JP7286864B1 - parking device - Google Patents

Abstract

A parking apparatus in which a pallet moves during charging detects an abnormality in a charging facility. A parking apparatus according to an embodiment includes a pallet on which a vehicle can be placed and a pallet drive for moving the pallet. a charging device installed on the pallet for charging the vehicle; a power supply cable for supplying power to the charging device; a power supply cable including a first cable region connected between a second portion whose positional relationship with respect to the pallet changes when the pallet moves up and down and does not change when it does not move up and down; A cable reel for winding at least part of the first cable region on one side, and a rotation measuring device for measuring the rotation state of the cable reel. [Selection drawing] Fig. 2

Description

The present invention relates to a parking device capable of charging an electric vehicle.

As a vehicle parking system, a so-called multistage parking system is known, in which vehicles are placed on pallets and parked in a three-dimensional stack. In the multistage parking system, the vehicle can enter and leave the pallet moved to the entrance/exit by moving the pallet vertically or horizontally (Patent Document 1).

JP 2011-111805 A

In recent years, it is conceivable to charge an electric vehicle while it is parked in a parking device. In multilevel parking lots, pallets are moved while charging cables are connected to cars. At that time, there is a demand for a device for keeping the length of the cable appropriately and a system for safely operating the device so that the cable is not caught in the movement of the pallet.

One embodiment of the present invention aims to detect an abnormality in a charging facility in a parking device in which a pallet moves during charging.

A parking device according to an embodiment of the present invention comprises a pallet on which a vehicle can be placed, a pallet driving unit for moving the pallet, a charging device installed on the pallet for charging the vehicle, and the charging device. A power supply cable for supplying power to a device, comprising: a first portion that interlocks with the elevation of the pallet; a power supply cable including a first cable region connected between a second portion that does not operate; a cable reel that winds at least a portion of the first cable region during one of the lifting and lowering; and a rotation measuring device for measuring a rotation state.

In the parking device according to one embodiment of the present invention, the rotation state includes rotation speed.

In the parking device according to one embodiment of the present invention, the rotation state includes a rotation direction.

A parking device according to an embodiment of the present invention includes a control unit that performs predetermined control when the rotation speed of a cable reel is out of a preset range during movement of a pallet.

In the parking device according to one embodiment of the present invention, the preset range is a different range for each set moving speed.

In one embodiment of the parking device of the present invention, the predetermined control includes stopping movement of the pallet.

A parking device according to an embodiment of the present invention includes the predetermined control stopping driving of the parking device.

In the parking device according to one embodiment of the present invention, stopping the driving of the parking device is achieved by turning off a breaker of the parking device to cut off power supply to the parking device.

In the parking device according to one embodiment of the present invention, the rotation measurement device includes a non-contact or contact sensor for measuring the rotation state.

In the parking device according to one embodiment of the present invention, the rotation measurement device includes a sensor that indirectly measures the rotation state by detecting the moving speed of the cable.

In the parking device according to one embodiment of the present invention, the cable reel is installed in a portion where the positional relationship with respect to the second portion does not change.

In the parking device according to one embodiment of the present invention, the pallet is suspended from a structure whose position does not change within the parking device, and the cable reel is installed on the structure.

In the parking device according to one embodiment of the present invention, the pallet is suspended from a traversing truck capable of moving laterally in the parking device, and the cable reel is installed on the traversing truck.

In view of the above problem, an embodiment of the present invention can detect an abnormality in a charging facility in a parking device in which a pallet moves during charging.

It is a typical front view showing composition of a parking device concerning one embodiment of the present invention. 1 is a schematic rear view showing the configuration of a parking device according to one embodiment of the present invention; FIG. It is a schematic diagram which shows the charging equipment of the parking device which concerns on one Embodiment of this invention. It is a typical block diagram showing composition of a parking device concerning one embodiment of the present invention. 1 is a schematic diagram showing the configuration of a cable reel equipped with a rotation measuring device in a parking device according to one embodiment of the present invention; FIG. 4 shows a signal output by a rotation measuring device in the parking device according to one embodiment of the present invention; Fig. 3 shows converted signals in a control unit in a parking lot according to an embodiment of the invention; Fig. 3 shows converted signals in a control unit in a parking lot according to an embodiment of the invention; 4 is an operation flow chart of the control unit when an abnormal rotation of the cable reel is detected in the parking device according to one embodiment of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention can be implemented in many different aspects and should not be construed as being limited to the description of the embodiments exemplified below. In order to make the description clearer, the drawings may schematically show the width, thickness, shape, etc. of each part compared to the actual embodiment, but this is only an example and limits the interpretation of the present invention. not a thing

In this specification, when a member or region is “above (or below)” another member or region, it means directly above (or directly below) the other member or region unless otherwise specified. Includes not only one case but also the case above (or below) another member or region, that is, the case where another component is included between above (or below) another member or region .

[Configuration of parking device]
FIG. 1 is a schematic front view showing the overall configuration of a parking device 100 according to one embodiment of the invention. In this specification, the side of the parking device 100 having an entrance/exit is referred to as the front side, and the opposite side is referred to as the back side. A direction from the front to the back of the parking device 100 or a direction from the back to the front of the parking device 100 (that is, the direction in which the vehicle V enters and leaves the parking device 100) will be described as the front-rear direction.

In this embodiment, the parking device 100 has a frame structure mainly composed of stationary structures such as the posts 102 and the beams 104 that are installed between the posts 102 . This frame structure forms a parking area in which the vehicle V is parked.

In the present embodiment, the parking device 100 has, for example, four parking areas in the vertical direction (lifting direction) in which the vehicles V are stacked, and four parking areas in the horizontal direction (horizontal direction) in which the vehicles V are juxtaposed. In the parking device 100, a preliminary space is provided from the rightmost first floor to the third floor for the vehicle V to ascend/descend or traverse. Excluding the spare space, the parking device 100 can park and accommodate up to 13 vehicles V. FIG.

A pallet 108 is installed in the parking area where the vehicle V is placed.

In the parking area on the first floor, four parking areas in which pallets 108 can be arranged are provided in the left-right direction, and three pallets 108 in which the vehicle V can enter are provided in the left-right direction. Each pallet 108 on the first floor can be moved in the horizontal direction by using the empty parking area. This movement is performed by drive wheels 112 provided at the bottom of the pallet 108 . That is, the lower surface of each drive wheel 112 is in contact with the upper surface of the floor portion 114 of the parking device 100, and the pallet 108 can be moved in the left-right direction by being rotated.

On the second and third floors, four parking areas in which pallets 108 can be placed are provided in the left-right direction, and three pallets 108 on which vehicles V can be loaded are provided in the left-right direction. Each pallet 108 on the second floor can be moved up and down between the first and second floors. Each pallet 108 on the third floor can be moved up and down between the first and third floors. Each pallet 108 on the second and third floors can be lifted up to the second or third floor and wait until the vehicle V gets on the first floor and then leaves the pallet. Each pallet 108 on the second and third floors is suspended by chains 118 at its upper, lower, left and right ends via gears 116 installed on traversing trucks 110 provided on the second and third floors. The chain 118 can be connected to a lifting device (not shown).

The trolley carriage 110 is provided on the upper portion of the pallet 108 and the peripheral portion of the vehicle V in the parking areas on the second and third floors. A gear 116 is provided on the traverse carriage 110 . A chain 118 that connects a lifting device (not shown) installed on the traverse truck 110 and the pallet 108 is hooked to the gear 116, so that the pallet 108 is suspended on the traverse truck 110 so that it can be raised and lowered. . The pallet 108 can be raised or lowered by winding up or unwinding the chain 118 by a lifting device (not shown).

In addition, the trolley carriage 110 has drive wheels 112 that are rotatable while being in contact with the upper surfaces of structures such as beams 104 provided in the lateral direction of the parking device 100 .

By rotating the driving wheels 112 of the traversing carriage 110 on the beam 104, the traversing carriage 110 can move in the left and right direction using the vacant parking area in the left and right direction. At that time, the pallet 108 suspended by the chain 118 on the traversing truck 110 can also move left and right together with the traversing truck 110 while being suspended by the chain 118 .

On the fourth floor, which is the highest floor, there is no need to move the pallets 108 left and right, so the pallets 108 are arranged in the horizontal direction at four locations. Each pallet 108 is connected to a lifting device (not shown) via a chain 118 and can be lifted between the first to fourth floors. That is, in the parking area of the fourth floor and beyond, a lifting device (not shown) winds up or unwinds a chain 118 having one end connected to the pallet 108 via a gear 116 and the other end connected to the pallet 108, thereby lifting the pallet 108. or can descend.

On the first floor of the parking device 100, a gate 106 having an entrance/exit for the vehicle V is installed. When the pallet number to be loaded/unloaded is designated on the operation panel 214, the designated pallet 108 reaches the front of the gate 106, the gate 106 is opened, and after the vehicle V is discharged, the operation panel 214 is opened. , the gate 106 is closed by giving an instruction to close it. When the vehicle V is parked, the gate 106 is opened by operating an operation panel 214 installed in the parking device 100 to open the gate 106, and is closed by operating the operation panel 214 after the vehicle V is parked. The gate 106 is in a closed state except when the vehicle V is opened to enter or leave the garage, and the gate 106 is also in a closed state when the pallet 108 is moved. Closing the gate 106 normally prevents people from entering the parking system 100 .

The parking apparatus 100 can be provided with an operation panel 214 for inputting instructions for entering or leaving the parking lot, and a control device (not shown) for controlling the entire parking apparatus 100 . The control panel 214 and control device do not necessarily have to be installed directly on the parking device.

[Configuration of charging equipment]
A charging facility in the parking device 100 according to one embodiment of the present invention will be described.

FIG. 2 is a schematic rear view showing the overall configuration of the parking device 100 according to one embodiment of the present invention. FIG. 3 is a schematic diagram of a charging facility for the parking device 100 in one embodiment of the present invention.

A charging device 202 may be provided on each pallet 108 . Using this charging device 202, the driver of the vehicle V or the like performs charging work.

In FIG. 3, the charging facility will be described using the parking area on the fourth floor as an example. A power supply side power supply cable 304 extending from the stationary side power supply device 302 extends, for example, in the support or along the support up to the fourth floor, and is electrically connected at a connection portion 306 on the cable reel 204 installed on the beam 104 on the fourth floor. be done. A part of the power supply cable 206 connected to the charging device 202 is wound around the cable reel 204 , and the power supply side power supply cable 304 is electrically connected to the connecting portion 306 on the cable reel 204 . Power is supplied from the power supply device 302 to the charging device 202 through the power supply side power supply cable 304 and the power supply cable 206 .

In the case of the 2nd and 3rd floors, as in the case of the 4th floor, the power-supply-side power supply cable 304 extending from the stationary-side power supply device 302 is routed, for example, within or along the pillars 102 and the beams 104 to the 2nd and 3rd floors. It extends, passes through the traversing trucks 110 on the second and third floors, and is electrically connected to the connecting portion 306 on the cable reel 204 installed on the traversing truck 110 .

In the case of the first floor, the power supply cable 304 extends in or along the pillars 102 and beams 104 to the first floor parking area and is directly connected to the charging device 202 . In the case of the first floor, the cable reel 204 may not be provided because the pallet 108 does not move vertically.

Charging device 202 is connected to power supply cable 206 via guide member 208 . Here, the vehicle V has a charging connection portion, which is a connection portion for supplying external power to the rechargeable battery in the vehicle V. As shown in FIG. The charging device 202 has a power supply cable (not shown) for charging the vehicle that can be connected to this charging connection section. is charged.

The charging device 202 may have only the function of housing the power supply cable, or may have the function of controlling the charging operation.

While the charging device 202, the power supply device 302 and the vehicle V are electrically connected and charging, the pallet 108 on each floor may move. At that time, the power supply cable 206 must have sufficient length to follow the movement of the pallet 108 . However, if the pallet 108 is moved while the power supply cable 206 is extended, there is a risk that the power supply cable 206 will get caught on some structure and the pallet 108 will tilt. To avoid such a situation, the excess cable can be wound on a cable reel 204 installed on the beam 104 or the like.

Returning to FIG. 2, which is a rear view of the parking device 100, description will be made. The same number of cable reels 204 as the number of vehicles V that can be parked are provided around the parking area.

When the pallet 108 moves up and down while the vehicle V is being charged while parked, the cable reel 204 winds and unwinds the power supply cable 206 in conjunction with the movement. At that time, a constant tension can always be applied in the winding direction so as not to loosen the cable.

In the case of the first to third floors, the pallet 108 must be able to move laterally by one parking space. Therefore, the power supply side power supply cable 304 is connected to the cable reel 204 or the charging device 202 with a length sufficient for the moving distance. Normally, the weight of the cable reel 204 is very heavy, and it is necessary to be stably fixed while withstanding the tension when the power supply cable 206 is put in and taken out. It is preferably installed on a stable structure.

An installation location of the cable reel 204 in the parking device will be described. In the parking device 100, the portion that moves in conjunction with the movement of the pallet 108 when the pallet 108 moves up and down is defined as a first portion. If the second portion is the portion whose positional relationship with respect to 108 does not change, the power supply cable 206 connected therebetween must not loosen when the relative distance between the two portions changes. Therefore, by installing the cable reel 204 and winding at least a part of it, the power supply cable 206 can be maintained so as not to be loosened. In such a case, the cable reel 204 can be fixed at a location from which at least a portion of the region connected by the feeder cable 206 between the first and second portions (referred to as the first cable region) can be reeled. .

Here, the first part can be a part of the pallet 108, a member fixedly installed on the pallet 108, or the like. The second part is the traversing truck 110 on which the pallet 108 is suspended on the second and third floors or a member fixedly installed on the traversing truck 110, and on the fourth floor, the beam 104 on which the pallet 108 is suspended or the beam 104 It corresponds to a member fixedly installed in the On the 4th floor, the pallet 108 does not move in the horizontal direction, so it does not move not only in the beam 104 on the 4th floor, but also in other horizontal directions such as the beams 104 on the 1st to 3rd floors or the floor 114 of the parking device 100. The portion may correspond to the second portion.

The cable reel 204 is installed at a position where the power supply cable 206 can be wound in the first cable area, for example, in the area between the beam 104 and the pallet 108 on the fourth floor, and the positional relationship does not change with respect to the second part. For example, it is preferably fixedly installed on the beam 104 itself. Then, the rotation of the power supply cable 206 wound on the cable reel 204 fixed to the beam 104 is detected.

On the other hand, on the 2nd and 3rd floors, the cable reel 204 is installed in a position where the cable reel 204 can be wound in the first cable area, for example, in the area between the trolley 110 and the pallet 108, and in the second part. On the other hand, it is preferable to be fixedly installed on a portion where the positional relationship does not change, for example, on the trolley carriage 110 itself. Then, the rotation of the power supply cable 206 wound on the cable reel 204 fixed to the trolley carriage 110 is detected.

In FIG. 2, the cable reels 204 are installed in different directions on the 1st to 3rd floors and the 4th floor. The direction of the cable reel 204 is not particularly limited, but when moving not only up and down but also left and right like the pallets 108 on the 1st to 3rd floors in this embodiment, the pallets 108 and the traversing carts 110 It can be installed in a direction and location that does not hinder movement.

One or more guide members 208 may be provided between the cable reel 204 and the charging device 202 . By providing the guide member 208, the direction of the power supply cable 206 can be adjusted, and abrasion of the power supply cable 206 during movement of the pallet 108 and interference with other members can be prevented.

[Configuration of Each Part Included in Parking Device]
FIG. 4 is a block diagram showing the configuration of each part included in the parking device 100 according to one embodiment of the present invention. The parking device 100 includes a control device 400 , an operation panel 214 , a pallet drive device 410 , a gate drive device 408 , a traverse carriage drive device 416 , a pallet 108 , a gate 106 , a traverse carriage 110 , a rotation measurement device 412 and a notification section 414 .

The control device 400 includes a storage section 404 and a control section 402 .

The storage unit 404 is a logical storage area, and is a memory such as a storage area inside the CPU, a main storage device, or a secondary storage device. The storage unit 404 includes storage devices such as RAM and ROM. The storage unit 404 stores programs and the like that cause the control device 400 to implement various functions. Furthermore, the storage unit 404 continues to store the operation status while the parking device 100 is in operation. For example, even if power failure or power supply is interrupted as described later, the operation status of each device immediately before the stop is restored. The control unit 402 controls the storage unit 404 to record at least the latest status data during operation.

The control unit 402 is a CPU (Central Processing Unit). The control unit 402 causes the CPU to execute a program stored in the storage unit 404 to realize various functions in the control device 400 .

The control unit 402 transmits instruction signals regarding driving of the pallet 108 and the gate 106 to the pallet driving device 410 and the gate driving device 408 . When the operation panel 214 is operated by the user, the control unit 402 sends an instruction signal for driving the pallet 108, the traversing carriage 110 and the gate 106 based on the information received from the operation panel 214 to the pallet driving device 410 and the traversing carriage drive. Send to device 416 and gate driver 408 . The control unit 402 receives the measurement signal output from the rotation measuring device 412 and executes predetermined control based on the received measurement signal. For example, based on the measurement signal from the rotation measuring device 412, the control unit 402 transmits an instruction signal regarding the driving of the pallet 108 to the pallet driving device 410, and the notification instruction signal for informing the notification unit 414 of an abnormal situation. to send.

The program executed by the control unit 402 may be provided while being stored in a computer-readable recording medium such as a magnetic recording medium, an optical recording medium, a magneto-optical recording medium, or a semiconductor memory. Also, each program may be downloaded via the network NW.

The operation panel 214 is a user interface through which the user inputs automatic operation instructions (number designation of the pallets 108 and opening/closing instructions of the gate 106 ) to the control device 400 . When the operation panel 214 receives an input of an automatic operation instruction from the user, the operation panel 214 transmits information on the pallet 108 to be automatically operated and information on the operation content to the control device 400 .

Further, as will be described later, when the pallet driving device 410 stops based on the measurement signal output from the rotation measuring device 412, the operation panel 214 inputs a predetermined driving restart instruction after the countermeasures for the cause of the abnormality are completed. It can be a terminal for

The pallet driving device 410 drives the pallet 108 based on the instruction signal for driving the pallet 108 received from the control unit 402 .

The traversing carriage driving device 416 drives the traversing carriage 110 based on the instruction signal regarding the driving of the traversing carriage 110 received from the control unit 402 .

The gate driving device 408 opens and closes the gate 106 based on the instruction signal for driving the gate 106 received from the control unit 402 .

The notification unit 414 notifies the user of the vehicle V and people around the gate that the gate 106 is closed or opened for safety. This notification is performed under the control of the control unit 402 . The notification unit 414 can use, for example, a speaker, a display, a light emitter, and the like.

Rotation measurement device 412 measures the speed and direction of rotation of cable reel 204 . Rotation measurement device 412 is described below.

[Rotation measuring device]
FIG. 5 is a schematic diagram showing the configuration of the cable reel 204 on which the rotation measuring device 412 according to one embodiment of the present invention is installed.

A cable reel 204 according to an embodiment of the present invention is composed of a rotating body 510 that winds a power supply cable 206, a rotating shaft 512 that serves as an axis when the rotating body 510 rotates, and a reel support 514 that fixes the rotating shaft 512. be done. The reel support 514 is also the member that secures the cable reel 204 to the parking device 100 and is secured to the beam 104, trolley 110 or other stationary structure of the parking device 100 .

A guide member 504 is provided between the cable reel 204 and the charging device 202 . By hanging the power supply cable 206 on the guide member 504, when the power supply cable 206 is wound or unwound with the movement of the pallet 108, the power supply cable 206 is prevented from being caught in the movement of the pallet 108, and the power supply cable 206 is position can be properly controlled.

The power supply cable 206 is hung on the guide member 504 and can be adjusted so that a constant tension is always applied in the winding direction when power is supplied to the charging device 202 on the pallet 108 . By always applying a constant tension to the power supply cable 206, the power supply cable 206 can be prevented from loosening, and the length of the power supply cable 206 can be adjusted so that the pallet or the like can be driven safely.

It is preferable that the guide member 504 uses a member with low friction with the power supply cable 206 so as not to wear the power supply cable 206 . Therefore, it can be made of a low-friction material or made of a member including a pulley or the like.

Guide member 504 is supported by support member 508 . The support member 508 supports the guide member 504 with respect to the portion where the positional relationship with the cable reel 204 is fixed. For example, if the cable reel 204 is fixed to a structure whose position does not change, especially to the beam 104 or the support 102, it should be installed on those structures, and if it is attached to the traverse carriage 110, it should be installed on the traverse carriage 110. can be done.

One or more magnets 520A and 520B are attached to the sides of the rotor 510 . In this case, the magnet 520A can be fixed so that the radial distance between the magnet 520A and the rotating shaft 512 and the radial distance between the magnet 520B and the rotating shaft 512 of the rotating body 510 are equal to R1, and the rotating shaft It can be fixed at a position where the angle between the straight line connecting 512 and magnet 520A and the straight line connecting rotating shaft 512 and magnet 520B forms 180 degrees.

When rotating body 510 rotates when feeding cable 206 is unwound or wound, attached magnets 520A and 520B rotate while drawing the same circular locus.

The number of magnets attached to the rotating body 510 may be one or three or more, and if the radius of the rotating body 510 is large, many magnets can be installed in order to keep the measurement frequency of the magnetic sensor appropriately. When a plurality of magnets are attached, it is preferable that adjacent magnets are arranged at regular intervals.

The magnets 520A and 520B of this embodiment can adopt any shape such as a rectangular parallelepiped shape or a cylindrical shape. A part of the magnet is embedded and fixed so that it does not come off from the device when the rotating body 510 rotates, and a part of the magnet is exposed from one surface of the rotating body 510 .

Magnetic sensors 530A and 530B are used to measure the movement of these magnets 520A and 520B. The magnetic sensors 530A and 530B measure changes in the intensity of magnetic force (magnetic flux density) according to the movement of the magnets 520A and 520B, and output measurement signals corresponding to the intensity of the magnetic force to the rotation measuring device 412. The magnetic sensors 530A and 530B may be designed to measure only a specific magnetic flux direction with particularly high sensitivity in order to make the pulses of the signals obtained with the rotation of the rotating body 510 stand out so that the controller 402 can easily process them later.

The magnetic sensors 530A and 530B and the rotation measuring device 412 are designed to exchange data by wire or wirelessly.

The magnetic sensors 530A and 530B can be installed at positions where it is easy to measure changes in magnetic force caused by the rotation of the magnets 520A and 520B accompanying the rotation of the rotating body 510 . For example, it can be installed inside the reel support 514, on the beam 104 fixing the cable reel 204, or by using a member such as a bracket (not shown) newly installed for measuring the magnetic force.

Since the magnetic sensors 530A and 530B measure not only the rotational speed of the rotating body 510 but also the rotating direction, the two magnetic sensors 530A and 530B are simultaneously installed on the same surface of the rotating body 510 with their magnetic force measurement positions shifted. be able to. In FIG. 5, the measurement direction of the magnetic sensor is the rotation axis direction of the rotating body 510, but the installation position and measurement direction can be appropriately changed depending on how the magnet is attached, the shape of the signal to be output, and the like.

In FIG. 5, the magnetic sensors 530A and 530B are installed inside the reel support 514 (on the side facing the rotating body), and follow the trajectory of the magnets 520A and 520B installed on the rotating body 510 and rotate. A slight axial displacement of the body avoids contact with magnets 520A and 520B. By placing magnetic sensors 530A and 530B at this position, magnets 520A and 520B can be set to measure the change in magnetic force only once for each revolution on rotating body 510 . That is, when two magnets are used, when rotating body 510 rotates once, the increase in magnetic force due to the approach of magnets 520A and 520B is measured twice.

When the power supply cable 206 is wound by the cable reel 204 of FIG. 5 (B direction in FIG. 5), the rotating body rotates in the X direction, and the magnets 520A and 520B attached to the rotating body 510 also rotate in the X direction. rotate to As a result, the magnets 520A and 520B and the magnetic sensors 530A and 530B are periodically brought into contact with each other. As a result, the strength of the magnetic force measured in each magnetic force measurement direction in the magnetic sensors 530A and 530B changes depending on the rotational position of the rotating body 510. FIG.

The pair of magnetic sensors 530A and 530B output measurement signals to the rotation measurement device 412 according to the intensity of the magnetic force that penetrates in the respective magnetic force measurement directions.

The rotation measurement device 412 can convert the signals input from the magnetic sensors 530A and 530B into waveforms that are easy to handle in subsequent processing. The waveform processing of the signal and the accompanying driving processing of the parking device will be described later.

As an example of abnormal rotation of the cable reel 204, the cable reel 204 is locked, or a foreign object is caught in the gap between the rotator 510 and the reel support 514, making it difficult to rotate. If abnormal rotation occurs when the pallet is lowered, the power supply cable 206 is not unwound normally, and excessive tension is generated in the power supply cable 206, causing the cable reel 204 to drop and the pallet 108 to tilt. In addition, if abnormal rotation occurs when the pallet 108 is raised, the cable cannot be wound sufficiently, and the slackened cable may get caught on other structures or vehicles, resulting in damage to the device or vehicle.

[Signal processing in rotation measuring device and control unit]
Signal processing in the rotation measuring device 412 and the control section 402 will be described.

A signal obtained based on the magnetic force (magnetic flux density) measured by the magnetic sensors 530A and 530B described above indicates the relationship of the magnetic force to time. The signals periodically change as shown in signal waveforms W1 and W2 shown in FIG. 6 as the rotor 510 rotates. Specifically, the signal waveform has a period of 180 degrees (two periods per rotation). Hereinafter, the signal output from the rotation measuring device 412 will be referred to as a reel rotation signal in this specification.

As shown in FIG. 5, since the pair of magnetic sensors 530A and 530B are arranged side by side, there is a gap between the reel rotation signal W1 output from the magnetic sensor 530A and the reel rotation signal W2 output from the magnetic sensor 530B. produces a clear phase difference as shown in FIG. The direction of rotation of the rotating body 510 can be determined from the array of signals with this phase difference.

The reel rotation signals W1 and W2 output from the magnetic sensors 530A and 530B have binarized waveforms as shown in FIG. It is valued. For example, when the waveform initially measured by the sensor is a sine wave-like waveform and is binarized by setting a threshold value, or when the magnetic force measured by the sensor itself is turned on only with a predetermined strength, the switch is turned on. , and other cases of generating a signal caused by turning OFF. The vertical axis of the reel rotation signal shown in FIG. 6 represents the dimensionless signal intensity with respect to the measurement time.

In the reel rotation signal in FIG. 6, the timing at which the magnetic sensor 530A measures the magnetic force above a certain level is earlier than the magnetic sensor 530B. In this case, it can be seen that the rotating body 510 is rotating in the X direction. By measuring the number of cycles with respect to the measurement time, the rotational speed of the rotating body can also be determined.

Magnetic sensors 530 A and 530 B transmit reel rotation signals W 1 and W 2 to rotation measurement device 412 . The rotation measuring device 412 outputs the obtained reel rotation signal to the control section 402 .

The control unit 402 calculates the rotation speed of the rotating body 510 from the reel rotation signal transmitted from the rotation measuring device 412, and further determines the rotation direction.

If the rotation speed is within the normal range and the rotation direction is correct, the control unit 402 determines that the cable reel 204 is operating normally and does not send the drive stop signal to the drive unit 406 .

Normally, the permissible rotation speed is different when the pallet 108 in the parking device 100 is raised, lowered, and in the deceleration zone before the descent stop or when stopped. For example, if the winding of the cable reel 204 is slowed down during an ascent, the power supply cable 206 may become loose, but this is not a problem as long as the looseness does not impede the driving of the pallet 108 or other structures. However, if the unwinding of the cable reel 204 is slow at the time of descent, the inclination of the pallet will be affected immediately. Moreover, since winding and unwinding of the cable reel 204 are not normally performed at the time of stop, it is judged as an abnormal state even if the ON/OFF change of the waveform occurs.

Furthermore, it can also be determined that rotation is abnormal when the rotation speed of the cable reel 204 is too fast. As described above, when the pallet 108 is moved, the cable reel 204 is always tensioned in the winding direction (the X direction in FIG. 6) in order to wind the excess power supply cable 206 and maintain its length appropriately. Therefore, for example, when the cable reel 204 is unwound, if the rotation speed is too high, it means that the magnitude of the tension is not normal or that the magnetic sensor is abnormal.

Depending on the parking device 100, the rotation speed of the cable reel 204 may differ when the pallet 108 is ascending, descending, decelerating before the descending stop or stopping, even if the pallet is moving normally. In such a case, it is necessary to change the criteria for determining whether there is an abnormality in the rotation state according to the rotation direction of the cable reel 204 . For example, if the rotation speed during normal driving is lower when the pallet 108 is raised than when it is lowered, the upper limit of the rotation speed can be set to be higher when lowered than when raised.

The control unit 402 can perform further conversion processing on the reel rotation signal according to a predetermined rule so that changes in the rotation speed can be easily determined, and use the converted waveform signal to determine the presence or absence of abnormal rotation. .

7A and 7B are examples of transformed signals. The waveform in the upper diagram of FIG. 7A is the waveform when the cable reel 204 is rotating normally. The waveform in the lower diagram is obtained by further transforming the signal waveform in the upper diagram. In the waveform of the upper diagram, even if the signal intensity becomes equal to or lower than the threshold, it is not immediately set to 0, but is processed so as to decrease with a predetermined time constant. S in the figure is a separately set threshold in the converted waveform, and when the cable reel 204 is operating normally, this threshold is not exceeded.

FIG. 7B shows an example in which the rotation slows down midway and neither of the magnets 520A and 520B passes near the magnetic sensors 530A and 530B for a certain period of time. In the converted waveform (lower diagram), the signal intensity decreases and falls below the threshold, and from this the control unit 402 determines that the predetermined rotation speed has not been achieved in the cable reel 204 .

Waveform conversion processing when judging abnormal rotation of the cable reel 204 can be different depending on when the pallet 108 is ascending, descending, decelerating before descending and stopping, or when stopped. For example, when the pallet is raised, lowered, and in the deceleration period before the descent and stop, it is possible to change the threshold value for judging the drive stop, or to change the slope of the decrease curve when the magnetic force exceeds a certain level.

The control unit 402 sets the determination level of the rotation state of the cable reel 204 based on the state related to the lifting of the pallet, for example, whether it is in any state of rising, falling, deceleration before stopping the descent, or stopping, and sets a reel rotation signal. can be converted, and the rotation state of the cable reel 204 can be determined based on the converted reel rotation signal. If an abnormality occurs in the rotation direction and/or the rotation speed of the rotating body 510 when the pallet 108 is raised or lowered, a signal such as stopping the driving of the parking device 100 is output to the drive unit 406 . That is, the control unit 402 detects different thresholds set for different moving speeds set for states related to the lifting and lowering of the pallet. can be controlled.

[Drive processing based on rotation speed measurement of cable reel]
FIG. 8 is a flowchart for explaining the processing of the control unit 402 when the rotation speed of the cable reel 204 is measured in the parking device 100 according to this embodiment.

This process is started by a pallet calling (door opening) operation and a door closing operation while power is being supplied to the parking device 100 .

In accordance with an instruction from the operation panel 214, a signal for driving the pallet 108 necessary for taking out or entering the target vehicle V is transmitted to the pallet driving device 410 (step S101).

When the pallet 108 starts to move, the controller 402 receives a reel rotation signal from the rotation measuring device 412 (step S102). If the rotation direction of the cable reel 204 is normal with respect to the driving direction of the pallet 108 (step S103; Yes) and the rotation speed is also normal (step S104; Yes), is the pallet 108 at the ascending stop position or the descending stop position? to decide. If it has not reached the stop position, it continues to drive until it reaches the stop position, continues to receive the rotation measurement signal (step S105; No), and terminates when it reaches the fixed position (step S105; Yes). On the other hand, when the rotation direction of the cable reel 204 is abnormal while driving the pallet 108 (step S103; No), a signal to stop driving the parking device 100 is transmitted to the driving unit 406 (step S106). , even if the direction of rotation of the cable reel 204 is normal (step S103; Yes), but the rotation speed is abnormal (step S104; No), a signal to stop driving the parking device 100 is transmitted to the drive unit 406. (step S106). After the countermeasures against the cause of the occurrence of the abnormality that causes the drive to stop are completed, the process waits until a predetermined signal for resuming the drive is received (step S107; No). When a signal for restarting driving is received (step S107; Yes), a pallet driving signal is transmitted (step S101).

<Modification>
Modified examples of the parking apparatus of the present invention will be described below.

[Modification 1]
Although the embodiment described above describes a four-story multi-storey parking lot, the parking lot may have five or more stories or three or less stories. Moreover, if the parking device 100 can use a power supply cable and a cable reel, it can be applied to, for example, a one-story parking lot.

[Modification 2]
In the embodiment described above, when the abnormal rotation of the cable reel 204 is detected, the driving of the parking device 100 is immediately stopped. can also be Alternatively, the notification may be made only by a warning sound, voice guidance, lighting of a light-emitting body, or the like. Deactivation of the device 100 may be performed together.

[Modification 3]
The sensors 530A and 530B in the rotation measuring device 412 of the present invention are not limited to magnetic sensors including other methods, and non-contact sensors such as optical sensors and laser sensors, or contact sensors can be used.
Alternatively, a laser Doppler sensor can be applied to the surface of the cable reel or the surface of the cable to measure the rotational speed of the cable reel or the moving speed of the cable.

[Modification 4]
In the embodiment described above, both the rotation speed and the rotation direction of the cable reel 204 are determined according to the elevation of the pallet 108. However, by using only one sensor, the abnormality of the cable reel 204 can be determined from only the rotation speed. good too.

[Modification 5]
In the embodiment described above, when the control unit 402 receives the rotation speed abnormality signal from the rotation measuring device 412, the control unit 402 immediately outputs a signal to the drive unit 406 to stop driving the parking device 100. 100 had stopped driving. However, the control unit 402 may turn off the breaker (not shown) of the device 100 to stop the power supply to the parking device 100 .

[Modification 6]
In the above-described embodiment, the case where the rotation speed of the cable reel 204 is slow was exemplified. Abnormalities in speed can be determined.

100: Parking device 102: Post 104: Beam 106: Gate 108: Pallet 110: Traverse truck 112: Drive wheel 114: Floor 116: Gear 118: Chain 202: Charger 204 : Cable reel 206: Power supply cable 208: Guide member 302: Power supply device 304: Power supply side power supply cable 306: Connection unit 400: Control device 402: Control unit 404: Storage unit 406: Drive unit , 408: Gate drive device, 410: Pallet drive device, 412: Rotation measuring device, 414: Reporting unit, 504: Guide member, 508: Support member, 510: Rotating body, 512: Rotating shaft, 514: Reel supporting body, 520: magnet, 530: magnetic sensor

Claims (13)

a pallet on which a vehicle can be placed;
a pallet driving unit for moving the pallet;
a charging device installed on the pallet for charging the vehicle;
A power supply cable for supplying power to the charging device, comprising: a first portion that interlocks with the elevation of the pallet; a feeder cable comprising a first cable region connected between a second portion in which the constant
a cable reel that winds at least part of the first cable region during one of the lifting and lowering;
a rotation measuring device for measuring the rotation state of the cable reel;
A parking device. 2. The parking device of claim 1, wherein the rotational state includes rotational speed. The parking device according to claim 1 or 2, wherein the rotational state includes a rotational direction. 2. The parking apparatus according to claim 1, further comprising a control unit that performs predetermined control when the rotational speed of said cable reel is out of a preset range during movement of the pallet. 5. The parking device according to claim 4, wherein the preset range is a different range for each set moving speed of the pallet when ascending and descending . 5. The parking device according to claim 4, wherein said predetermined control includes stopping movement of said pallet. 5. The parking device according to claim 4, wherein said predetermined control includes stopping driving of said parking device. 8. The parking device according to claim 7, wherein stopping the driving of the parking device is achieved by turning off a breaker of the parking device to cut off power supply to the parking device. 2. The parking apparatus of claim 1, wherein said rotation measurement device includes a non-contact or contact sensor for measuring said rotation state. 10. The parking device according to claim 9, wherein said rotation measuring device includes a sensor that indirectly measures said rotation state by detecting a moving speed of a cable. 2. The parking device according to claim 1, wherein the cable reel is installed in a portion where the positional relationship with respect to the second portion does not change. 2. Parking apparatus according to claim 1, wherein said pallet is suspended from a structure that does not change position within said parking apparatus and said cable reel is mounted on said structure. 2. The parking device according to claim 1, wherein the pallet is suspended from a transversely movable trolley within the parking device, and the cable reel is mounted on the trolley.

Images