the first transport robot 10A and the second transport robot 10B may be a master machine (main transport robot) and the other may be a slave machine (subordinate transport robot).

3 and 4 are diagrams showing an example of operations of the first transport robot 10A and the second transport robot 10B when transporting the vehicle M. FIG. As shown in FIG. 3, when the vehicle M is transported, the first transport robot 10A enters under the vehicle M from the front of the vehicle M. As shown in FIG. Further, when the vehicle M is transported, the second transport robot 10B enters under the vehicle M from behind.

As shown in FIG. 4, the first transport robot 10A that has entered under the vehicle M moves to a position where a right contact portion 11R and a left contact portion 11L, which will be described later, contact the front portions of the front wheels, and then stops. Next, the first transport robot 10A moves the right lift arm 12R and the left lift arm 12L, which have been stored in a later-described storage section, to a position where they come into contact with the rear portion of the front wheel. Then, the first transfer robot 10A further moves the right lift arm 12R toward the right contact portion 11R, thereby lifting the right front wheel with the right contact portion 11R and the right lift arm 12R and moving it to the left contact portion 11L. By moving the left lift arm 12L further, the left front wheel is lifted by the left contact portion 11L and the left lift arm 12L.

As shown in FIG. 4, the second transport robot 10B that has entered under the vehicle M moves to a position where a right contact portion 13R and a left contact portion 13L, which will be described later, contact the rear wheels of the rear wheels, and then stops. Next, the second transport robot 10B moves the right lift arm 14R and the left lift arm 14L, which have been stored in a storage section to be described later, to a position where they come into contact with the front portions of the rear wheels. Then, the second transport robot 10B further moves the right lift arm 14R toward the right contact portion 13R, thereby lifting the right rear wheel with the right contact portion 13R and the right lift arm 14R, and moving the left contact portion 13L. By further moving the left lift arm 14L toward the left rear wheel, the left rear wheel is lifted by the left contact portion 13L and the left lift arm 14L. After that, the first transport robot 10A and the second transport robot 10B cooperate with each other to autonomously travel (self-propell) by the drive mechanism, whereby the vehicle M can be moved. In addition, instead of lifting the wheels of the vehicle M, the vehicle transfer apparatus 1 may lift a part of the vehicle body of the vehicle M (for example, a front cross member, a rear cross member, or the like).

[Conveyor robot structure]
Next, the structure b) of the transport robot 10 (the first transport robot 10A and the second transport robot 10B) will be described. Since the structures of the first transport robot 10A and the second transport robot 10B are the same, the first transport robot 10A will be described below, and the description of the second transport robot 10B will be omitted as appropriate.

5 and 6 are diagrams showing an example of the structure of the first transport robot 10A according to the first embodiment. FIG. 5 shows the first transport robot 10A with the top cover covering the top of the main body 15 removed. In this specification, for convenience of explanation, each direction based on the first transport robot 10A is defined as follows. The direction in which the right contact portion 11R and the left contact portion 11L are arranged with respect to the right lift arm 12R and the left lift arm 12L is defined as the Y direction. The direction in which the right cargo handling mechanism 20R, which will be described later, is arranged with respect to the center position (hereinafter referred to as center line C) in the width direction of the first transport robot 10A is defined as the X direction. Also, the height direction of the first transfer robot 10A, which is orthogonal to the plane formed by the X direction and the Y direction, is defined as the Z direction.

The first transport robot 10A includes, for example, a main body 15, four driving mechanisms 16 arranged inside the main body 15, and a cargo handling mechanism 20. As shown in FIG. The cargo handling mechanism 20 includes, for example, a right cargo handling mechanism 20R and a left cargo handling mechanism 20L. The right cargo handling mechanism 20R is arranged on the right side (+X direction) of the center line C as a reference. The left cargo handling mechanism 20L is arranged on the left side (-X direction) of the center line C as a reference. The four drive mechanisms 16 are arranged between the right cargo handling mechanism 20R and the left cargo handling mechanism 20L. The main body 15 is a frame that supports each part of the first transfer robot 10A.

Each drive mechanism 16 includes, for example, a travel motor 17 , a drive-side reduction gear 18 , and wheels 19 . The four driving mechanisms 16 are divided into two sets and arranged on the left and right sides (−X direction and +X direction) of the center line C as a boundary. The two sets of drive mechanisms 16 on the left side and the two sets of drive mechanisms 16 on the right side are arranged so as to be symmetrical about the center line C as an axis. The two sets of driving mechanisms 16 on the front side (+Y direction) and the two sets of driving mechanisms 16 on the rear side (−Y direction) are symmetrical about a parallel line D parallel to the width direction of the first transport robot 10A. are arranged so that

The travel motor 17 is, for example, an electric motor. The output shaft of the traveling motor 17 is connected to the input shaft of the drive side reduction gear 18 . The drive-side speed reducer 18 has an input shaft and an output shaft on the same line, and has, for example, a planetary gear speed reducer. An output shaft of the drive-side reduction gear 18 is connected to wheels 19 .

The wheels 19 are, for example, Mecanum wheels. The mecanum wheels provided in each drive mechanism 16 can move the main body 15 in all directions by being driven in cooperation with each other. In addition, the drive mechanism 16 may have other wheels that enable movement in all directions. For example, the drive mechanism 16 may be replaced with an omni-wheel or wheels with a steering function.

The right cargo handling mechanism 20R includes, for example, a right contact portion 11R, a right lift arm 12R, and a right rotational force transmission mechanism 21R. The left cargo handling mechanism 20L includes, for example, a left contact portion 11L, a left lift arm 12L, and a left rotational force transmission mechanism 21L. The right cargo handling mechanism 20R and the left cargo handling mechanism 20L are arranged symmetrically about the center line C as an axis. Since the right cargo handling mechanism 20R and the left cargo handling mechanism 20L have the same structure, the structure of the right cargo handling mechanism 20R will be described below, and the description of the left cargo handling mechanism 20L will be omitted as appropriate.

The right rotational force transmission mechanism 21R includes a drive device for moving the right lift arm 12R between the right retracted position P1 and the right unfolded position P2. The right rotational force transmission mechanism 21R rotates the right lift arm 12R along the XY plane between the right retracted position P1 and the right unfolded position P2, for example, with the Z-direction axis A1 as a fulcrum. The right rotational force transmission mechanism 21R includes, for example, a motor and a brake.

The right lift arm 12R is a rotating rod that includes a shaft member and a cylindrical member concentric with the shaft member and rotatable about the shaft member. The right lift arm 12R is controlled by the right rotational force transmission mechanism 21R to move the tip 22R toward the center in the width direction of the main body 15 (-X direction) at the right storage position P1 and to move the tip 22R to the outside in the width direction of the main body 15 (+X direction). ) to the right unfolded position P2.

The right retracted position P1 and the right unfolded position P2 are positions where the shaft member of the right lift arm 12R is parallel to the width direction. In other words, the right stowed position P1 is the position of the right lift arm 12R after the right lift arm 12R has been rotated 180 degrees along the XY plane from the right deployed position P2. Conversely, the right deployed position P2 is the position of the right lift arm 12R after the right lift arm 12R has been rotated 180 degrees along the XY plane from the right stowed position P1.

The right contact portion 11R is a rotary rod that includes a shaft member and a cylindrical member concentric with the shaft member and rotatable around the shaft member. Both ends of the shaft member of the right contact portion 11</b>R are fixed to the main body 15 .

[Functional configuration of transport robot]
Next, the functional configuration of the transport robot 10 will be described. FIG. 7 is a diagram showing an example of the functional configuration of the first transfer robot 10A according to the first embodiment. The first transfer robot 10A includes, for example, a drive mechanism 16, a cargo handling mechanism 20, a sensor 30, a communication device 40, and a transfer control device 100.

Sensor 30 includes, for example, camera 32 and ranging sensor 34 . The camera 32 images the surroundings of the first transport robot 10A. The ranging sensor 34 is, for example, a PSD (Position Sensitive Detector) sensor, radar, LiDAR (Light Detection and Ranging), LRF (Laser Range Finder), TOF (Time of Flight) sensor, or the like. The distance measuring sensor 34 detects the distance to an object existing around the first transport robot 10A. The distance measuring sensor 34 detects, for example, the distance to the vehicle M to be transported. A plurality of cameras 32 and distance measuring sensors 34 are provided in order to detect all directions of the first transport robot 10A. Four sets of cameras 32 and ranging sensors 34 are mounted, for example, on the right front, left front, right rear, and left rear of the top cover.

The communication device 40 includes, for example, a device and an antenna for wireless communication with an external communication device. The external communication device is, for example, the vehicle management server 200, which is the communication device of the other paired transport robot 10 (second transport robot 10B). The communication device 40 includes a communication module for performing short-range wireless communication and a communication module for wireless communication via a public line.

The transport control device 100 includes, for example, a communication control unit 110, a travel control unit 120, an arm control unit 130, and a storage unit 140. Each of the communication control unit 110, the travel control unit 120, and the arm control unit 130 is implemented by a hardware processor such as a CPU (Central Processing Unit) (computer) executing a program (software). . Some or all of these components are hardware (circuits) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit) (including circuitry), or by cooperation of software and hardware. The program may be stored in advance in a storage device (a storage device having a non-transitory storage medium) such as the HDD or flash memory of the transport control device 100, or may be stored in a removable storage such as a DVD or CD-ROM. It is stored in a medium, and may be installed in the HDD or flash memory of the transport control device 100 by loading the storage medium (non-transitory storage medium) into the drive device.

The communication control unit 110 acquires various instructions transmitted by the vehicle management server 200 via the communication device 40 . The instructions transmitted by the vehicle management server 200 include, for example, an instruction to enter the vehicle into the parking space, an instruction to leave the vehicle from the parking space, an instruction to adjust the parking position of the vehicle parked in the parking space, and the like.

The travel control unit 120 controls the drive mechanism 16 based on the instruction acquired by the communication control unit 110 so as to move the vehicle transport device 1 to the instructed position. For example, when the communication control unit 110 acquires a warehousing instruction, the travel control unit 120 controls the drive mechanism 16 so as to move the vehicle transport device 1 to the position of the vehicle M to be transported. Details of the travel control unit 120 will be described later.

The arm control unit 130 controls the cargo handling mechanism 20 based on the instruction acquired by the communication control unit 110 to lift the vehicle M to be transported or to unload the lifted vehicle. For example, when the communication control unit 110 acquires a warehousing instruction, the arm control unit 130 moves the vehicle transporting apparatus 1 to the position of the vehicle M under the control of the travel control unit 120, and then lifts the vehicle. Control mechanism 20 . Details of the arm control unit 130 will be described later.

The storage unit 140 is realized by, for example, an HDD, flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), ROM (Read Only Memory), or RAM (Random Access Memory). The storage unit 140 stores, for example, map information 142 and the like. The map information 142 includes a map (structural layout diagram) of the parking lot PK where the first transport robot 10A can self-run.

[Functional Configuration of Vehicle Management Server]
Next, the functional configuration of the vehicle management server 200 will be described. FIG. 8 is a diagram showing an example of the functional configuration of the vehicle management server 200 according to the first embodiment. Vehicle management server 200 includes, for example, communication device 210 , control device 220 , and storage unit 230 . The communication device 210 includes a device and an antenna for wireless communication with an external communication device. The external communication device is, for example, the vehicle transport device 1, the terminal device D, or the like.

The control device 220 includes, for example, a communication control section 221, a parking position control section 222, a vehicle management section 223, and a parking position adjustment section 224. The communication control unit 221 acquires various types of information from an external communication device and provides various types of information to the external communication device via the communication device 210 .

The parking position control unit 222 determines the position of the parking space in which the vehicle M is parked, ie, the parking position, in the parking lot PK based on the entry request transmitted from the terminal device D. FIG. This warehousing request includes information for specifying the vehicle M (for example, a vehicle ID issued in advance by the vehicle management server 200), license plate information of the vehicle M, vehicle type information of the vehicle M, and the like. The parking position control unit 222 refers to the map information 231 and the parking information 233 stored in the storage unit 230 to search for an empty space in the parking space where the vehicle M can be parked. When a vacant space is found, the parking position control unit 222 determines this vacant space as the parking position. Then, the parking position control section 222 controls the vehicle transfer device 1 to transfer the vehicle M to the parking space.

Based on the information transmitted by the vehicle transport device 1 and the terminal device D, the vehicle management unit 223, for example, for each vehicle (each vehicle ID), information about the vehicle (vehicle ID, license plate, vehicle type), parking position , parking start date and time, and parking end date and time.

The parking position adjustment unit 224 adjusts the parking position of the parked vehicle. For example, when an unnecessary empty space is generated between parked vehicles due to repeated entry and exit of vehicles, the parking position adjustment unit 224 adjusts the vehicle transport apparatus 1 so as to close the space between the parked vehicles. Control. This makes it possible to use limited parking spaces more effectively.

Each functional unit of the control device 220 is implemented by, for example, a hardware processor such as a CPU (computer) executing a program (software). Also, some or all of these components may be realized by hardware (circuitry) such as LSI, ASIC, FPGA, GPU, etc., or by cooperation of software and hardware may be The program may be stored in advance in a storage device (a storage device having a non-transitory storage medium) such as the HDD or flash memory of the vehicle management server 200, or may be stored in a removable storage such as a DVD or CD-ROM. It is stored in a medium, and may be installed in the HDD or flash memory of the vehicle management server 200 by attaching the storage medium (non-transitory storage medium) to the drive device.

The storage unit 230 is implemented by, for example, an HDD, flash memory, EEPROM, ROM, or RAM. The storage unit 230 stores, for example, map information 231, parking information 233, and the like.

The map information 231 is the same as the map information 142 stored in the storage unit 140 of the transport robot 10, and includes map information of the parking lot PK where the transport robot 10 can self-run.

The parking information 233 is information associated with, for example, information indicating whether each parking space formed in the parking lot PK is vacant or whether a vehicle has already been parked. be.

[Warehousing processing]
Next, a series of flow of warehousing processing by the vehicle management system S will be described. FIG. 9 is a sequence diagram showing an example of warehousing processing by the vehicle management system S according to the first embodiment. 10 and 11 are diagrams schematically showing how the vehicle M is parked in the parking lot PK.

As shown in FIG. 10, first, the user H who wishes to park the vehicle M enters the parking lot PK facing the road RD from the road RD, and stops the vehicle M at an arbitrary position. Then, the user H operates the terminal device D to request the vehicle management server 200 to perform the warehousing process (step S1). Note that the user H may request the warehousing process at a timing before the vehicle M is stopped at the parking lot PK (for example, at a timing when the user gets into the vehicle M at home). That is, the user H may reserve the warehousing process in advance.

For example, the user H operates the terminal device D to access a website referenced by a browser or an application page referenced by an application program, and inputs predetermined information to request the warehousing process. The predetermined information includes information for specifying the vehicle M (for example, vehicle ID), license plate information of the vehicle M, vehicle type information of the vehicle M, and the like. Based on this user H's operation, the terminal device D transmits a request for warehousing processing to the vehicle management server 200 . The warehousing request may include location information and identification information of the terminal device D, and the like.

Next, when the communication device 210 receives a request for parking processing from the terminal device D, the parking position control unit 222 of the vehicle management server 200 refers to the map information 231 and the parking information 233 stored in the storage unit 230, A vacant parking space PS in which the vehicle M can be parked is searched for in the parking lot PK (step S3).

In the example of FIG. 10, the parking space PS is vacant between the already parked vehicles M1 and M2. Therefore, the parking position control unit 222 determines the parking space PS between the vehicle M1 and the vehicle M2 as the parking position of the vehicle M to be parked.

As shown in the figure, the size of the parking space PS may change dynamically depending on the size (length and width) of the vehicle to be parked and the availability of the parking space. Alternatively, it may be an area whose size is determined in advance by the partition lines.

Next, after determining the parking position (parking space PS) of the vehicle M to be parked, the parking position control unit 222 transmits a parking instruction to the vehicle transport device 1 in the parking lot PK (step S5). This warehousing instruction includes various information such as the position of a vacant parking space PS in which the vehicle M that is the object of warehousing can be parked, the license plate information of the vehicle M, and the vehicle type information of the vehicle M. When the location information of the terminal device D is included in the warehousing request transmitted from the terminal device D, the location information of the terminal device D is further included in the warehousing instruction transmitted to the vehicle transport device 1. It may be included as the position information of the vehicle M.

Next, when the communication device 40 receives the warehousing instruction from the vehicle management server 200, the transportation control device 100 of the vehicle transportation device 1 controls the drive mechanism 16 to move the vehicle M to the stop position (step S7).

For example, of the two first transport robots 10A and second transport robots 10B provided in the vehicle transport apparatus 1, the transport robot 10 in better condition than the other transport robots 10 is used as the master machine, and the other transport robot 10 is used as the master machine. is the slave machine.

The “state” of the transport robot 10 includes, for example, the SOC (State of Charge) of a secondary battery capable of supplying power to each component of the transport robot 10, the distance traveled by the transport robot 10, and the status of the transport robot 10 as a vehicle. The number of times M was lifted, the weight of the vehicle M transported by the transport robot 10, and the like are included. Therefore, a good condition means that the SOC of the secondary battery deteriorates slowly, that the traveling distance is short, that the number of times the vehicle M is lifted is small, that the weight of the lifted vehicle M is small, and the like. can be That is, the transport robot 10 in good condition has little physical deterioration and maintains high quality and performance.

Here, as an example, the first transport robot 10A is the master machine, and the second transport robot 10B is the slave machine. The traveling control unit 120 of the first transport robot 10A, which is the master machine, controls the amount of operation of the traveling motor 17 and the drive-side reduction gear 18 included in its own drive mechanism 16 (for example, the amount of torque of the motor, etc.) based on the warehousing instruction. is determined, and the operation amount of the traveling motor 17 and the drive-side reduction gear 18 included in the drive mechanism 16 of the second transport robot 10B, which is the slave machine, is determined.

Then, the traveling control unit 120 on the master machine side controls the drive mechanism 16 with the determined operation amount. In addition, the travel control unit 120 of the master device uses short-range communication such as Wi-Fi and Bluetooth (registered trademark, hereinafter omitted) to transmit information indicating the amount of operation of the drive mechanism 16 of the slave device to the slave device. It is transmitted to a certain second transport robot 10B. In response, the travel control unit 120 on the slave machine side controls the drive mechanism 16 with the operation amount determined by the master machine. As a result, the first transport robot 10A and the second transport robot 10B move to the vehicle M while cooperating with each other. Note that the first transport robot 10A and the second transport robot 10B may appropriately correct the operation amount of the drive mechanism 16 based on the image of the camera 32 and the detection result of the distance measuring sensor 34 . In this way, the master machine remotely controls the slave machine, and the two transfer robots 10 move while cooperating with each other, so that the processors of both the first transfer robot 10A and the second transfer robot 10B move. The amount of calculation can be reduced and the calculation time can be shortened as compared with the case where calculation is performed.

The first transport robot 10A and the second transport robot 10B of the vehicle transport apparatus 1 that have received the warehousing instruction move under the vehicle M when they move to the position where the vehicle M is currently stopped. Then, the arm control unit 130 of each transport robot 10 controls the cargo handling mechanism 20 to lift the vehicle M (step S9).

Next, as shown in FIG. 11, the travel control unit 120 of each transport robot 10 controls the drive mechanism 16 to move the vehicle M lifted by the cargo handling mechanism 20 to the vacant parking space PS instructed by the entry instruction. (step S11). Next, the arm control unit 130 controls the cargo handling mechanism 20 to unload the vehicle M into the vacant parking space PS (step S12).

Next, the first transport robot 10A and the second transport robot 10B park some of the vehicles parked in the parking lot PK in parallel at predetermined positions in the parking lot PK (step S13). ).

The predetermined position is a position deviated from the center of the parking lot PK. For example, the predetermined position is a position closer to the boundary (hereinafter referred to as first boundary) between the parking lot PK and the road RD facing the parking lot PK from the center of the parking lot PK. Specifically, the predetermined position may be within the vicinity of a distance of several tens [cm] to several [m] from the first boundary toward the center of the parking lot PK. The road RD is an example of the "other area".

The vehicle M to be parked may or may not be included in some of the vehicles parallel-parked at the predetermined position. For example, when the user H designates parallel parking of the vehicle M to be parked in a predetermined position when instructing the parking using the terminal device D, the vehicle M to be parked is parked in the predetermined position. On the other hand, if the user H does not specify parallel parking of the vehicle M to be parked at the predetermined position when instructing the parking using the terminal device D, the vehicle M to be parked is parked at the predetermined position. Gone. In addition to or instead of the designation by the user H, the vehicle to be parallel parked at the predetermined position may be designated by the manager of the parking lot PK or the like.

12 to 14 are diagrams showing an example of a scene in which a vehicle is parallel parked at a predetermined position. _LBD in the figure represents the boundary line between the parking lot PK and the road RD. As shown in FIG. 12, for example, the first transport robot 10A and the second transport robot 10B are arranged such that the traveling direction V1 of the vehicle is along (parallel to) the extending direction V2 of the boundary line _LBD . A plurality of vehicles are parked in tandem at a predetermined position near the first boundary. As a result, it is possible to prevent the vehicle from entering the parking lot PK from the road RD and prevent the vehicle M from exiting the parking lot PK onto the road RD.

Further, as shown in FIG. 13, when the road RD faces the parking lot PK obliquely, the boundary line _LBD also exists obliquely to the parking lot PK. In this case as well, the first transport robot 10A and the second transport robot 10B are placed at a predetermined position near the first boundary so that the traveling direction V1 of the vehicle is aligned with the extending direction V2 of the boundary line _LBD . Park multiple vehicles in parallel.

Further, as shown in FIG. 14, when the first transport robot 10A and the second transport robot 10B park a plurality of vehicles in parallel at a predetermined position, the positions of the respective vehicles may be shifted in the width direction. .

Returning to the description of the sequence in FIG. The communication control unit 110 of the first transport robot 10A, which is the master machine, parks the vehicle M in the vacant parking space PS, and further parks the vehicle in parallel at a predetermined position. to the vehicle management server 200 via the communication device 210 (step S15).

Next, the vehicle management unit 223 of the vehicle management server 200 associates the parking space PS in which the vehicle M is newly parked with information indicating that the vehicle is already parked, and stores the parking information 233. is updated (step S17). Then, the vehicle management unit 223 transmits information for displaying a completion screen indicating that the warehousing process is completed to the terminal device D (step S19). In response to this, the terminal device D displays a completion screen on the display (step S21). This completes the warehousing process. In addition, when causing the terminal device D to display the completion screen, the vehicle management unit 223 may also cause the terminal device D to display the parking time (the time to start counting the parking time).

[Delivery process]
Next, the flow of the leaving process by the vehicle management system S will be described. FIG. 15 is a sequence diagram showing an example of the leaving process by the vehicle management system S according to the first embodiment.

A user H who desires to leave the garage operates the terminal device D to request the vehicle management server 200 to perform the leaving process (step S101).

For example, the user H operates the terminal device D to access the website referenced by the browser or the application page referenced by the application program in the same manner as when requesting the warehousing process, and accesses the vehicle ID and license plate information. etc. as predetermined information to request delivery processing. Based on this user H's operation, the terminal device D transmits a request for the leaving process to the vehicle management server 200 .

Next, when the communication device 210 receives the request for the leaving process from the terminal device D, the parking position control unit 222 of the vehicle management server 200 sends the leaving instruction to the parking lot PK where the vehicle M to be left is currently parked. It is transmitted to the vehicle transport device 1 (step S103). This leaving instruction includes various information such as the position of the parking space PS where the vehicle M to be subject to the leaving process is parked, the license plate information of the vehicle M, and the vehicle type information of the vehicle M.

Next, when the communication device 40 receives the delivery instruction from the vehicle management server 200, the first transport robot 10A and the second transport robot 10B of the vehicle transport device 1 move to a plurality of vehicles parked in parallel at a predetermined position, Get under at least one or more of the plurality of vehicles and lift the vehicles. Then, the first transport robot 10A and the second transport robot 10B move the lifted vehicle from the predetermined position to another position (step S105). Another position may be, for example, an empty parking space PS in the parking lot PK, or an aisle.

When the vehicles are moved from a predetermined position near the first boundary, the first transport robot 10A and the second transport robot 10B move to the position of the vehicle M to be delivered and enter under the vehicle M. Then, the arm control unit 130 of each transport robot 10 controls the cargo handling mechanism 20 to lift the vehicle M (step S109).

Next, the travel control unit 120 of each transport robot 10 controls the drive mechanism 16 so that the user H can easily start the vehicle M lifted by the cargo handling mechanism 20 by manual operation. It is conveyed to a position (hereinafter referred to as an operation start position) (step S111). The driving start position may be, for example, near the entrance/exit of the parking lot PK. Specifically, when only one vehicle parked in parallel at a predetermined position moves, the driving start position may be a space formed by the movement of that one vehicle. Further, the driving start position may be in the vicinity of the boundary line _LBD when all the vehicles parallel parked at the predetermined positions have moved.

Next, the arm control unit 130 controls the cargo handling mechanism 20 to lower the vehicle M to the operation start position (step S112).

When the communication control unit 110 of the first transport robot 10A, which is the master machine, transports the vehicle M to be delivered to the operation start position and unloads the vehicle M at the operation start position, the process of leaving the vehicle M is completed. to the vehicle management server 200 via the communication device 210 (step S113).

Next, the vehicle management unit 223 of the vehicle management server 200 updates the parking information 233 by associating information indicating that the parking space PS is empty with the parking space PS vacated by the movement of the vehicle M (step S115). Then, the vehicle management unit 223 transmits information for displaying a completion screen indicating that the leaving process is completed to the terminal device D (step S117). In response to this, the terminal device D displays a completion screen on the display (step S119). This completes the shipping process. In addition, when causing the terminal device D to display the completion screen, the vehicle management unit 223 may also cause the terminal device D to display the leaving time (the time at which the counting of the parking time ends).

[Processing Flow of Vehicle Management Server]
A series of processes performed by the vehicle management server 200 will be described below with reference to a flowchart. FIG. 16 is a flow chart showing a series of processes of the vehicle management server 200 according to the first embodiment. For example, when the communication device 210 receives a warehousing request, the processing of this flowchart may be repeated at a predetermined cycle.

First, the parking position control unit 222 selects a vehicle to be parallel-parked at a predetermined position (hereinafter referred to as a parallel-parked vehicle) from a plurality of vehicles parked in the parking lot PK (step S200).

Next, the parking position control unit 222 determines whether or not there are a plurality of combinations of vehicles that are parallel parked vehicle candidates (step S202).

FIG. 17 is a diagram showing an example of vehicles parked in the parking lot PK. In the illustrated example, four ordinary vehicles M _A , one medium-sized vehicle M _B , and one large-sized vehicle M _C are parked in the parking lot PK. In this case, since the parking position control unit 222 selects a plurality of vehicles to be parallel parked vehicles from these six vehicles, there are a plurality of combinations.

When the parking position control unit 222 determines that there are a plurality of combinations of vehicles, it selects a combination with the shortest distance D between the vehicles from among the plurality of combinations (step S204).

FIG. 18 is a diagram showing an example of a combination of vehicles. In the first combination, four ordinary automobiles _MA are combined as parallel parked vehicles. In the first combination, the first vehicle in the row is arranged near the second boundary, the last vehicle in the row is arranged near the third boundary, and the vehicle between the first and last vehicles is arranged. The distance between the vehicles when the distance is equal is D1.

The second boundary and the third boundary are boundaries of the parking lot PK that do not face the road RD and are in contact with the first boundary. For example, if the parking lot PK is a rectangular area, the second boundary and the third boundary are boundaries facing each other.

In the second combination, three ordinary vehicles _MA and one medium _- sized vehicle MB are combined as parallel parked vehicles. In the second combination, the first vehicle in the row is positioned near the second boundary, the last vehicle in the row is positioned near the third boundary, and the vehicle positioned between the front and rear vehicles is positioned near the third boundary. D2 is smaller than D1 between vehicles when they are equally spaced.

In the third combination, three ordinary cars _MA and one large car MC are combined as parallel _parked vehicles. In the third combination, the first vehicle in the row is arranged near the second boundary, the last vehicle in the row is arranged near the third boundary, and the vehicle between the first and last vehicles is arranged. D3 is smaller than D2 between vehicles when they are equally spaced.

In the fourth combination, two ordinary vehicles MA, one medium _- sized vehicle MB, and one large _- sized vehicle _MC are combined as parallel parked vehicles. In the fourth combination, there is no space between vehicles and some vehicles interfere with each other.

In the fifth combination, one ordinary car MA, one medium _- sized car MB, and one large _- sized car _MC are combined as parallel parked vehicles. In the fifth combination, the first vehicle in the row is arranged near the second boundary, the last vehicle in the row is arranged near the third boundary, and the vehicle between the first and last vehicles is arranged. The distance between the vehicles when the distance is equal is D4, which is larger than D1.

If such a combination exists, the parking position control unit 222 selects the third combination in which there is no physical interference and the distance D between the vehicles is the shortest. If the parking position control unit 222 determines in the process of S202 that there are not a plurality of combinations, it selects the single combination. Note that if there are multiple candidates for parallel parked vehicles that are arranged within a predetermined distance, the parking position control unit 222 may preferentially select a combination including a vehicle with the longest overall length. This makes it possible to reduce the number of times the vehicle is transported.

Returning to the description of the flowchart in FIG. Next, the parking position control unit 222 determines whether or not the distance D between the selected combination of vehicles is equal to or less than the predetermined distance Dth (step S206). The predetermined distance Dth is a distance at which a vehicle parallel parked at a predetermined position cannot get out of a plurality of parallel parked vehicles even if the wheels are turned back and forth.

FIG. 19 is a diagram showing an example of a scene in which a vehicle exits from among a plurality of vehicles parked in parallel. For example, as in the scene at time t0, it is assumed that among a plurality of vehicles parked in parallel, there is an interval D in front of and behind a certain vehicle M that exceeds a predetermined distance Dth. In this case, as in the scene at time t1, the user in the vehicle M moves the vehicle M backward and operates the steering wheel to turn the wheels. Then, as in the scene at time t2, when the user depresses the accelerator pedal of the vehicle M, the vehicle M advances in the direction in which the wheels are steered. As a result, as in the scene at time t3, the vehicle M can escape from the queue without interfering with other vehicles.

When the parking position control unit 222 determines that the distance D between the selected combination of vehicles is equal to or less than the predetermined distance Dth, the parking position control unit 222 instructs the first transport robot 10A and the second transport robot 10B to park the first transport robot 10A and the second transport robot 10B via the communication device 210. Send instructions. That is, when the parking position control unit 222 determines that even if the selected combination of vehicles is parked in a row, the vehicle cannot be pulled out of the row, the parking position control unit 222, via the communication device 210, notifies the first transport robot 10A and the 2. Transmit the first parking instruction to the transport robot 10B.

Upon receiving the first parking instruction, the first transport robot 10A and the second transport robot 10B place the combination of vehicles selected by the parking position control unit 222 near the second boundary, The last vehicle in the row is arranged near the third boundary, and the vehicles between the first and last vehicles are parked in parallel at predetermined positions with equal spacing (step S208).

On the other hand, when the parking position control unit 222 determines that the distance D between the selected combination of vehicles exceeds the predetermined distance Dth, the parking position control unit 222 sends the first transport robot 10A and the second transport robot 10B to the second transport robot 10A and the second transport robot 10B via the communication device 210. to send parking instructions. That is, when the parking position control unit 222 determines that the selected combination of vehicles can be parked in a row and the vehicle can be pulled out of the row, the parking position control unit 222 controls the first transport robot 10A and the second transport robot 10A through the communication device 210. A second parking instruction is sent to the robot 10B.

When receiving the second parking instruction, the first transport robot 10A and the second transport robot 10B do not place the vehicles in the combination selected by the parking position control unit 222 near the second boundary, Alternatively, the vehicle at the end of the line is not arranged near the third boundary, and the vehicle is parked in parallel at a predetermined position such that the interval D between the vehicles arranged between the first and last vehicles is equal to or less than the predetermined distance Dth. (Step S210).

The first transport robot 10A and the second transport robot 10B lift the leading or trailing vehicle (step S212). This completes the processing of this flowchart.

FIG. 20 is a diagram for explaining a parking method in which the distance D between the leading and trailing vehicles is equal to or less than the predetermined distance Dth. In the figure, M1 represents the first vehicle in the row, M4 represents the last vehicle in the row, and M2 and M3 represent vehicles positioned between the first vehicle M1 and the last vehicle M4.

For example, the first transport robot 10A and the second transport robot 10B place the last vehicle M4 in the vicinity of the third boundary as shown in the figure, and the distance D between the vehicles is set with the last vehicle M4 as a reference. Vehicles M3, M2, and M1 are arranged in this order so that they are less than or equal to a predetermined distance Dth. As a result, a space in which the distance L in the direction in which the boundary line _LBD extends (the traveling direction of the vehicle) exceeds the predetermined distance Dth can be formed in front of the leading vehicle M1. In this case, the leading vehicle M1 can easily escape from the line. Therefore, the first transport robot 10A and the second transport robot 10B lift the wheels and part of the vehicle body of the leading vehicle M1. As a result, the wheels of the leading vehicle M1 are separated from the ground surface, and even if the user depresses the accelerator pedal of the leading vehicle M1, the vehicle M1 does not start.

Further, the first transport robot 10A and the second transport robot 10B place the leading vehicle M1 near the second boundary, and with the leading vehicle M1 as a reference, the distance D between the vehicles from there is set to be equal to or less than a predetermined distance Dth. , vehicles M2, M3, and M4 may be arranged in this order. In this case, a space having a distance L with respect to the extending direction of the boundary line _LBD (vehicle traveling direction) exceeding the predetermined distance Dth can be formed behind the rearmost vehicle M4. The transport robot 10B lifts the wheels and a part of the vehicle body of the rearmost vehicle M4.

In the processing of the flowchart described above, when there are a plurality of combinations of vehicles that are candidates for parallel parking, the parking position control unit 222 determines that the distance D between the vehicles is the shortest among the plurality of combinations. Although it has been explained that the combination is selected, it is not limited to this. For example, the parking position control unit 222 may select a combination including the vehicle with the longest overall length (the large-sized vehicle M _C in the example of FIG. 17) from a plurality of combinations. As a result, only the vehicle with the longest overall length out of a plurality of vehicles parked in parallel at a predetermined position is moved during the leaving process, so that the other vehicles can leave the parking lot PK.

In addition, in the process of the above-described flowchart, the first transport robot 10A and the second transport robot 10B place a plurality of vehicles selected as parallel parked vehicles at predetermined positions so that the distance D between the vehicles is equal to or less than the predetermined distance Dth. Although the description has been given assuming that the vehicles are parked in parallel, the present invention is not limited to this. For example, the first transport robot 10A and the second transport robot 10B parallel park a plurality of vehicles selected as parallel parked vehicles at predetermined positions such that the distance D between the vehicles is less than the vehicle width W of the other vehicles. may

FIG. 21 is a diagram for explaining a parking method in which the distance D between vehicles is less than the width W of another vehicle. In the drawing, MP represents another vehicle that is _parked in the parking lot PK and is not parked at a predetermined position near the first boundary. As described above, the other vehicle MP may be a vehicle for which the user _H did not designate parallel parking of the vehicle M to be parked in a predetermined position when the user H instructed to park using the terminal device D. . Further, the other vehicle _MP may be a vehicle such as a luxury vehicle or a highly confidential vehicle, for which it is desired to prevent theft more severely than other vehicles.

For example, when the vehicle width of the other vehicle _MP is _WP , the first transfer robot 10A and the second transfer robot 10B select a plurality of vehicles selected as parallel parked vehicles so that D< _WP . Parallel park in place. As a result, the other vehicle MP cannot pass between the vehicles _parked in parallel at the predetermined position, thereby preventing the other vehicle _MP from illegally exiting the parking lot PK.

According to the first embodiment described above, the vehicle management server 200 instructs the first transport robot 10A and the second transport robot 10B to move a predetermined area in the parking lot PK near the boundary between the parking lot PK and other areas. Since a plurality of vehicles are parked side by side at a position, the vehicles in the parking lot PK can be easily managed at low cost without installing facilities such as fences to separate the boundaries of the parking lot PK.

Further, according to the above-described first embodiment, the distance D between the vehicles is less than or equal to the predetermined distance Dth at which even if the vehicle turns back and forth while moving forward and backward, it is impossible to get out of the plurality of vehicles parked in parallel. Since a plurality of vehicles are parked in parallel at predetermined positions, it is possible to prevent the vehicles parked in parallel at predetermined positions and serving as fences from being illegally left from the parking lot PK.

Further, according to the first embodiment described above, when there are a plurality of combinations of vehicles that are candidates for parallel parking vehicles, the combination that minimizes the distance D between the vehicles is selected from among the plurality of combinations. Therefore, the parking lot PK and other areas can be clearly separated. In other words, the function as a fence for vehicles parked in parallel at a predetermined position can be further enhanced.

Further, according to the above-described first embodiment, since the combination including the vehicle with the longest total length among the plurality of vehicles that can be parked in a predetermined position in parallel is preferentially selected, When leaving the vehicle or entering the parking lot PK, the vehicle can be easily taken in and out by moving only the vehicle with the longest overall length.

Further, according to the above-described first embodiment, among a plurality of parallel parked vehicles, the extension direction of the boundary line LBD (vehicle traveling direction) is located in front of the leading vehicle or behind the last vehicle. When a space is formed in which the distance L between the Since it is lifted, it is possible to prevent the vehicle itself, which is parallel parked in a predetermined position and serves as a fence, from being illegally left from the parking lot PK.

Further, according to the first embodiment described above, the distance D between the vehicles is set to be less than the vehicle width of other vehicles that are parked in the parking lot PK and are not parked at a predetermined position near the first boundary. In addition, since a plurality of vehicles are parked in parallel, it is possible to prevent other vehicles from illegally leaving the parking lot PK.

In addition, according to the first embodiment described above, since the user H can arbitrarily select a vehicle to be parked in a row at a predetermined position, it is possible to give an exhibition effect that the vehicle is parked at a predetermined position and dared to be seen by people. can.

<Second embodiment>
A second embodiment will be described below. In the second embodiment, when a plurality of vehicles are displayed side by side in a parking lot PK (also referred to as an exhibition hall) managed by a car dealer or the like, the user H designates one of the plurality of vehicles. This embodiment differs from the above-described first embodiment in that the target vehicle is moved and parked at a predetermined position. In the following, differences from the first embodiment will be mainly described, and descriptions of common points with the first embodiment will be omitted. In addition, in description of 2nd Embodiment, the same code|symbol is attached|subjected and demonstrated about the same part as 1st Embodiment.

22 to 24 are diagrams for explaining the vehicle movement method according to the second embodiment. For example, as shown in FIG. 22, it is assumed that the user H operates the terminal device D to select the vehicle M20 as a test drive vehicle from among the multiple vehicles displayed in the parking lot PK. A test-drive vehicle is an example of a "target vehicle."

In this case, as shown in FIG. 23, the parking position control unit 222 first transports the vehicle M10 parked in front of the vehicle M20 to a predetermined position in order to transport the vehicle M20 to the user H. , controls the first transfer robot 10A and the second transfer robot 10B. In response to this, the first transport robot 10A and the second transport robot 10B enter under the vehicle M10, lift the vehicle M10, and transport it to a predetermined position.

Next, as shown in FIG. 24, the parking position control unit 222 controls the first transfer robot 10A and the second transfer robot 10B to move the vehicle M20 selected as the test ride vehicle. The vehicle is passed through the formed space and transported to the operation start position where the user H can easily get on. Thereby, the user H can let the test-drive vehicle leave the parking lot PK where a plurality of vehicles are densely packed.

As described above, the mode for carrying out the present invention has been described using the first embodiment, but the present invention is not limited to such a first embodiment at all, and various Modifications and substitutions of can be added.

DESCRIPTION OF SYMBOLS 1... Vehicle conveyance apparatus, 16... Drive mechanism, 20... Load-handling mechanism, 30... Sensor, 32... Camera, 34... Ranging sensor, 40... Communication apparatus, 100... Conveyance control apparatus, 110... Communication control part, 120... Traveling Control unit 130 Arm control unit 140 Storage unit 200 Vehicle management server 210 Communication device 221 Communication control unit 222 Parking position control unit 223 Vehicle management unit 224 Parking position adjustment unit , 230... Storage unit, M... Vehicle

Claims (5)

a conveying device capable of conveying an object by self-propelled;
a control device that causes the transport device to run on its own on a predetermined plane and transports the vehicle parked on the predetermined plane to the transport device;
The control device causes the transport device to park a plurality of the vehicles side by side at a position deviated from the center on the predetermined plane,
The deviated position is a position closer to the boundary side between the predetermined plane and another region facing the predetermined plane from the center,
The control device is
parking a plurality of the vehicles in parallel at the offset position so that the traveling direction of the vehicles is aligned with the extending direction of the boundary line between the predetermined plane and the other area;
parking a plurality of the vehicles in parallel on the transport device so that the distance between the vehicles is a predetermined distance or less ;
The conveying device conveys the vehicle with the wheels of the vehicle separated from the ground surface,
The control device is
When a space having a distance exceeding the predetermined distance in the extension direction exists in front of the first vehicle arranged at the head of the row among the plurality of vehicles parked in the tandem at the eccentric position, causing a transport device to separate the wheels of the first vehicle from the ground plane;
When a space having a distance in the extension direction exceeding the predetermined distance exists behind the second vehicle arranged at the rear end of the row among the plurality of vehicles parked in a row at the offset position, causing the transport device to move the wheels of the second vehicle away from the ground plane;
Vehicle management system. a conveying device capable of conveying an object by self-propelled;
a control device that causes the transport device to self-propel on a predetermined plane on which a plurality of vehicles are arranged side by side, and causes the transport device to transport the vehicle;
The control device is
communicating with a user-operable terminal device of the vehicle;
When the user selects at least one target vehicle from among a plurality of vehicles parked on the predetermined plane using the terminal device, another vehicle different from the target vehicle is moved by the transport device. ,
causing the transport device to transport the target vehicle to a predetermined position through a space formed by moving the other vehicle;
parking a plurality of the vehicles side by side at a position deviated from the center on the predetermined plane on the conveying device;
The biased position is a position closer to the boundary side between the predetermined plane and another area facing the predetermined plane from the center,
The control device is
parking a plurality of the vehicles in parallel at the offset position so that the traveling direction of the vehicles is aligned with the extending direction of the boundary line between the predetermined plane and the other area;
parking a plurality of the vehicles in parallel on the transport device so that the distance between the vehicles is a predetermined distance or less ;
The conveying device conveys the vehicle with the wheels of the vehicle separated from the ground surface,
The control device is
When a space having a distance exceeding the predetermined distance in the extension direction is present in front of the first vehicle arranged at the head of the row among the plurality of vehicles parked in the lopsided position in a row, the above-mentioned causing a transport device to separate the wheels of the first vehicle from the ground plane;
When a space having a distance in the extension direction exceeding the predetermined distance exists behind the second vehicle arranged at the rear end of the row among the plurality of vehicles parked in the tandem at the eccentric position, causing the transport device to move the wheels of the second vehicle away from the ground plane;
Vehicle management system. The predetermined distance is a distance that prevents the vehicle from escaping from the plurality of vehicles parked in parallel even if the vehicle is turned back and forth while moving the vehicle forward and backward.
The vehicle management system according to claim 1 or 2 . the computer
causing a conveying device capable of conveying an object by self-propelled self-propelled on a predetermined plane, causing the conveying device to convey a vehicle parked on the predetermined plane;
A vehicle management method in which a plurality of the vehicles are parked side by side in a position deviated from the center on the predetermined plane in the transport device,
The deviated position is a position closer to the boundary side between the predetermined plane and another region facing the predetermined plane from the center,
The computer further
parking a plurality of the vehicles in parallel at the offset position so that the traveling direction of the vehicles is aligned with the extending direction of the boundary line between the predetermined plane and the other area;
parking a plurality of the vehicles in parallel on the transport device so that the distance between the vehicles is a predetermined distance or less ;
The conveying device conveys the vehicle with the wheels of the vehicle separated from the ground surface,
The computer further
When a space having a distance exceeding the predetermined distance in the extension direction exists in front of the first vehicle arranged at the head of the row among the plurality of vehicles parked in the tandem at the eccentric position, causing a transport device to separate the wheels of the first vehicle from the ground plane;
When a space having a distance in the extension direction exceeding the predetermined distance exists behind the second vehicle arranged at the rear end of the row among the plurality of vehicles parked in a row at the offset position, causing the transport device to move the wheels of the second vehicle away from the ground plane;
Vehicle management method. A program for a computer to execute ,
a process of causing a conveying device capable of conveying an object by self-propelled self-propelled on a predetermined plane and causing the conveying device to convey a vehicle parked on the predetermined plane;
A process of causing the transport device to park a plurality of the vehicles side by side at a position deviated from the center on the predetermined plane,
The deviated position is a position closer to the boundary side between the predetermined plane and another region facing the predetermined plane from the center,
A process of causing the transport device to park the plurality of vehicles in parallel at the offset position so that the traveling direction of the vehicles is aligned with the extending direction of the boundary line between the predetermined plane and the other area;
A process of causing the transport device to park the plurality of vehicles in parallel so that the distance between the vehicles is equal to or less than a predetermined distance ,
The conveying device conveys the vehicle with the wheels of the vehicle separated from the ground surface,
When a space having a distance exceeding the predetermined distance in the extension direction exists in front of the first vehicle arranged at the head of the row among the plurality of vehicles parked in the tandem at the eccentric position, A process of causing a transport device to separate the wheels of the first vehicle from the ground surface;
When a space having a distance in the extension direction exceeding the predetermined distance exists behind the second vehicle arranged at the rear end of the row among the plurality of vehicles parked in a row at the offset position, further comprising a process of causing the transport device to separate the wheels of the second vehicle from the ground plane;
program .

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