JP7317596B2 - Guidance device, mechanical parking equipment, and guidance method - Google Patents

Description

TECHNICAL FIELD The technology disclosed herein relates to a guidance device for guiding a vehicle to a predetermined planned stop position in a mechanical parking facility, a mechanical parking facility provided with the guidance device, and a guidance method.

Patent Literature 1 describes a technique for guiding a vehicle to a planned stop position using two range sensors installed in a parking space of a mechanical parking facility. Specifically, this technology divides the interior of the warehouse into a plurality of divided detection areas in the direction in which the vehicle enters, and detects the vehicle based on whether the range sensor detects the vehicle in each divided detection area. Guidance to the scheduled stop position.

In addition, in Patent Document 2, using two range sensors installed in the warehouse, the positions of the wheels of the automobile are detected, and based on the detection data, the wheel base (distance between the axles) of the automobile, the front and rear It describes calculating the wheel tread, the orientation of the front wheels, and the like.

JP 2019-2246 A JP 2015-161080 A

By the way, in the technique described in Patent Literature 1, each divided detection area has a predetermined length with respect to the entering direction of the automobile. The vehicle is allowed to stop at a position shifted from the planned stop position by the length of each divided detection area. The allowable amount of deviation is larger for a vehicle with a shorter vehicle length (that is, the length in the front-rear direction).

Here, in the case where the mechanical parking equipment rotates the pallet on which the automobile is placed when the pallet is transported to the storage unit (particularly, the pallet is supported at the rotation center position and rotated). In the case of ), if the center of gravity of the vehicle deviates greatly from the rotation center of the pallet, the balance of the pallet on which the vehicle is placed becomes unbalanced. In particular, if a front-heavy car is placed on the front side of the pallet, or if a rear-heavy car is placed on the rear side of the pallet, the balance of the pallet on which the car is placed will be greatly deteriorated. end up In order to stably rotate the pallet, it is preferable to stop the vehicle on the pallet so that the center of gravity of the vehicle coincides with the center of rotation of the pallet as much as possible.

In addition, in the case of a mechanical parking facility that suspends the four corners of an elevator carrying a car with wire ropes, depending on the position of the center of gravity of the car, the elongation of the wire ropes varies, and the tilt of the elevator increases, causing inconvenience. Conceivable.

The technology described in Patent Document 1 allows the automobile to stop at a position shifted from the planned stop position, so that the position of the center of gravity of the automobile stopped on the pallet and the rotation center position of the pallet have a large displacement. There is a risk of becoming Therefore, there is a demand for a new technique that can more accurately guide the vehicle to a predetermined planned stop position (for example, a position where the rotation center of the pallet and the center of gravity of the vehicle coincide).

The planned stop position is not limited to the position where the rotation center of the pallet coincides with the center of gravity of the automobile. For example, a pallet for storing an EV (Electric Vehicle. In the following, EV includes a PHEV (Plug-in Hybrid Electric Vehicle)) has a charging facility. In mechanical parking facilities, charging may be performed by inserting a plug provided at the tip of a power cable into a socket provided at the front or side of the EV while the EV is stored. In this case, the EV may be stopped in advance to the left, right, or rear of the pallet so that the plug and power cable do not protrude outside the pallet. In this case, the scheduled stop position is not the center position of the pallet, but a position to the left, right, or rear of the pallet.

In addition, in the case of mechanical parking equipment that directly supports the wheels of the vehicle to transport the vehicle, there are cases where priority is given to guiding the vehicle to a position where the four wheels can be supported (that is, the planned parking position). .

Furthermore, while transporting the vehicle to the storage space, accidental collisions must be avoided while turning the vehicle. Preventing the vehicle from running out of the predetermined area is prioritized over bringing the center position closer to the planned stop position.

Considering that the center position and the center of gravity position between the four wheels of the vehicle in the vehicle length direction and the vehicle width direction do not deviate greatly, the center position between the four wheels is regarded as the center of gravity position, and the vehicle is guided to the planned stop position. can be

Note that the technique described in Patent Document 2 only detects the positions of the wheels of the automobile, and cannot guide the automobile so that it can stop more accurately at the planned stop position.

The technology disclosed herein guides a vehicle to stop accurately at a planned stop position in a mechanical parking facility.

Specifically, the guidance device disclosed herein includes:
a detection unit that detects the position of at least one or more wheels of a vehicle entering a mechanical parking facility and the position of the body of the vehicle ;
a control unit that receives the detection result of the detection unit and provides guidance information to the driving subject of the automobile;
When the control unit guides the driving subject of the automobile to stop at a predetermined stop position in the parking section of the mechanical parking facility, the center of the automobile between the front wheels and the rear wheels of the automobile A guidance device for which information for specifying a position cannot be obtained,
The detection unit detects the position of at least one or more wheels and the position of the body before guiding the driving subject to stop at the planned stop position, and the control unit controls the detection unit to detect The center position is calculated based on the detected positions of the front wheels and the rear wheels, or the position of any wheel detected by the detection unit and information on the distance between the axles, and the center position and storing information related to the position information of the body detected by the detection unit;
At least when guiding the driving subject to stop at the planned stop position, the control unit determines that the center position is the same as that of the machine based on the stored related information and the position information of the body detected by the detection unit . Guidance information is provided to the driving subject so that it coincides with a predetermined scheduled stop position in the parking area of the parking facility.

According to this configuration, the detector detects the position of at least part of the automobile. The detection unit may be, for example, a range sensor (laser scanner). A portion of the vehicle may be the wheels. For example, if a range sensor is installed so that the laser scans a predetermined height from the floor (or road surface) in the horizontal direction, the laser can be irradiated to the wheels without being blocked by the body. The ranging sensor can acquire two-dimensional data of the distance and angle from the ranging sensor to the wheels without detecting the body of the automobile. The range sensor is capable of sensing wheel geometry (ie, wheel geometry at the scanning height of the laser) and wheel position. The detector also detects the position of the body.

Note that the detection unit may be configured by a photographing device that detects the body position of the automobile and simultaneously photographs an image from the side of the automobile. The control unit can identify the positions of the front and rear wheels relative to the body based on the detected body position and the image captured by the imaging device.

The control unit may calculate the center position of the automobile between the front wheels and the rear wheels in the vehicle length direction from the detection result of the detection unit, and regard the center position as the virtual center of gravity position. For example, a position equidistant from the front and rear wheels may be set as the center position, or if the ratio of the load on the front axle and the load on the rear axle of the target vehicle is known, the position of the center of gravity can be calculated more accurately and the position of the center of gravity can be calculated. It can also be a position.

Furthermore, it is also possible to specify the position of the center of gravity from the values of the load sensors while placing the car on a table on which a plurality of load sensors are arranged, and to specify the positional relationship with the detected part of the car. In this case, the positional relationship between the center position, which is the position of the center of gravity of the vehicle, and the position of a part of the vehicle can be specified without necessarily detecting the positions of the wheels. A part of an automobile may detect the front edge position, for example, by a range sensor irradiating the front edge portion of the front of the automobile body with a laser perpendicularly.

The control unit also provides guidance information to the driving subject of the vehicle so that the center position coincides with a predetermined planned stop position (for example, rotation center) in the parking section of the mechanical parking facility. In addition, the "receiving section" includes a warehousing/delivering section used for both warehousing and unloading of automobiles.

The guidance device having this configuration guides the automobile based on the center position and the planned stop position. For example, when there is a large deviation between the center position of the vehicle traveling toward the planned stop position and the planned stop position, the control unit provides the driver with "forward" or "backward" guidance information as guidance information, If the deviation between the center position and the planned stop position is small, the control unit provides the driver with "stop" guidance information. When "forward", the driver moves the car forward, when "backward", the car is reversed, and when "stop", the car is stopped, so that the driver can match the center position of the car with the planned stop position. so you can stop the car. By reducing the allowable amount of deviation between the center position and the planned stop position, it is possible to stop the automobile at the planned stop position more accurately compared to conventional guidance devices. It should be noted that the driving subject includes the driving device of the automatic driving vehicle.

Also, since the guidance device performs guidance based on the center position of the vehicle, the vehicle can be accurately stopped at the planned stop position regardless of the length of the vehicle.

Here, for example, when the detection unit is configured by a range sensor, if the range sensor does not detect the body but the wheels are detected, the height position relatively low with respect to the floor (for example, 30 mm to 100 mm) The range sensor must be installed so that the laser illuminates. If the laser irradiation position is low, the laser may be blocked by some obstacle, and as a result, the range sensor may not be able to detect the wheels. On the other hand, when detecting the position of the body of an automobile, the laser can be irradiated at a position higher than the height at which the wheels are detected. Lasers are less likely to be blocked by obstacles.

Therefore, the control unit calculates the center position based on, for example, the positions of the wheels, and associates the body position detected by the detection unit with the center position. By doing this, even if the detection unit cannot detect the position of the wheels, if the position of the body is detected, the detected position of the body and the information related to the position of the body and the center position described above can be combined. Based on this, the control unit can grasp the center position of the automobile. The control unit can provide guidance information to the driving subject so that the center position matches the planned stop position.

It should be noted that since the shape of the body varies greatly from vehicle to vehicle, it is difficult to accurately calculate the center position of the vehicle only by measuring the shape of the vehicle body. On the other hand, the positions and shapes of the wheels are arranged substantially symmetrically around the center position of the vehicle even if the vehicle is changed. Therefore, by calculating the center position of the vehicle based on the wheel positions, it is possible to accurately grasp the center position of each vehicle having various body shapes.

Further, for example, in a parking facility where automobiles are transported on pallets, the pallets may be formed with recessed grooves into which the wheels of the automobiles are inserted. In this case, after the car is placed on the pallet, the lower parts of the wheels are located in the grooves. If the detection unit is composed of, for example, a range sensor, the laser cannot be applied to the wheels after the vehicle is placed on the pallet, and the detection unit may not be able to detect the positions of the wheels. In a configuration in which the center position is specified based on the wheel positions, information for specifying the center position cannot be obtained when the car is placed on the pallet and guided to stop at the planned stop position.

On the other hand, in detecting the position of the body, the laser irradiation position can be set high as described above. The detector can detect the position of the body even after the car is placed on the pallet.

Therefore, when guiding the main driver of the car to stop at the planned stop position (for example, after the car is placed on a pallet), the control unit detects the position of the body detected by the detection unit, the position of the body, and the center position. provide guidance information based on relevant information about As a result, the control unit can provide guidance information to the driving subject so that the center position coincides with the planned stop position.

In addition to the example of the pallet mentioned above, for various reasons, there are cases where, at the position where the car is stopped, it may not be possible to detect the part that was detected before the car reached that point. By specifying in advance the positional relationship between the possible part and the center position of the car, it becomes possible to guide the car to the end.

The detection unit detects the positions of at least one front wheel and one rear wheel,
The guidance information may be provided with the center in the vehicle length direction as the center position.

A position equidistant from the front and rear wheels (ie, the center position) is close to the center of gravity of the vehicle. The control unit can easily specify the center position.

The detection unit detects the positions of at least three wheels,
The control unit may calculate center positions in the vehicle length direction and the vehicle width direction between the four wheels of the vehicle from the detection result of the detection unit.

The control unit can calculate the center position between the left and right wheels in the vehicle width direction based on the positions of the left and right front wheels and/or the positions of the left and right rear wheels detected by the detection unit. The control unit can specify the center position with higher accuracy. The control unit can more accurately stop the automobile at the planned stop position based on the center positions in the vehicle length direction and the vehicle width direction between the four wheels of the automobile.

The detection unit detects the position of at least one or more wheels,
The control unit calculates the position of the center of gravity in the longitudinal direction of the vehicle from the detection result of the detection unit, the information on the load on the front axle and the load on the rear axle, and the information on the distance between the axles. The guidance information may be provided.

The control unit can specify the position of the center of gravity of the automobile using the detection result of the detection unit.

The guidance device further comprises a load measuring unit that measures the front axle load and the rear axle load,
The control unit may use the front axle load and the rear axle load measured by the load measurement unit to calculate the position of the center of gravity in the vehicle length direction.

By measuring the load on the front axle and the load on the rear axle, the controller can calculate the position of the center of gravity in the longitudinal direction of the vehicle.

The guidance device further includes a storage unit that stores information on the front axle load and the rear axle load in association with the vehicle information,
Based on the vehicle information, the control unit may calculate the center-of-gravity position in the vehicle length direction from the front axle load and the rear axle load acquired from the storage unit.

If the storage unit stores the information on the front axle load and the rear axle load, the control unit can calculate the position of the center of gravity of the vehicle in the vehicle length direction by acquiring the vehicle information.

The detection unit detects the positions of at least one or more front wheels and one or more rear wheels,
The control unit may calculate a vehicle length direction distance between the front wheel position and the rear wheel position detected by the detection unit as the inter-axle distance.

The controller can use the detection result of the detector to calculate the center distance.

The storage unit further stores information on the distance between axles in association with the vehicle information,
Based on the vehicle information, the control unit may calculate the center-of-gravity position in the vehicle length direction from the information on the front axle load and the rear axle load acquired from the storage unit and the information on the distance between the axles.

The control unit can use the information stored in the storage unit to accurately calculate the position of the center of gravity of the vehicle in the vehicle length direction.

A turning device for turning the automobile is arranged in the storage part of the mechanical parking equipment,
The planned stop position may be a rotation center position of the rotation device.

By providing guidance information to the driver, the vehicle can be stopped so that the center position of the vehicle coincides with the rotation center position of the rotation device. The rotating device can rotate stably.

It should be noted that the pivoting device may be configured to pivot a valet on which a car is placed. Moreover, it is not always necessary to place the automobile on a pallet, and a device that directly rotates the automobile by supporting the wheels of the automobile may be used. Regardless of the configuration of the rotating device, by aligning the center position of the automobile with the rotation center position, the load applied to the rotating device is reduced, and the automobile can be stably rotated.

The mechanical parking facility includes a carrier for vertically transporting the vehicle in the parking facility, and a plurality of wire ropes connected to the carrier for lifting and lowering the carrier,
The planned stop position may be a position where the center of gravity of the automobile is placed there so that the plurality of wire ropes stretch evenly when the carrier is stationary.

In a mechanical parking system in which an automobile is lifted and lowered by an elevator suspended by a plurality of wire ropes, the elongation of the wire ropes varies depending on the parking position of the automobile, and the elevator may tilt. In order to suppress this inclination, it is conceivable to match the position of the center of gravity of the automobile with the position where the wire rope stretches evenly. The position where the wire rope stretches evenly differs depending on the difference in the number of wire ropes in front, back, left and right, and the quality of the wire ropes, so it is necessary to set it for each elevator. If the elevator has the same number of wire ropes and the load is evenly applied to the wire ropes without a car, the center of gravity of the car is aligned with the center of the rectangular shape. Let it be.

The mechanical parking equipment disclosed herein comprises the guiding device described above. As described above, the guidance device can guide the vehicle to stop exactly at the intended stop position, so that the mechanical parking system can properly store the vehicle.

The induction methods disclosed herein are
Prior to guiding the driver of the vehicle entering the mechanical parking facility to stop at a predetermined planned stop position in the parking section of the mechanical parking facility, the position of at least one or more wheels of the vehicle. detecting the position of the body of the automobile;
Based on the detected positions of the front and rear wheels of the vehicle , or the detected position of any wheel and information on the distance between the axles, the center position of the vehicle between the front wheels and the rear wheels is calculated. and acquiring related information between the center position and the detected position information of the body,
At least when the driving subject is guided to stop at the scheduled stop position, the driving subject is guided so that the center position coincides with the scheduled stop position based on the related information and the detected position information of the body. provide guidance information to

Acquiring information on the position of the center of gravity in the vehicle length direction of the vehicle entering the mechanical parking facility,
Guidance information may be provided to the main driver of the vehicle so that the position of the center of gravity coincides with the planned stop position as the center position.

As described above, these guidance methods can guide the vehicle to stop exactly at the intended stop position.

As described above, the guiding device, the mechanical parking equipment, and the guiding method can guide the vehicle to stop at the intended stop position accurately.

FIG. 1 is a plan view showing an entry/exit section of a mechanical parking facility equipped with a guidance device. FIG. 2 is a plan view illustrating the detection range of each range sensor included in the guidance device. FIG. 3 is a side view illustrating the installation height of each range sensor. FIG. 4 is a diagram for explaining the center position of the automobile calculated from the detection result of the range sensor. FIG. 5 is a flowchart of guidance control executed by the control unit. FIGS. 6(a) and 6(b) are plan views illustrating the planned stop positions of the EV, respectively. FIG. 7 is a plan view showing a loading/unloading section of a mechanical parking facility having a guiding device with a configuration different from that of FIG. FIG. 8 is a plan view showing an entry/exit part of a mechanical parking facility having a guiding device with a configuration different from that of FIGS. 1 and 7. FIG. FIG. 9 is a plan view showing an entry/exit part of a mechanical parking facility having a guiding device with a configuration different from that of FIGS. FIG. 10 is a side view illustrating the configuration of the weighing unit;

Hereinafter, embodiments of mechanical parking equipment, a guidance device, and a guidance method will be described with reference to the drawings. The mechanical parking equipment, guidance devices and guidance methods described herein are exemplary.

(Overall Configuration of Mechanical Parking Equipment)
FIG. 1 shows an entry/exit section 2 of a mechanical parking facility 1. As shown in FIG. The loading/unloading section 2 is a place where the vehicle 9 stored in the mechanical parking facility is parked on the pallet 3 . The pallet 3 on which the automobile 9 is placed is transported to the storage space of the mechanical parking equipment 1, although not shown. At the time of unloading, the pallet 3 on which the automobile 9 is placed is conveyed from the storage space to the loading/unloading section 2.例文帳に追加The pallet 3 rotates about the rotation center position 31 when transporting the pallet 3 at the time of entering and leaving the warehouse. The rotation center position 31 is the center position of the pallet 3 in the length direction and width direction. The pallet 3 is supported at a rotation center position 31 during rotation.

A guidance device 5 is provided in the loading/unloading section 2 . The guidance device 5 provides the driver of the vehicle 9 about to enter the parking lot with guidance information for guiding the vehicle 9 to the planned stop position. In this configuration example of the mechanical parking facility 1 , the planned stop position is the rotation center position 31 of the pallet 3 .

The loading/unloading section 2 is provided with an entrance/exit 21 for the vehicle 9 to enter/exit. In the example of FIG. 1, the doorway 21 opens toward the left side of the drawing. The automobile 9 enters the loading/unloading section 2 through the doorway 21 from left to right in the drawing (see the white arrow in FIG. 1). Although not shown in FIG. 1, the doorway 21 is provided with a door. The entrance/exit 21 is closed before warehousing and after warehousing is completed.

In the following description, for ease of explanation, the upper side of the paper in FIG. 1 corresponds to the right side when viewed in the direction in which the automobile 9 enters the loading/unloading section 2 through the entrance 21, so it is referred to as the "right side".

An operation panel 41 is installed near the doorway 21 . The driver operates the operation panel 41 when trying to park the car 9 and when leaving the parking lot 2 after the car 9 is parked and closing the door.

(Configuration of induction device)
The guidance device 5 includes sensors 51 to 54 , a display section 22 , a control section 50 and a storage section 55 .

The sensors 51 to 54 detect the vehicle 9 to be parked. The sensors 51 to 54 are arranged in the loading/unloading section 2 . The sensors specifically include a first wheel sensor 51 , a second wheel sensor 52 , a first body sensor 53 and a second body sensor 54 . The first wheel sensor 51 and the second wheel sensor 52 detect a left front wheel 92 , a right front wheel 93 , a left rear wheel 94 and a right rear wheel 95 of the automobile 9 . A first body sensor 53 and a second body sensor 54 detect the body 91 of the automobile 9 . The first wheel sensor 51, the second wheel sensor 52, the first body sensor 53, and the second body sensor 54 are examples of detection units.

The first wheel sensor 51, the second wheel sensor 52, the first body sensor 53, and the second body sensor 54 are all laser range sensors. The range sensor is, for example, a uniaxial scanning laser scanner, and is configured to horizontally scan a laser within a predetermined angular range. A range sensor acquires two-dimensional data of distance and angle to an object.

The first wheel sensor 51 is arranged near the doorway 21 . More specifically, the first wheel sensor 51 is located on the left near the entrance 21 . As indicated by the two-dot chain line in FIG. 2, the detection range 511 of the first wheel sensor 51 is set to an angle of θ1. A detection range 511 of the first wheel sensor 51 extends over both the outside and the inside of the loading/unloading section 2 . The first wheel sensor 51 is also arranged so that the laser L scans at a first height H1 from the floor surface 23 of the loading/unloading section 2, as shown in FIG. The first height H1 may be appropriately set as a height at which the laser L can scan while avoiding the body 91 of the automobile 9 and at which the wheels 92 to 95 can be detected. Specifically, the first height H1 may be set within a range of 30 mm to 90 mm.

The first wheel sensor 51, as shown by a thick dashed line in FIG. A range 56 from the front to the left can be sensed. Based on the detection signal of the first wheel sensor 51, the control unit 50, which will be described later, can grasp the position and shape of each of the left front wheel 92, the right front wheel 93, the left rear wheel 94, and the right rear wheel 95. .

Here, as indicated by a dashed line in FIG. 3, two recessed grooves 32, 32 are formed in the upper surface of the pallet 3 for receiving the left and right wheels (see also FIG. 1). On the left and right side portions of the pallet 3, regulating portions 33, 33 are erected from the upper surface of the pallet 3, respectively. The regulating portions 33 , 33 regulate the position of the vehicle 9 in the left-right direction (that is, in the vehicle width direction) with respect to the pallet 3 .

When the automobile 9 is placed on the pallet 3 , the laser L of the first wheel sensor 51 is blocked by the restricting portion 33 . Therefore, when the automobile 9 is placed on the pallet 3 , the first wheel sensor 51 cannot detect the left front wheel 92 , the right front wheel 93 , the left rear wheel 94 and the right rear wheel 95 .

A second wheel sensor 52 is also arranged near the doorway 21 . More specifically, the second wheel sensor 52 is arranged on the right side near the entrance 21 so as to face the first wheel sensor 51 . As indicated by the two-dot chain line in FIG. 2, the detection range 521 of the second wheel sensor 52 is set to an angle of θ2. A detection range 521 of the second wheel sensor 52 extends over both the outside and the inside of the loading/unloading section 2 . The angle θ2 of the detection range 521 of the second wheel sensor 52 and the angle θ1 of the detection range 511 of the first wheel sensor 51 may be the same. The second wheel sensor 52 is also arranged so that the laser L scans at a first height H1 from the floor surface 23 of the loading/unloading section 2, as shown in FIG.

The second wheel sensor 52, as shown by the thick solid lines in FIG. A range 57 from the left side to the right side can be detected. Based on the detection signal of the second wheel sensor 52, the control unit 50 can grasp the positions and shapes of the left front wheel 92, the right front wheel 93, the left rear wheel 94, and the right rear wheel 95, respectively.

Further, as shown in FIG. 3 , when the automobile 9 is placed on the pallet 3 , the laser L of the second wheel sensor 52 is also blocked by the restricting portion 33 . When the automobile 9 is placed on the pallet 3 , the second wheel sensor 52 also cannot detect the left front wheel 92 , right front wheel 93 , left rear wheel 94 and right rear wheel 95 . In other words, the guidance device 5 cannot detect the wheels 92 to 95 when the automobile 9 is placed on the pallet 3 .

The first body sensor 53 is arranged at the same position as the first wheel sensor 51, as shown in FIGS. That is, the first body sensor 53 is arranged on the left side near the entrance 21 . The detection range 531 of the first body sensor 53 is set to the same angle θ1 as that of the first wheel sensor 51 . A detection range 531 of the first body sensor 53 extends over both the outside and the inside of the loading/unloading section 2 . Note that the detection range 531 of the first body sensor 53 and the detection range 511 of the first wheel sensor 51 may not be the same.

The first body sensor 53 is also arranged so that the laser L scans at a second height H2 from the floor surface 23 of the loading/unloading section 2, as shown in FIG. The second height H2 is higher than the first height H1. The second height H2 may be appropriately set as a height at which the laser L can scan while avoiding the wheels 92 to 95 of the automobile 9 and at which the body 91 of the automobile 9 can be detected. Specifically, the second height H2 may be set within a range of 130 mm to 500 mm.

The first body sensor 53 can detect a range 58 from the front to the left side of the automobile 9 before being placed on the pallet 3, as indicated by the thick two-dot chain line in FIG. In addition, the first body sensor 53 detects a range 58 from the left side of the automobile 9 to the rear without being blocked by the regulation part 33 during and after the automobile 9 is placed on the pallet 3. be able to. Based on the detection signal of the first body sensor 53 , the control section 50 can grasp the position and shape of the body 91 of the automobile 9 . The control unit 50 can also grasp the total length and width of the automobile 9 .

The second body sensor 54 is arranged on the right side of the inner part away from the entrance/exit 21 in the loading/unloading section 2 . The first body sensor 53 and the second body sensor 54 are arranged diagonally across the pallet 3 . A detection range 541 of the second body sensor 54 is set at an angle of θ3, as indicated by a two-dot chain line in FIG. A detection range 541 of the second body sensor 54 is within the loading/unloading section 2 .

The second body sensor 54 is also arranged so that the laser L scans at a second height H2 from the floor surface 23 of the loading/unloading section 2, as shown in FIG.

The second body sensor 54 can detect a range 59 from the front to the right side of the vehicle 9 that has entered the loading/unloading section 2, as indicated by the thick dashed line in FIG. Based on the detection signal of the second body sensor 54 , the control section 50 can grasp the position and shape of the body 91 of the automobile 9 . The control unit 50 can also grasp the total length and width of the automobile 9 .

The display unit 22 is installed at the back of the loading/unloading unit 2 so as to face the inside of the loading/unloading unit 2 . The display unit 22 provides guidance information to the driver driving the automobile 9 when the automobile 9 is placed on the pallet 3 . As illustrated in FIG. 1, the display unit 22 has a first indicator lamp 221 indicating "forward", a second indicator lamp 222 indicating "stop", and a third indicator lamp 223 indicating "backward." are doing. As will be described later, the display unit 22 turns on any one of the first indicator lamp 221, the second indicator lamp 222, and the third indicator lamp 223 according to the position of the automobile 9, so that the automobile 9 is at the planned stop position. You will be instructed to stop at

Although not shown, the control unit 50 has a processor, volatile memory, nonvolatile memory, I/O interface, and the like. The first wheel sensor 51, the second wheel sensor 52, the first body sensor 53, the second body sensor 54, the operation panel 41, and the display unit 22 are connected to the control unit 50 so as to be able to transmit and receive signals. . The control unit 50 receives signals from these sensors 51 to 54 and the operation panel 41 and also sends signals to the operation panel 41 and the display unit 22 . A storage unit 55 is also connected to the control unit 50 . The storage unit 55 is composed of a nonvolatile memory, a hard disk, or the like. The storage unit 55 stores various information. The control unit 50 reads information stored in the storage unit 55 and uses it for controlling the mechanical parking equipment 1 .

(details of guidance control)
Next, guidance control of the guidance device 5 executed by the control unit 50 will be described. As described above, the guidance device 5 provides guidance information for guiding the vehicle 9 to the rotation center position 31 on the pallet 3 to the driver of the vehicle 9 about to enter. The guiding device 5 guides the vehicle 9 so that the center position of the vehicle 9 is near the rotation center position 31 of the pallet 3 . The center position of the automobile 9 is set at the center of gravity of the automobile 9 or at a position close to the center of gravity. By doing so, the balance of the pallet 3 on which the automobile 9 is placed is improved, and the mechanical parking facility 1 can rotate the pallet 3 stably.

In this configuration example, the control unit 50 sets the central position 96 at the center in the vehicle length direction and the vehicle width direction between the four wheels 92 to 95 as a position near the center of gravity of the automobile 9 . The control unit 50 calculates the center position 96 of the automobile 9 based on detection signals from the first wheel sensor 51 and the second wheel sensor 52 .

The four wheels 92 to 95 of the automobile 9 are arranged substantially symmetrically with respect to the central position of the automobile 9 in the vehicle length direction and the vehicle width direction. The control unit 50 can relatively accurately calculate the center position 96 of the automobile 9 based on the positions of the four wheels 92-95. Further, the center position 96 of the vehicle 9 thus calculated matches or substantially matches the position of the center of gravity of the vehicle 9 . By calculating the center position 96 of the vehicle 9 based on the positions of the four wheels 92 to 95, the control unit 50 can approximately grasp the position of the center of gravity of the vehicle 9. FIG.

As described above, the first wheel sensor 51 and the second wheel sensor 52 respectively detect the left front wheel 92, the right front wheel 93, the left rear wheel 94, and the right rear wheel 95 of the automobile 9 before being placed on the pallet 3. Position and shape can be detected. By synthesizing the detection signal of the first wheel sensor 51 and the detection signal of the second wheel sensor 52, the control unit 50 determines the positions of the four wheels 92 to 95 (see the thick two-dot chain line and thick solid line in FIG. 2). can be accurately grasped.

Although detailed description is omitted, the positions of the four wheels 92 to 95 and the position of the body 91, which will be described later, are positions in two-dimensional coordinates set in a specific area extending inside and outside the loading/unloading section 2. . Control from the installation positions of the first wheel sensor 51 and the second wheel sensor 52 in the two-dimensional coordinates and the distance and angle to the four wheels 92 to 95 detected by the first wheel sensor 51 and the second wheel sensor 52 The unit 50 can compute the positions of the four wheels 92-95 in the two-dimensional coordinates.

Once the positions of the four wheels 92 to 95 are grasped, the control unit 50, as exemplified in FIG. A center position 97 in the vehicle width direction between the left front wheel 92 and the right front wheel 93 is calculated. Based on the position of the left rear wheel 94 and the position of the right rear wheel 95, the control unit 50 also determines the widthwise center position 98 between the left rear wheel 94 and the right rear wheel 95 on the rear axle of the automobile. to calculate Based on the center position 97 of the front axle and the center position 98 of the rear axle, the control unit 50 further calculates a center position 96 in the vehicle length direction between the front axle and the rear axle.

The control unit 50 may calculate the center position 96 from the intersection of a straight line connecting the front left wheel 92 and the rear right wheel 95 and a straight line connecting the front right wheel 93 and the rear left wheel 94 .

The control unit 50 also grasps the position of the body 91 of the automobile 9 based on the detection signal of the first body sensor 53 before the automobile 9 is placed on the pallet 3 . The control unit 50 associates the calculated center position 96 of the automobile 9 with the position of the body 91 . As described above, the first body sensor 53 detects the range 58 from the front to the left side of the automobile 9 before the automobile 9 is placed on the pallet 3 (see the thick two-dot chain line in FIG. 2). As shown in FIG. 4, the position of the left front corner 911 of the automobile 9 is set as a representative point of the position of the body 91, and the control unit 50 associates the position of the left front corner 911 with the center position 96 of the automobile 9. may By associating the center position 96 of the vehicle 9 with the position of the body 91, if the first body sensor 53 and/or the second body sensor 54 detects the body 91 of the vehicle, the control unit 50 determines the center position of the vehicle 9. It becomes possible to grasp 96. The control unit 50 stores related information between the center position 96 of the automobile 9 and the position of the body 91 .

Detection of the wheels 92 to 95 by the first wheel sensor 51 and the second wheel sensor 52 described above, calculation of the center position 96 of the automobile 9 based on the detection signal, and detection of the body 91 by the first body sensor 53, The association between the center position 96 of the vehicle 9 and the position of the body 91 based on the detection signal may be performed while the vehicle 9 is stopped in front of the entrance/exit section 2 . The driver who intends to enter the garage gets out of the automobile 9 and operates the operation panel 41 to open the door. Stopped in front of 2.

When the door of the loading/unloading section 2 is opened and the vehicle 9 starts toward the pallet 3, the first wheel sensor 51, the second wheel sensor 52, the first body sensor 53, and the second body sensor 54 are detected by the vehicle 9. wheels 92 to 95 and body 91 are detected. The control unit 50 receives detection signals from these sensors 51 to 54, grasps the positions of the wheels 92 to 95 of the automobile 9 moving toward the planned stop position, and the position of the body 91. The center position 96 of the automobile 9 is grasped. The control unit 50 also outputs a signal to the display unit 22 based on the relative position between the center position 96 of the automobile 9 and the rotation center position 31 of the pallet 3 . Information on the rotation center position 31 of the pallet 3 is stored in the storage unit 55 in advance. For example, when the center position 96 of the automobile 9 is located in front of the rotation center position 31 of the pallet 3 (that is, when it is located on the left side of the paper surface in FIG. 1), the control unit 50 displays the first display A lighting signal for the lamp 221 is output to the display unit 22 . The first indicator lamp 221 of the display unit 22 lights up, instructing the driver to move forward.

When the car 9 moves further forward and starts to ride on the pallet 3, the first wheel sensor 51 and the second wheel sensor 52 detect that the wheels 92 to 95 are blocked by the regulating portion 33 of the pallet 3. can no longer be detected. When the first wheel sensor 51 and the second wheel sensor 52 cannot detect the wheels 92 to 95, the control unit 50 detects the moving vehicle based on the detection signals of the first body sensor 53 and the second body sensor 54. The position of the body 91 of 9 is grasped (see the thick two-dot chain line and the broken line in FIG. 2). By synthesizing the detection signal of the first body sensor 53 and the detection signal of the second body sensor 54, the control unit 50 can grasp the position of the body 91 with high accuracy. The control unit 50 also grasps the center position 96 of the vehicle 9 based on the information relating the position of the body 91 and the center position 96 of the vehicle 9 .

The control unit 50 outputs a signal to the display unit 22 based on the grasped relative position between the center position 96 of the automobile 9 and the rotation center position 31 of the pallet 3 . In the same manner as described above, when the center position 96 of the automobile 9 is located in front of the rotation center position 31 of the pallet 3, the control unit 50 outputs the turn-on signal of the first indicator lamp 221 to the display unit 22. Output. The first indicator lamp 221 of the display unit 22 lights up, instructing the driver to move forward. When the center position 96 of the automobile 9 is located within a predetermined deviation range centered on the rotation center position 31 of the pallet 3, the control unit 50 outputs the lighting signal of the second indicator light 222 to the display unit 22 Output to The second indicator lamp 222 of the display unit 22 lights up, instructing the driver to stop. Furthermore, when the center position 96 of the automobile 9 is located behind the rotation center position 31 of the pallet 3 beyond a predetermined deviation range, the control unit 50 outputs a lighting signal of the third indicator lamp 223. , to the display unit 22 . The third indicator lamp 223 of the display unit 22 lights up, instructing the driver to reverse. Guidance is completed when the driver stops the automobile 9 according to the display on the display unit 22 . At this time, the automobile 9 is stopped at a position where the deviation between the center position 96 and the rotation center position 31 of the pallet 3 falls within a predetermined range.

FIG. 5 exemplifies a flowchart relating to guidance control executed by the control unit 50 . Note that the order of each step in the flowchart shown in FIG. 5 can be changed within a possible range. It is also possible to omit some steps from the flowchart shown in FIG. 5, or to add other steps to the flowchart.

This flow chart starts when the driver performs a warehousing operation on the operation panel 41 . At step S1 after the start, the control unit 50 determines whether or not the first wheel sensor 51 and the second wheel sensor 52 have detected the wheels 92-95. If the determination in step S1 is NO, the process repeats step S1. If the determination in step S1 is YES, the process moves to step S2. In step S2, the control unit 50 grasps the positions of the wheels 92 to 95 based on the detection signals of the first wheel sensor 51 and the second wheel sensor 52, and from the grasped positions of the wheels 92 to 95, the automobile 9 is calculated (see FIG. 4).

In subsequent step S<b>3 , control unit 50 determines whether or not first body sensor 53 has detected body 91 . If the determination in step S3 is NO, the process repeats step S3. If the determination in step S3 is YES, the process moves to step S4.

In step S4, the control unit 50 grasps the position of the body 91 based on the detection signal of the first body sensor 53, and the grasped position of the body 91 and the center position 96 of the automobile 9 calculated in step S2. Store in association.

In step S5, the control unit 50 grasps the position of the body 91 based on the detection signals of the first body sensor 53 and the second body sensor 54, and associates the position of the body 91 with the center position 96 based on the information relating to it. , to grasp the center position 96 . Then, the automobile 9 is guided based on the relative position between the grasped center position 96 and the rotation center position 31 of the pallet 3 . Specifically, the control unit 50 outputs a signal to the display unit 22 .

In subsequent step S6, the control unit 50 determines whether or not the vehicle has stopped. As described above, the control unit 50 determines whether the center position 96 and the rotation center position 31 of the pallet 3 are within a predetermined deviation range and the automobile 9 has stopped. If the determination in step S6 is NO, the process returns to step S5 and the control unit 50 continues guidance. If the determination in step S6 is YES, the process ends.

Thus, the guidance device 5 provides guidance information to the driver of the vehicle 9 so that the center position 96 of the vehicle 9 coincides with the rotation center position 31 of the pallet 3 . The guidance device 5 can guide the automobile 9 to stop accurately at the planned stop position. If the allowable deviation range between the center position 96 of the automobile 9 and the rotation center position 31 of the pallet 3 is made small, the automobile 9 can be accurately stopped at the planned stop position.

Since the four wheels 92 to 95 of the automobile 9 are arranged substantially symmetrically in the vehicle length direction and the vehicle width direction with respect to the central position or the center of gravity of the automobile 9, the guidance device 5 includes the first wheel sensor 51 and the Based on the detection signal of the second wheel sensor 52, the center position 96 of the automobile 9 can be calculated with relatively high accuracy. The calculated center position 96 can be regarded as the center-of-gravity position. By guiding the automobile 9 so that the center position 96 of the automobile 9 coincides with the rotation center position 31 of the pallet 3, the automobile 9 can be placed on the pallet 3 with good balance. The pallet 3 rotates around the rotation center position 31 when the vehicle 9 is stored, and the center position 96 of the vehicle 9 and the rotation center position 31 of the pallet 3 match or substantially match. Therefore, the mechanical parking equipment 1 can rotate the pallet 3 stably.

Further, since guidance is performed based on the center position 96 of the automobile 9, the automobile 9 can be accurately stopped at the planned stop position regardless of whether the automobile 9 is long or short.

Furthermore, when the automobile 9 is placed on the pallet 3, the first wheel sensor 51 and the second wheel sensor 52 cannot detect the wheels 92 to 95 of the automobile 9, but the center position 96 of the automobile 9 and the body 91 are detected. By associating with the position in advance, after the automobile 9 is placed on the pallet 3, if the position of the body 91 is grasped based on the detection signals of the first body sensor 53 and the second body sensor 54, the control unit 50 can grasp the center position 96 of the car 9 . The control unit 50 can accurately guide the automobile 9 even after the automobile 9 is placed on the pallet 3 .

It should be noted that the pallet 3 does not have the regulating portion 33, and the first wheel sensor 51 and the second wheel sensor 52 may detect the wheels 92 to 95 of the vehicle 9 even after the vehicle 9 is placed on the pallet 3. If possible, the control unit 50 grasps the center position 96 of the automobile 9 based on the positions of the wheels 92 to 95 detected by the first wheel sensor 51 and the second wheel sensor 52, and may guide the automobile 9. .

In the configuration example described above, the vehicle 9 is guided so that the center position 96 of the vehicle 9 coincides with the rotation center position 31 of the pallet 3 . The planned stop position of the automobile 9 is not limited to the rotation center position 31 of the pallet 3 . For example, as illustrated in FIGS. 6A and 6B, in the pallet 3 having the charging facility 33 for the EV 90, while the EV 90 is stored in the mechanical parking facility 1, the socket at the front or side of the EV 90 In some cases, the plug 34 is inserted to charge the battery. In this case, it is desirable to park the EV 90 rearward, leftward, or rightward on the pallet 3 so that the plug 34 and the cable 35 connecting the plug 34 and the charging facility 33 do not protrude outside the pallet 3. Sometimes. For example, FIG. 6A shows an example in which an EV 90 with a plug 34 inserted in the front is parked on the pallet 3 toward the rear. The planned stop position 36 of the pallet 3 is positioned after the center position of the pallet 3 (see a1 and a2). For example, FIG. 6B shows an example in which the EV 90 with the plug 34 inserted in the right side is parked on the pallet 3 toward the left. The planned stop position 36 of the pallet 3 is located to the left of the center position of the pallet 3 (see b1 and b2).

As described above, if the guidance device 5 calculates the center position 96 of the EV 90 based on the detection signals of the first wheel sensor 51 and the second wheel sensor 52, the center position 96 is the rearward or leftward stop schedule. The EV 90 is guided through the display on the display unit 22 so as to match the position 36 . In addition, especially in the case of the configuration example shown in FIG. 6(b), the display unit 22 has, in addition to the "forward", "stop" and "reverse" indicator lights 221 to 223, "right" prompting the driver to move to the right. and a "left" indicator light to prompt movement to the left.

(Modification 1 of guidance device)
In the above configuration example, the first wheel sensor 51 and the second wheel sensor 52 detect the positions of the four wheels 92 to 95, and based on the positions of the four wheels 92 to 95, the control unit 50 detects the position of the vehicle. The center position 96 of 9 was calculated. Calculation of the center position 96 of the vehicle 9 does not necessarily require the positions of the four wheels 92-95. If the control unit 50 grasps the positions of at least three wheels, the position of the remaining one wheel can be interpolated. good too.

Further, when the guidance device 5 guides the vehicle 9 only to move forward, stop, or move backward, the center position 96 of the vehicle 9 does not consider the center position of the vehicle 9 in the vehicle width direction, but the vehicle length direction of the vehicle 9. You may consider only the center position of . In this case, the control unit 50 determines the center position of the vehicle 9 in the vehicle length direction based on the positions of two wheels, one of the left and right front wheels 92 and 93 and one of the left and right rear wheels 94 and 95. can be calculated.

(Modification 2 of guidance device)
In the above configuration example, the control unit 50 calculates the center position 96 of the automobile 9 based on the positions of the wheels 92 to 95 detected by the first wheel sensor 51 and the second wheel sensor 52 configured by range sensors. Was. The center position 96 of the vehicle 9 can also be calculated using a sensor other than the range sensor.

For example, FIG. 7 shows a configuration example in which the positions of the wheels 92 to 95 are detected using the photoelectric sensor 6. As shown in FIG. The photoelectric sensor 6 is an example of a detection unit. This configuration example omits the first wheel sensor 51 and the second wheel sensor 52 . The photoelectric sensor 6 is installed outside the loading/unloading section 2 . The light projecting part 61 of the photoelectric sensor 6 is installed on the right side in the vehicle width direction across the automobile 9, and the light receiving part 62 of the photoelectric sensor 6 is installed on the left side in the vehicle width direction across the automobile 9. . The installation positions of the light projecting section 61 and the light receiving section 62 may be interchanged. In the configuration example of FIG. 7, two photoelectric sensors 6 are installed with an interval in the vehicle length direction of the automobile 9 . In addition, the number of photoelectric sensors 6 may be only one.

Although not shown, the photoelectric sensor 6 is installed at a relatively low position with respect to the road surface. Thereby, the photoelectric sensor 6 detects that the wheels 92 to 95 cross the optical axis of the photoelectric sensor 6 while avoiding the body 91 of the automobile 9 as the automobile 9 travels. That is, the photoelectric sensor 6 detects the passage of the wheels 92 to 95 by blocking the light projected by the light projecting portion 61 by the wheels 92 to 95 .

In the configuration example of FIG. 7, a speed sensor 63 for detecting the speed of the automobile 9 is further provided. The speed sensor 63 may be configured to detect the speed of the vehicle 9 by irradiating the vehicle 9 with microwaves or lasers.

The photoelectric sensor 6 and the speed sensor 63 are each connected to the controller 50 . The control unit 50 can grasp the positions and sizes of the front wheels 92 and 93 and the positions and sizes of the rear wheels 94 and 95 of the automobile 9 based on the detection signals of these sensors 6 and 63 . The control unit 50 can grasp the central position 96 of the automobile 9 in the vehicle length direction based on the grasped positions and sizes of the front wheels 92 and 93 and the positions and sizes of the rear wheels 94 and 95 .

Also, as described above, the control unit 50 grasps the position of the body 91 of the automobile 9 based on the detection signal of the first body sensor 53 and associates the center position 96 of the automobile 9 with the position of the body 91 . By associating the center position 96 of the vehicle 9 with the position of the body 91, the control unit 50, in the same manner as described above, determines the center position of the vehicle 9 based on the detection signals of the first body sensor 53 and the second body sensor 54. Since the position 96 can be grasped, the vehicle 9 can be guided accurately.

Instead of installing (fixing) the photoelectric sensor 6, by moving the photoelectric sensor 6 at a constant speed with respect to the stopped automobile 9, the positions and sizes of the front wheels 92 and 93 and the rear wheels The position and size of 94, 95 may be detected.

(Modification 3 of guidance device)
FIG. 8 shows a configuration example in which the positions of the wheels 92-95 are detected using the camera 7. As shown in FIG. Camera 7 is an example of a detection unit. The camera 7 is installed at an appropriate position outside the loading/unloading section 2 . The camera 7 captures an image of the vehicle 9 parked in front of the loading/unloading unit 2, and the control unit 50 detects the positions of the wheels 92 to 95 of the vehicle 9 based on the captured image, and also detects the positions of the front wheels. A center position 96 between 92, 93 and the rear wheels 94, 95 is calculated. Also, the control unit 50 associates the position of the body 91 based on the detection signal of the first body sensor 53 with the center position 96 .

If the center position 96 of the automobile 9 and the position of the body 91 are associated with each other based on the image captured by the camera 7, the control unit 50 controls the first body sensor 53 and the second body sensor 54 in the same manner as described above. Based on the detection signal, the center position 96 of the vehicle 9 moving to the pallet 3 can be grasped, so the vehicle 9 can be guided accurately.

(Modification 4 of guidance device)
In the configuration example of FIG. 9, the control unit 50 does not calculate the center position 96 of the automobile 9 based on the positions of the wheels 92 to 95, but based on the weight of the automobile 9 measured by the weighing unit 8. The position of the center of gravity of 9 is grasped and set as the center position 99 . The weighing unit 8 is an example of an acquisition unit that acquires information on the weight distribution of the automobile 9 in the vehicle length direction. The weighing unit 8 is installed outside the loading/unloading unit 2 . FIG. 10 shows an example of the configuration of the weighing unit 8. The weighing unit 8 includes a plate 81 on which the automobile 9 is mounted, a first weighing unit 82 for measuring the weight of the front part of the plate 81, and the weight of the rear part of the plate 81. and a second weighing unit 83 for measuring. The measurement result of the first weighing unit 82 corresponds to the weight W1 of the front portion of the automobile 9 in the vehicle length direction, and the measurement result of the second weighing unit 83 corresponds to the weight W2 of the rear portion of the automobile 9 in the vehicle length direction. .

Based on the measurement results of the first weighing unit 82 and the second weighing unit 83, the control unit 50 calculates the position of the center of gravity of the automobile 9 in the vehicle length direction. The control unit 50 also associates the calculated center-of-gravity position with the position of the body 91 based on the measurement result of the first body sensor 53 . Since the position of the center of gravity is the center position 99, the center position 99 and the position of the body 91 are also associated.

If the control unit 50 detects the position of the body 91 based on the detection signals of the first body sensor 53 and the second body sensor 54, the control unit 50 detects the vehicle that is about to enter the parking lot from the information relating the center position 99 and the position of the body 91. The center position 99 of 9 can be grasped. The control unit 50 provides guidance information to the driver through the display unit 22 so that the center position 99 of the automobile 9 coincides with the planned stop position of the pallet 3 (for example, the rotation center position 31 of the pallet 3).

In this manner, the guide device 5 can accurately guide the automobile 9 to the planned stop position at the center position 99, which is the position of the center of gravity of the automobile 9. As shown in FIG.

As for the position of the center of gravity of the vehicle 9, instead of measuring the weight of the vehicle 9, information on the front axle load (front front axle weight), the rear axle weight (rear rear axle weight), and the distance between the axles is stored in the storage unit 55. It may be stored in advance. The storage unit 55 stores information on the distance between axles, the front axle load, and the rear axle load of the automobile 9 in association with the user information. When the driver operates the operation panel 41 to perform user authentication, the control unit 50 reads the information on the distance between the axles, the front axle load, and the rear axle load stored in the storage unit 55, thereby reading the information on the front axle. and the position of the center of gravity of the vehicle 9 with respect to the rear axle. The storage unit 55 is an example of an acquisition unit that acquires information on the weight distribution of the automobile 9 in the vehicle length direction.

It should be noted that the technology disclosed herein is not limited to application to the mechanical parking facility 1 configured to place the automobile 9 on the pallet 3 . The technology disclosed herein can accurately guide the vehicle 9 to a predetermined planned stop position, and the planned stop position is not limited to being set on the pallet 3 .

For example, although not shown, in a mechanical parking system in which a car is lifted and lowered by an elevator suspended by a plurality of wire ropes, the elongation of the wire ropes varies depending on the position at which the car is parked , and the elevator may tilt. be. In order to suppress this inclination, it is conceivable to match the position of the center of gravity of the automobile with the position where the wire rope stretches evenly. The position where the wire rope stretches evenly is the planned stop position. The position where the wire rope stretches evenly differs depending on the difference in the number of wire ropes in the front, back, left and right, and the quality of the wire ropes, so it is necessary to set it for each elevator. If the same number of wire ropes are used in the elevator, and the load is evenly applied to the wire ropes when no vehicle is on board, the center of gravity of the vehicle should be aligned with the center of the rectangular shape. All you have to do is

Further, the positions of the sensors 51 to 54 shown in FIG. 1 and the like are examples, and the positions of the sensors 51 to 54 can be set at appropriate positions.

Also, the display unit 22 is an example of a configuration that provides guidance information to the driver. Guidance information for the driver is not limited to providing visual information by display, but may be auditory information such as sound or voice.

Furthermore, the provision of guidance information is not limited to the provision to the driver (person). may be provided.

1 Mechanical parking equipment 2 Entering/exiting part (entering part)
3 pallet 31 rotation center position (predicted stop position)
36 Scheduled stop position 5 Guidance device 50 Control unit 51 First wheel sensor (detection unit)
52 Second wheel sensor (detection unit)
53 1st body sensor (detection part)
54 Second body sensor (detection unit)
55 storage unit 6 photoelectric sensor (detection unit)
7 Camera (Detector)
8 Weighing unit 9 Automobile 91 Body 92 Left front wheel 93 Right front wheel 94 Left rear wheel 95 Right rear wheel 96 Center position 99 Center position (center of gravity position)

Claims (13)

a detection unit that detects the position of at least one or more wheels of a vehicle entering a mechanical parking facility and the position of the body of the vehicle ;
a control unit that receives the detection result of the detection unit and provides guidance information to the driving subject of the automobile;
When the control unit guides the driving subject of the automobile to stop at a predetermined stop position in the parking section of the mechanical parking facility, the center of the automobile between the front wheels and the rear wheels of the automobile A guidance device for which information for specifying a position cannot be obtained,
The detection unit detects the position of at least one or more wheels and the position of the body before guiding the driving subject to stop at the planned stop position, and the control unit controls the detection unit to detect The center position is calculated based on the detected positions of the front wheels and the rear wheels, or the position of any wheel detected by the detection unit and information on the distance between the axles, and the center position and storing information related to the position information of the body detected by the detection unit;
At least when guiding the driving subject to stop at the planned stop position, the control unit determines that the center position is the above-described center position based on the stored related information and the position information of the body detected by the detection unit . A guidance device that provides guidance information to the driving subject so as to match the planned stop position. In the guidance device according to claim 1,
The detection unit detects the positions of at least one front wheel and one rear wheel,
The control unit is a guidance device that provides the guidance information with the center in the vehicle length direction as a center position. In the guidance device according to claim 1,
The detection unit detects the positions of at least three wheels,
The control unit is a guidance device that calculates a center position between four wheels of the vehicle in the vehicle length direction and the vehicle width direction from the detection result of the detection unit. In the guidance device according to claim 1,
The detection unit detects the position of at least one or more wheels,
The control unit calculates the position of the center of gravity in the longitudinal direction of the vehicle from the detection result of the detection unit, the information on the load on the front axle and the load on the rear axle, and the information on the distance between the axles. A guidance device that provides the guidance information. In the guidance device according to claim 4,
further comprising a load measuring unit for measuring the front axle load and the rear axle load,
The control unit is a guidance device that calculates a center-of-gravity position in the vehicle length direction using the front axle load and the rear axle load measured by the load measurement unit. In the guidance device according to claim 4,
further comprising a storage unit that stores information on the front axle load and the rear axle load in association with the vehicle information;
The control unit calculates a center-of-gravity position in the vehicle length direction from the front axle load and the rear axle load acquired from the storage unit, based on the vehicle information. In the guidance device according to any one of claims 4 to 6,
The detection unit detects the positions of at least one or more front wheels and one or more rear wheels,
The control unit calculates a vehicle length direction distance between the front wheel position and the rear wheel position detected by the detection unit as the inter-axle distance. In the guidance device according to claim 6,
The storage unit further stores information on the distance between axles in association with the vehicle information,
The control unit calculates a center-of-gravity position in the vehicle length direction based on the vehicle information, based on the information on the front axle load and the rear axle load acquired from the storage unit, and the information on the distance between the axles. In the guidance device according to any one of claims 1 to 8,
A turning device for turning the automobile is arranged in the storage part of the mechanical parking equipment,
The guidance device, wherein the planned stop position is a rotation center position of the rotation device. In the guidance device according to any one of claims 1 to 8,
The mechanical parking facility includes a carrier for vertically transporting the vehicle in the parking facility, and a plurality of wire ropes connected to the carrier for lifting and lowering the carrier,
The guidance device, wherein the planned stop position is a position where the center of gravity of the car is placed there so that the plurality of wire ropes are stretched evenly when the carrier is stationary. A mechanical parking facility comprising the guidance device according to any one of claims 1-10 . Prior to guiding the driver of the vehicle entering the mechanical parking facility to stop at a predetermined planned stop position in the parking section of the mechanical parking facility, the position of at least one or more wheels of the vehicle. detecting the position of the body of the automobile;
Based on the detected positions of the front and rear wheels of the vehicle , or the detected position of any wheel and information on the distance between the axles, the center position of the vehicle between the front wheels and the rear wheels is calculated. and acquiring related information between the center position and the detected position information of the body,
At least when the driving subject is guided to stop at the scheduled stop position, the driving subject is guided so that the center position coincides with the scheduled stop position based on the related information and the detected position information of the body. Guidance methods that provide guidance information to
In the induction method according to claim 12 ,
Acquiring information on the position of the center of gravity in the vehicle length direction of the vehicle entering the mechanical parking facility,
A vehicle guidance method for providing guidance information to a driving subject of the vehicle so that the position of the center of gravity is the center position and coincides with the planned stop position.

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