JP7399670B2 - A warehousing management system for a mechanical parking device, its warehousing management method, a warehousing management program, a mechanical parking device - Google Patents

Description

The present disclosure relates to a warehousing management system for a mechanical parking device, a warehousing management method thereof, a warehousing management program, and a mechanical parking device.

In a mechanical parking device, a vehicle is transported and stored in a storage area. For example, in the berth type (IPS), a vehicle parked at a warehousing berth is transported to a storage area and stored by a transport means such as a warehousing lift or a conveyor, and then the vehicle is warehousing.

Patent Document 1 discloses that even if a user loses a parking ticket, vehicle identifying factors are recognized from an image taken of the vehicle, and the vehicle is searched using the vehicle identifying factors when leaving the parking lot. There is.

Japanese Patent Application Publication No. 2002-352284

In a mechanical parking device, an abnormality may occur during transportation (storage) of the vehicle. For example, when a vehicle with a low vehicle height (minimum ground clearance) is parked, the vehicle may physically come into contact with a sensor or the like. That is, when a vehicle that is not suitable for parking is parked, there is a possibility that the vehicle or the equipment of the mechanical parking device may be damaged or an abnormal stop may occur.

The present disclosure has been made in view of these circumstances, and provides a parking management system for a mechanical parking device that allows safer parking, a parking management method thereof, a parking management program, and a mechanical parking device. The purpose is to provide

In a first aspect of the present disclosure, an acquisition unit that acquires an image of a vehicle to be warehoused , an estimation unit that estimates the model of the vehicle to be parked based on the image, and a correspondence between the vehicle type and the parking record. The present invention is a parking management system for a mechanical parking device , including a determination unit that determines whether or not the vehicle whose type is estimated is suitable for entering the mechanical parking device based on attached information.
A second aspect of the present disclosure includes an acquisition unit that acquires an image of a vehicle to be warehoused, an estimation unit that estimates the vehicle type of the vehicle to be warehoused based on the image, and an estimated vehicle type of the vehicle. This is a warehousing management system for a mechanical parking device, comprising: a determination unit that determines whether or not the vehicle can be parked in the mechanical parking device, based on vehicle specification information corresponding to the above.
A third aspect of the present disclosure includes: an acquisition unit that acquires an image of a vehicle to be warehousing; an estimation unit that estimates the vehicle type of the vehicle to be warehoved based on the image; and the image of the vehicle. Based on an image of a reference vehicle corresponding to the estimated vehicle type, a modification part of the vehicle with respect to the reference vehicle is specified, and based on information regarding the modification part, it is determined whether or not the vehicle can be parked in a mechanical parking device. This is a parking management system for a mechanical parking device, including a determination unit that makes a determination.

A fourth aspect of the present disclosure includes a warehousing area, a storage area for storing a vehicle, a conveying means for transporting a vehicle between the warehousing area and the storage area, and a warehousing management system for the mechanical parking device. It is a mechanical parking device.
A fifth aspect of the present disclosure includes a step of acquiring an image of a vehicle to be warehousing , a step of estimating the model of the vehicle to be warehousing based on the image, and a step of associating the vehicle type and warehousing record. This method includes the step of determining whether or not the vehicle whose vehicle type is estimated is suitable for entering the mechanical parking device based on the information obtained from the vehicle type.
A sixth aspect of the present disclosure includes a step of acquiring an image of a vehicle to be warehousing, a step of estimating the model of the vehicle to be warehousing based on the image, and a step corresponding to the estimated model of the vehicle. This method includes the step of determining whether or not the vehicle is allowed to enter the mechanical parking device based on the vehicle specification information obtained.
A seventh aspect of the present disclosure includes a step of acquiring an image of a vehicle to be warehoused, a step of estimating the vehicle type of the vehicle to be warehoused based on the image, and a step of estimating the vehicle type of the vehicle to be warehoused based on the image. identifying a modification part of the vehicle relative to the reference vehicle based on an image of a reference vehicle corresponding to the vehicle type, and determining whether or not the vehicle can be parked in the mechanical parking device based on information regarding the modification part. A parking management method for a mechanical parking device includes the following steps.

An eighth aspect of the present disclosure is a storage management program for a mechanical parking device for causing a computer to function as a storage management system for the mechanical parking device.

According to the present disclosure, there is an effect that warehousing can be carried out more safely.

1 is a diagram showing a schematic configuration of a mechanical parking device according to a first embodiment of the present invention. FIG. 1 is a schematic configuration diagram of a parking area of a mechanical parking device according to a first embodiment of the present invention. FIG. 1 is a schematic configuration diagram of a parking area of a mechanical parking device according to a first embodiment of the present invention. FIG. 1 is a hardware configuration diagram of a control device according to a first embodiment of the present disclosure. FIG. 2 is a functional block diagram showing functions included in a control device according to a first embodiment of the present disclosure. FIG. 3 is a diagram illustrating an example of notification of determination results according to the first embodiment of the present disclosure. FIG. 3 is a diagram showing a flowchart of warehousing determination processing in the control device according to the first embodiment of the present disclosure. FIG. 7 is a diagram showing a flowchart of warehousing determination processing in a control device according to a second embodiment of the present disclosure. FIG. 7 is a diagram showing a flowchart of warehousing determination processing in a control device according to a third embodiment of the present disclosure. It is a figure showing a flow chart of warehousing judgment processing in a control device concerning a 4th embodiment of this indication. It is a figure showing each dimension of a vehicle.

[First embodiment]
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Below, a first embodiment of a parking management system for a mechanical parking device, a parking management method thereof, a parking management program, and a mechanical parking device according to the present invention will be described with reference to the drawings.
FIG. 1 is a diagram showing a schematic configuration of a mechanical parking device 60 according to a first embodiment of the present invention. The mechanical parking device 60 in this embodiment is a berth type (planar reciprocating conveyor type), and allows vehicles to enter and leave the parking lot from, for example, an entry level provided on the ground. In this embodiment, the berth-type mechanical parking device 60 will be described as an example, but the warehousing management system can be similarly applied to other types of mechanical parking devices.

As shown in FIG. 1, the boarding floor is provided with a boarding and alighting area (boarding and alighting area) 70, and the boarding and alighting room 70 is provided with a warehousing area (warehousing berth) 70a and a warehousing area (outgoing berth) 70b. It is being A vehicle parked at the warehousing berth 70a (entered by a driver or the like) is stored in a storage area on the storage floor 66. The vehicles stored in the storage area are transported to the unloading berth 70b and unloaded.

FIG. 2 is a schematic diagram of the warehousing berth 70a. As shown in FIG. 2, the warehousing lift 62 is connectable to the warehousing berth 70a. When the warehousing lift 62 is placed on the entrance floor (when the warehousing lift 62 is placed at approximately the same height as the floor surface of the warehousing berth 70a), the vehicles are moved from the warehousing berth 70a by the lateral conveyors 61a to 61d. It is transported laterally to the lift 62. An operation panel 22 is provided outside the warehousing berth 70a. The operation panel 22 is an input device for executing various operations in the mechanical parking device 60. For example, the operation panel 22 is operated when starting transport of a vehicle parked in the warehousing berth 70a. Further, notifications (displays) are performed on the operation panel 22 from a control device 30, which will be described later. Furthermore, a photographing means (camera) 35 is provided in the warehousing berth 70a. The photographing means is a device for photographing a vehicle to be warehoused (vehicle parked at the warehousing berth 70a). The captured image is used by the control device 30. Note that the installation position of the photographing means 35 in FIG. 2 is an example, and is not limited to the installation position shown in FIG. 2 as long as the vehicle can be photographed.

When warehousing a vehicle, the vehicle parked at the warehousing berth 70a for warehousing is transferred to the warehousing lift 62 by the transverse conveyors 61a to 61d. Then, the vehicle is transported (lowered) to a predetermined storage shelf on the storage floor 66 by the warehousing lift 62, and the vehicle is moved from the warehousing lift 62 to the traveling carriage 63 by the transverse conveyors 61c to 61f. Then, the traveling trolley 63 on which the incoming vehicle is placed travels along the trolley traveling path 64 to a predetermined storage section. Thereafter, the warehousing vehicles on the traveling trolley 63 are stored in a predetermined storage compartment by the transverse conveyors 61e to 61h.

FIG. 3 is a schematic configuration diagram of the shipping berth 70b. As shown in FIG. 3, the delivery berth 70b is configured to be connectable with the delivery lift 65. When the unloading lift 65 is placed on the entry floor (when the unloading lift 65 is placed at approximately the same height as the floor of the unloading berth 70b), the vehicles are moved out of the unloading berth 70b by the lateral conveyors 61i to 61l. It is transported laterally to the lift 65. An operation panel 22 is provided outside the delivery berth 70b. The operation panel 22 is an input device for executing various operations in the mechanical parking device 60. Note that the exit berth 70b may also be provided with a photographing means.

When leaving a vehicle, the vehicle is moved from the storage compartment to the carriage 63 by the transverse conveyors 61e to 61h, and from the carriage 63 to the delivery lift 65 by the transverse conveyors 61e, 61f, 61i, and 61j. . Then, the outgoing vehicle is transported (raised) to the outgoing berth 70b by the outgoing lift 65, and then transferred to the outgoing berth 70b by the lateral conveyors 61i to 61l.

Note that the warehousing lift 62 and the warehousing lift 65 are transport means for transporting the vehicle between the entry floor (warehousing area) and the storage floor (storage area) 66. Note that the transverse conveyors 61a to 61l and the traveling carriage 63 are also conveyance means for conveying vehicles. The transport means includes various devices for transporting the vehicle, and each device is configured based on pre-designed specifications. For example, the width between the transverse conveyors 61a to 61d cannot be changed to match the vehicle. Therefore, depending on the vehicle, an abnormality may occur during warehousing (transportation). Therefore, a control device 30, which will be described later, performs warehousing management.

The control device (warehousing management system) 30 performs warehousing management of vehicles parked in the mechanical parking device 60 . Specifically, it is determined whether it is possible to enter the mechanical parking device 60 or not. A warning will be given to vehicles that are estimated to be unable to enter the warehouse. For example, in the mechanical parking device 60, when a vehicle with a low minimum ground clearance physically comes into contact with a sensor on a trolley in a storage area, or when a vehicle with a low minimum ground clearance comes into contact with a sensor on a truck in a storage area (during transportation), a laser beam from an infrared laser for collision prevention is used. interferes with the sensor, the total length of the vehicle exceeds the allowable value and transport is not possible, or the front wheels and rear wheels do not properly fit on the transverse conveyors 61a to 61b at the warehousing berth 70a (for example, the distance S+F in FIG. 11 (when the value exceeds the allowable value) may occur. In such a case, the vehicle may not be able to be transported or may stop abnormally midway, which may cause an accident. For this reason, the control device 30 determines whether or not the vehicle is suitable for warehousing, and manages the vehicle so that the warehousing can be carried out safely.

FIG. 4 is a diagram showing an example of the hardware configuration of the control device 30 according to this embodiment.
As shown in FIG. 4, the control device 30 is a computer system, and includes, for example, a CPU 11, a ROM (Read Only Memory) 12 for storing programs executed by the CPU 11, and a ROM (Read Only Memory) 12 for storing programs executed by the CPU 11. A RAM (Random Access Memory) 13 that functions as a work area, a hard disk drive (HDD) 14 as a mass storage device, and a communication section 15 for connecting to a network or the like. These parts are connected via a bus 18.

Further, the control device 30 may include an input unit such as a keyboard and a mouse, and a display unit such as a liquid crystal display device that displays data.

Note that the storage medium for storing programs and the like executed by the CPU 11 is not limited to the ROM 12. For example, other auxiliary storage devices such as a magnetic disk, a magneto-optical disk, and a semiconductor memory may be used.

A series of processing steps for realizing various functions described below are recorded in the form of a program in the hard disk drive 14, etc., and the CPU 11 reads this program into the RAM 13 etc. to process information and perform arithmetic processing. As a result, various functions described below are realized. Note that the program may be pre-installed in the ROM 12 or other storage medium, provided as being stored in a computer-readable storage medium, or distributed via wired or wireless communication means. etc. may also be applied. Computer-readable storage media include magnetic disks, magneto-optical disks, CD-ROMs, DVD-ROMs, semiconductor memories, and the like.

FIG. 5 is a functional block diagram showing the functions included in the control device 30. As shown in FIG. 5, the control device 30 includes an acquisition section 31, an estimation section 32, a determination section 33, and a notification section 34. In addition, the functions of each part in FIG. 5 are functions as a warehousing management system, and may have other functions.

The acquisition unit 31 acquires an image of a vehicle to be warehoused. The parking target is a vehicle that the mechanical parking device 60 desires to park, and indicates the state before being transported to the storage area. The acquisition unit 31 acquires an image of a vehicle parked at the warehousing berth 70a (before transportation) from a photographing means 35 provided in advance at the warehousing berth 70a.

Regarding the photographing means 35, one unit or a plurality of units may be provided. In this embodiment, since the vehicle type is estimated based on the photographed image, it is preferable that the photographing means be provided at a position where the vehicle type can be estimated.

In this embodiment, the photographing means 35 is installed inside the warehousing berth 70a, but since it is only necessary to be able to acquire an image of the vehicle before transportation, It may also be installed at a position where the vehicle in front can be photographed.

The image of the vehicle acquired by the acquisition unit 31 is output to the estimation unit 32 and the determination unit 33.

The estimation unit 32 estimates the model of the vehicle to be warehoused based on the acquired image. That is, the estimating unit 32 identifies the type of vehicle to be stored.

Specifically, the estimation unit 32 extracts feature points from the image of the vehicle to be estimated (the vehicle to be warehoused). A feature point (feature of an image) is a feature of a vehicle that can distinguish the vehicle type. Feature points include, for example, the outline of the vehicle, the color of the vehicle, vehicle height, vehicle length, vehicle width, wheelbase (distance between the front and rear axles of the vehicle), license plate, manufacturer (emblem), etc. be. Note that at least one of the above may be used as the feature point. For example, FIG. 11 shows examples of vehicle dimensions. In FIG. 11, W is the vehicle width, L is the vehicle length, H is the vehicle height (maximum ground clearance), G is the vehicle height (minimum ground clearance), and S is the axle. GL is the ground contact length, F is the front overhang, and SR is the length obtained by subtracting the front overhang from the vehicle length.

The estimation unit 32 extracts feature points from the acquired image, and estimates the vehicle type based on the extracted feature points. For example, the vehicle type is narrowed down based on the extracted feature points, and the vehicle type is estimated. Regarding vehicle type estimation, the vehicle type may be specified by image matching between the acquired image and images of vehicles corresponding to each vehicle type.

The method of estimating the vehicle type based on the image of the vehicle to be estimated is not limited to the above method and can be applied.

The information on the vehicle type estimated by the estimating section 32 is output to the determining section 33.

The determination unit 33 determines whether or not the vehicle can be parked in the mechanical parking device 60 based on the image. Specifically, the determination unit 33 determines whether or not the vehicle is suitable for warehousing, based on the vehicle type information of the vehicle. The appropriateness of warehousing may refer to whether warehousing is possible (suitable) or not, or may refer to the degree of caution in warehousing (possibility of a problem occurring during warehousing). Furthermore, in the determination of suitability for warehousing, cautionary vehicles (vehicles that may have problems during the warehousing process) may be identified.

Specifically, the determination unit 33 determines whether or not the vehicle whose vehicle type is estimated is suitable for warehousing, based on information (record data) in which the vehicle type and the warehousing record are associated with each other. The warehousing record is the past warehousing results for each vehicle type. That is, based on the performance data, it becomes possible to refer to the past performance of the vehicle type corresponding to the vehicle to be warehoused. The performance data may be stored by providing a storage section in the control device 30, or data managed by another management computer (server, etc.) may be referred to (downloaded, etc.) at the time of judgment. Good too. Note that the performance data is preferably updated when new warehousing performance is collected.

As for the performance data, for example, it is preferable that images of parked vehicles (and/or vehicle types), failure causes, and parking results are collected from each site where the mechanical parking device 60 is installed. The failure occurrence factor is the cause of the occurrence of the abnormality. That is, when the warehousing is completed normally, an image of the warehousing vehicle, no cause of failure, and warehousing result normal are collected in correspondence. If an abnormality occurs during warehousing, an image of the warehousing vehicle, the cause of the failure, and the warehousing result abnormality are collected in association with each other. As for the failure occurrence factors, alarms that have occurred may be collected depending on the abnormality that has occurred, or factors set by maintenance personnel may be collected. Further, the warehousing result when an abnormality occurs may be set separately for a case where warehousing is completed and a case where warehousing is interrupted. Note that the vehicle type may be estimated from the image of the vehicle in the warehouse, or the image of the vehicle in the warehouse and the vehicle type may be associated with each other by a maintenance worker or the like. That is, the performance data may store information related to the vehicle type and the warehousing performance (at least one of the cause of failure and the warehousing result) corresponding to the vehicle type.

In this way, the performance data stores the vehicle type and the warehousing performance (failure occurrence factors and warehousing results) in association with each other.

In the determination unit 33, by referring to the warehousing record corresponding to the estimated vehicle type, it becomes possible to determine whether or not the vehicle to be warehousing is suitable for warehousing. In other words, it can be determined whether the vehicle to be parked is a vehicle requiring parking caution. For example, in the performance data, if there are no abnormalities in the warehousing result for the target car model, or if there are few abnormalities in the warehousing result (for example, there is an abnormality in the warehousing result, but the number of abnormal warehousing results for the corresponding car model is is less than 5%), it can be determined that warehousing is appropriate. In addition, in the actual data, if there is an abnormal warehousing result for the target vehicle type, or if there are many abnormal warehousing results (for example, there is an abnormal warehousing result, but the number of abnormal warehousing results is 5% or more), it can be determined that warehousing is not appropriate.

The result determined by the determination section 33 is output to the notification section 34. Note that if the determining unit 33 determines that the vehicle to be parked is not suitable for parking, the mechanical parking device 60 may be stopped.

The notification unit 34 notifies the user of the mechanical parking device 60 based on the determination result in the determination unit 33. In order to notify the user, before transporting the vehicle, a display is made on the operation panel 22 provided for the warehousing berth 70a or on a display means that the user can recognize (which may be inside or outside the warehousing berth 70a). The notification may be given by a warning light or a warning sound. There are no limitations on the method of notification.

In this embodiment, a case will be described in which the notification unit 34 displays the warehousing record on the operation panel 22 based on the judgment result of the judgment unit 33. If possible, it is not limited to displaying warehousing records.

The warehousing record to be displayed is displayed in three stages, for example. In this embodiment, the warehousing record is displayed as "〇", "△", and "x". The warehousing record "〇" indicates that caution is not required, the warehousing record ``△'' indicates that caution is required, and the warehousing record "×" indicates that there is no warehousing record for the corresponding vehicle type. It shows. For example, if the corresponding car model has a large number of warehousing results and no abnormalities have occurred, or if there are few abnormalities (for example, if the number of warehousing result abnormalities is less than 5% of the warehousing results for the corresponding car model. If there is one), the receipt record “〇” will be displayed. If there is a record of warehousing for the corresponding car model, but there are many abnormalities (for example, if the number of warehousing result abnormalities is 5% or more of the warehousing record for the corresponding car model), the warehousing record will be marked "△". is displayed. In addition, if it is decided to display the warehousing record "〇" when no abnormality occurs, the warehousing record "△" may be displayed when there is an abnormality. If there is no warehousing record for the corresponding vehicle type in the record data and it is unclear whether or not an abnormality has occurred, the warehousing record "x" is displayed. In this way, by providing step-by-step notification regarding suitability of warehousing, it is possible to improve convenience for users.

In addition, if the warehousing record is "△" (in the case of a vehicle that requires attention), it is preferable to display it based on the cause of the failure. For example, FIG. 6 shows an example in which the control panel 22 displays a warning display based on the cause of the failure ("Please make sure that the car's accessory power is turned off") along with the warehousing record "△". In this way, by displaying a warning message based on the cause of failure for vehicles that require attention, it becomes possible to park the vehicle more safely.

Next, an example of the warehousing determination process by the control device 30 described above will be described with reference to FIG. 7. FIG. 7 is a flowchart illustrating an example of the procedure of the warehousing determination process according to the present embodiment. The flow shown in FIG. 7 is repeatedly executed at a predetermined control cycle when the mechanical parking device 60 is in operation.

First, it is determined whether the vehicle is parked at a position where photography is possible (S101). For example, S101 determines whether a vehicle is parked at the warehousing berth 70a. Whether or not the vehicle has been parked may be detected by a sensor or the like, or the user may input information that parking has been completed. Note that the position where photography can be taken may be a predetermined position outside the storage berth 70a.

If the vehicle is not parked at a position where photography is possible (NO determination in S101), S101 is executed again. If the vehicle is parked at a position where it can be photographed (YES in S101), the vehicle is photographed (S102). That is, an image of the vehicle to be warehoused is acquired.

Next, the vehicle type is estimated based on the acquired image (S103). Vehicle type estimation is performed, for example, based on feature points extracted from the acquired image.

Next, based on the estimated vehicle type and performance data, it is determined whether or not the vehicle should be stored (S104). If it is determined that the vehicle is suitable for warehousing (YES determination at S104), the user is notified that the vehicle is suitable for warehousing (S105). In S105, for example, the warehousing record is "〇".

If it is determined that the vehicle is not suitable for warehousing (NO determination in S104), the user is notified that the vehicle is not suitable for warehousing (S106). S106 is, for example, the warehousing record "Δ".

In addition, in the determination process (S104), the warehousing record ("〇", "△", "x") may be determined and a notification may be made according to each warehousing record, or only caution vehicles (vehicles It is also possible to determine and notify the vehicles (vehicles determined to be unsuitable for warehousing).

After the notification, the user or maintenance worker who has confirmed the notification determines whether or not warehousing can be performed normally, and starts warehousing (transportation) or cancels warehousing. Note that warehousing (transportation) may be started after a user or the like who has recognized the danger from the notification takes appropriate action (for example, confirms that the accessory power is turned off).

In this way, before the start of warehousing, it is possible to determine whether or not the vehicle to be warehousing is suitable for warehousing, thereby making it possible to suppress the occurrence of abnormalities during vehicle transport.

As explained above, according to the warehousing management system for a mechanical parking device, the warehousing management method, the warehousing management program, and the mechanical parking device according to the present embodiment, an image of a vehicle to be parked is Since the suitability of parking the vehicle in the mechanical parking device 60 is determined based on this, it becomes possible to easily determine the suitability of parking the vehicle. Since it is known whether or not the vehicle to be parked is suitable for parking, accidents and the like within the mechanical parking device 60 can be prevented and the vehicle can be parked more safely.

In addition, by estimating the type of the vehicle based on the image of the vehicle to be parked, it is possible to determine whether or not the vehicle should be parked based on the information on the estimated vehicle type. Based on information that associates vehicle types and warehousing records, it is possible to understand the warehousing records of vehicles of the same type as the vehicle to be warehousing, making it possible to effectively determine whether warehousing is appropriate. .

Moreover, by providing notification based on the determination result by the determination unit 33, the user can recognize whether or not warehousing is appropriate.

[Second embodiment]
Next, a warehousing management system for a mechanical parking device, a warehousing management method thereof, a warehousing management program, and a mechanical parking device according to a second embodiment of the present disclosure will be described.
In the first embodiment described above, the suitability of warehousing was determined based on the vehicle type and performance data, but in this embodiment, a case will be described in which the determination is made based on vehicle specification information. Hereinafter, the warehousing management system for a mechanical parking device, the warehousing management method thereof, the warehousing management program, and the mechanical parking device according to the present embodiment will be mainly described with respect to the points that are different from the first embodiment.

The determining unit 33 in this embodiment determines whether or not the vehicle is suitable for warehousing, based on vehicle specification information corresponding to the estimated vehicle type of the vehicle. Vehicle specification information is information that is set corresponding to a vehicle model and includes dimensions, specifications, etc. of the vehicle model.

Regarding vehicle specification information, it is possible to provide a storage section in the control device 30 and store it, or to refer to data managed by another management computer (server, etc.) at the time of judgment (download, etc.) ). Note that the vehicle specification information is preferably updated when information on a new vehicle type is added.

That is, the determination unit 33 acquires vehicle specification information corresponding to the estimated vehicle type based on the estimated vehicle type. Then, based on the vehicle specification information and the allowable vehicle specification information, it is determined whether or not the vehicle should be stored. Permissible vehicle specification information is information indicating the range (tolerable range) in which the mechanical parking device 60 can normally enter the parking lot for each element of the specification information, and the mechanical parking device 60 specifications in advance. For example, the permissible vehicle specification information includes information such as vehicle height and vehicle length that are permitted to enter the warehouse.

That is, if each element of the estimated vehicle type vehicle specification information is within the allowable value of each element in the allowable vehicle specification information, the vehicle is suitable for storage. Therefore, the determination unit 33 is able to determine whether the vehicle is suitable for warehousing based on the vehicle specification information and the allowable vehicle specification information.

Next, an example of the warehousing determination process by the control device 30 described above will be described with reference to FIG. 8. FIG. 8 is a flowchart illustrating an example of the procedure of the warehousing determination process according to the present embodiment. The flow shown in FIG. 8 is repeatedly executed at a predetermined control cycle when the mechanical parking device 60 is in operation. Note that the same processing as in the flow of FIG. 7 is given the same reference numeral.

First, it is determined whether the vehicle is parked at a position where photography is possible (S101). If the vehicle is not parked at a position where photography is possible (NO determination in S101), S101 is executed again. If the vehicle is parked at a position where it can be photographed (YES in S101), the vehicle is photographed (S102).

Next, the vehicle type is estimated based on the acquired image (S103). Next, based on the vehicle specification information corresponding to the estimated vehicle type of the vehicle, it is determined whether or not the vehicle should be stored (S204). If it is determined that the vehicle is suitable for warehousing (YES determination at S204), the user is notified that the vehicle is suitable for warehousing (S105). If it is determined that the vehicle is not suitable for warehousing (NO determination in S204), the user is notified that the vehicle is not suitable for warehousing (S106).

As explained above, according to the warehousing management system for a mechanical parking device, the warehousing management method thereof, the warehousing management program, and the mechanical parking device according to the present embodiment, vehicle specification information corresponding to the estimated vehicle type is stored. Based on this, it is possible to efficiently determine whether or not the vehicle should be parked. The vehicle specification information includes, for example, vehicle length, vehicle height, vehicle width, etc., and enables, for example, to specify large vehicles, small vehicles, etc. that cannot be stored.

[Third embodiment]
Next, a warehousing management system for a mechanical parking device, a warehousing management method thereof, a warehousing management program, and a mechanical parking device according to a third embodiment of the present disclosure will be described.
In the second embodiment described above, the determination was made based on the vehicle specification information corresponding to the estimated vehicle type, but in this embodiment, the determination is made by estimating the dimensions of a predetermined position in the vehicle based on an image. I will explain about it. Hereinafter, the warehousing management system for a mechanical parking device, the warehousing management method thereof, the warehousing management program, and the mechanical parking device according to the present embodiment will be mainly described with respect to the points that are different from the first embodiment and the second embodiment.

The determination unit 33 in this embodiment estimates the dimensions of a predetermined position in the vehicle based on the acquired image, and determines whether or not the vehicle should be put into storage based on the estimated dimensions. That is, in this embodiment, the dimension information of the vehicle to be warehoused is acquired from the photographed image. The dimensions of a predetermined position are dimensions of a predetermined location on the vehicle, such as vehicle height and vehicle length. It is preferable that dimensional information of a location where it is estimated that an abnormality may occur during warehousing is acquired. Since the acquired image shows the vehicle, it is possible to estimate the dimensions (for example, vehicle height) of a predetermined position based on information obtained from the image. For example, image processing or the like can be applied to the estimation method.

The determination unit 33 estimates the dimensions of a predetermined position in the vehicle based on the acquired image. Then, based on the estimated dimensions and allowable vehicle specification information, it is determined whether or not the vehicle should be stored. Permissible vehicle specification information is information indicating the range (tolerance range) in which the mechanical parking device 60 can normally park the vehicle for each element of the specification information. It is set in advance for the specifications of the device 60. In other words, if the estimated dimensions are within the allowable values of the corresponding dimensions in the allowable vehicle specification information, the vehicle is suitable for warehousing. Therefore, the determination unit 33 is able to determine whether or not the vehicle is suitable for warehousing, based on the dimensions of the predetermined position in the vehicle and the allowable vehicle specification information.

Next, an example of the warehousing determination process by the above-mentioned control device 30 will be described with reference to FIG. 9. FIG. 9 is a flowchart illustrating an example of the procedure of the warehousing determination process according to the present embodiment. The flow shown in FIG. 9 is repeatedly executed at a predetermined control cycle when the mechanical parking device 60 is in operation. Note that the same processes as those in the flow of FIG. 7 and the flow of FIG. 8 are given the same reference numerals.

First, it is determined whether the vehicle is parked at a position where photography is possible (S101). If the vehicle is not parked at a position where photography is possible (NO determination in S101), S101 is executed again. If the vehicle is parked at a position where it can be photographed (YES in S101), the vehicle is photographed (S102).

Next, the dimensions of the predetermined position are estimated based on the acquired image (S303). The dimensions of the predetermined position are, for example, the dimensions of a prespecified location such as vehicle height and vehicle length. By performing image processing or the like on an image of the vehicle, the dimensions of a predetermined position in the vehicle are estimated.

Next, based on the estimated dimensions, it is determined whether or not the vehicle should be stored (S304). If it is determined that the vehicle is suitable for warehousing (YES determination in S304), the user is notified that the vehicle is suitable for warehousing (S105). If it is determined that the vehicle is not suitable for warehousing (NO determination in S304), the user is notified that the vehicle is not suitable for warehousing (S106).

As explained above, according to the warehousing management system for a mechanical parking device, the warehousing management method thereof, the warehousing management program, and the mechanical parking device according to the present embodiment, the dimensions of a predetermined position in a vehicle are determined based on an acquired image. By estimating this, it is possible to efficiently determine whether or not the vehicle should be parked.

[Fourth embodiment]
Next, a warehousing management system for a mechanical parking device, a warehousing management method thereof, a warehousing management program, and a mechanical parking device according to a fourth embodiment of the present disclosure will be described.
In this embodiment, a case will be described in which a modified part of a vehicle is identified and a determination is made as to whether or not the vehicle should be parked. Hereinafter, regarding the warehousing management system for a mechanical parking device, its warehousing management method, warehousing management program, and mechanical parking device according to the present embodiment, points different from the first embodiment, the second embodiment, and the third embodiment will be explained. I will mainly explain about.

The determination unit 33 in the present embodiment identifies the modified parts of the vehicle with respect to the reference vehicle based on the image of the vehicle and the image of the reference vehicle corresponding to the estimated vehicle type, and identifies the modified parts of the vehicle with respect to the reference vehicle based on the information about the modified parts. Determine whether or not warehousing is appropriate. The reference vehicle is a vehicle (normal vehicle) at the time of shipment from the manufacturer, and is a vehicle before modification. Since the mechanical parking device 60 is designed so that the reference vehicle of each vehicle can be stored, it is presumed that any reference vehicle can be parked. However, if a vehicle is modified, there is a possibility that an abnormality may occur during storage. For this reason, the determination unit 33 identifies the modified parts of the modified vehicle and uses them for determination.

The determination unit 33 identifies the modified portion of the vehicle to be warehousing by comparing the image of the vehicle to be warehousing and the image of a reference vehicle corresponding to the vehicle type estimated for the vehicle. A modified location is a location that has been changed (modified) with respect to the standard vehicle. For example, if a vehicle has been modified to have a lower vehicle height than a reference vehicle, the vehicle height is identified as the modified location.

Then, the determination unit 33 determines whether or not the vehicle should be stored based on the information regarding the specified modification location. In this embodiment, the information regarding the modified location will be explained as the presence or absence of modification, but it may also be location information of modifications made to the vehicle, or information about differences with respect to the reference vehicle (for example, the degree of protrusion). It is not limited to the above as long as the suitability determination is made based on the following.

In this way, since it is possible to specify the modified portion of the reference vehicle, it is possible to determine whether or not the vehicle to be stored is appropriate for storage.

Next, an example of the warehousing determination process by the control device 30 described above will be described with reference to FIG. 10. FIG. 10 is a flowchart illustrating an example of the procedure of the warehousing determination process according to the present embodiment. The flow shown in FIG. 10 is repeatedly executed at a predetermined control cycle when the mechanical parking device 60 is in operation. Note that the same processing as in the flow of FIG. 7 is given the same reference numeral.

First, it is determined whether the vehicle is parked at a position where photography is possible (S101). If the vehicle is not parked at a position where photography is possible (NO determination in S101), S101 is executed again. If the vehicle is parked at a position where it can be photographed (YES in S101), the vehicle is photographed (S102). Next, the vehicle type is estimated based on the acquired image (S103).

Next, an image of a corresponding reference vehicle is acquired based on the estimated vehicle type (S404a). The image of the reference vehicle may be stored in a storage section in the control device 30, or may be referenced (downloaded, etc.) from data managed by another management computer (server, etc.). good.

Next, the acquired image of the vehicle is compared with the image of the reference vehicle to identify the modified location (S404b). In S404b, for example, by image matching between the image of the vehicle and the image of the reference vehicle, points that differ from the reference vehicle are identified as modified parts.

Next, based on the specified modification location, it is determined whether or not the vehicle should be stored (S404c). If the suitability of warehousing is determined based on the presence or absence of modifications, it will be determined that the vehicle is suitable for warehousing if there are no modifications, and it will be determined that the vehicle is not suitable for warehousing if there are any modifications. Ru.

If it is determined that the vehicle is suitable for warehousing (YES determination in S404c), the user is notified that the vehicle is suitable for warehousing (S105).

When it is determined that the vehicle is not suitable for warehousing (NO determination in S404c), the user is notified that the vehicle is not suitable for warehousing (S106).

In the present embodiment, a case is described in which the suitability of warehousing is determined based on the presence or absence of modification, but the determination may be made using other methods as long as the determination is made based on the location of modification. For example, the modification location may be determined based on difference information with respect to the reference vehicle. In this case, the suitability of warehousing may be determined based on the degree of difference between the modified parts (dimensions of the modified parts) with respect to the reference vehicle.

As explained above, according to the warehousing management system for a mechanical parking device, the warehousing management method thereof, the warehousing management program, and the mechanical parking device according to the present embodiment, the image of a vehicle and the estimated vehicle type are Based on the image of the reference vehicle, it is possible to identify the modified parts of the reference vehicle. Therefore, the information regarding the modified parts makes it possible to estimate with higher accuracy whether or not the vehicle to be parked is suitable for parking.

The present disclosure is not limited to the above-described embodiments, and various modifications can be made without departing from the gist of the invention. Note that it is also possible to combine each embodiment. That is, the first embodiment, the second embodiment, the third embodiment, and the fourth embodiment described above can be combined with each other.

The warehousing management system for a mechanical parking device, the warehousing management method thereof, the warehousing management program, and the mechanical parking device described in each of the embodiments described above are understood as follows, for example.
The warehousing management system according to the present disclosure includes an acquisition unit (31) that acquires an image of a vehicle to be warehousing, and a determination unit based on the image as to whether or not the vehicle is warehousing with respect to a mechanical parking device (60). A determination unit (33) is provided.

According to the warehousing management system according to the present disclosure, the suitability of warehousing the mechanical parking device (60) is determined based on the photographed image of the vehicle to be warehousing, so that the suitability of warehousing of the vehicle can be efficiently determined. It becomes possible to judge. Since it is known whether or not the vehicle to be parked is suitable for parking, it is possible to prevent accidents in the mechanical parking device (60) and park the vehicle more safely. Note that if a photographing means capable of photographing the vehicle is provided, it is also possible to determine whether or not the vehicle is parked properly without installing a new sensor or the like.

The warehousing management system according to the present disclosure includes an estimating unit (32) that estimates the model of the vehicle to be warehousing based on the image, and the determining unit (33), based on the vehicle model information of the vehicle, It is also possible to determine whether or not the vehicle is parked in the warehouse.

According to the warehousing management system according to the present disclosure, by estimating the model of a vehicle to be warehousing based on an image of the vehicle, it is possible to efficiently determine whether or not warehousing is appropriate based on information on the estimated vehicle type. Become. The vehicle type information may be information related to the type of vehicle, specification information of the vehicle type, etc., and is information that can determine the suitability of warehousing in accordance with the vehicle type.

In the warehousing management system according to the present disclosure, the determination unit (33) may determine whether or not the vehicle whose vehicle type is estimated is suitable for warehousing, based on information in which the vehicle type and the warehousing record are associated. .

According to the warehousing management system according to the present disclosure, it is possible to grasp the warehousing record of vehicles of the same type as the vehicle to be warehousing based on the information in which the vehicle type and the warehousing record are associated, thereby effectively It becomes possible to determine whether or not warehousing is appropriate.

In the warehousing management system according to the present disclosure, the determination unit (33) may determine whether the vehicle is suitable for warehousing based on vehicle specification information corresponding to the estimated model of the vehicle.

According to the warehousing management system according to the present disclosure, it is possible to efficiently determine whether the warehousing of a vehicle is appropriate based on vehicle specification information corresponding to the estimated vehicle type. The vehicle specification information includes, for example, vehicle length, vehicle height, vehicle width, etc., and enables, for example, to specify large vehicles, small vehicles, etc. that cannot be stored.

In the warehousing management system according to the present disclosure, the determination unit (33) estimates the dimensions of a predetermined position in the vehicle based on the acquired image, and determines whether or not the warehousing of the vehicle is appropriate based on the estimated dimensions. You can also do it.

According to the warehousing management system according to the present disclosure, by estimating the dimensions of a predetermined position in the vehicle based on the acquired image, it is possible to efficiently determine whether or not the warehousing of the vehicle is appropriate. The dimensions of the predetermined position include, for example, vehicle length, vehicle height, and vehicle width.

In the warehousing management system according to the present disclosure, the determination unit (33) determines the modified parts of the vehicle relative to the reference vehicle based on the image of the vehicle and the image of the reference vehicle corresponding to the estimated vehicle type. It is also possible to determine whether or not the vehicle should be stored based on the information regarding the modified location.

According to the warehousing management system according to the present disclosure, it is possible to specify a modified portion of the reference vehicle based on an image of the vehicle and an image of the reference vehicle corresponding to the estimated vehicle type. Therefore, the information regarding the modified parts makes it possible to estimate with higher accuracy whether or not the vehicle to be parked is suitable for parking.

The warehousing management system according to the present disclosure may include a notification unit (34) that notifies the user of the mechanical parking device (60) based on the determination result of the determination unit (33).

According to the warehousing management system according to the present disclosure, the user is able to recognize whether warehousing is appropriate by providing notification based on the determination result in the determination unit (33). It should be noted that the notification may be given (alert) only when warehousing is not appropriate.

A mechanical parking device (60) according to the present disclosure includes a warehousing area, a storage area for storing a vehicle, a conveying means for transporting a vehicle between the warehousing area and the storage area, and the mechanical parking device (60) described above. ) inventory management system.

A parking management method for a mechanical parking device (60) according to the present disclosure includes a step of acquiring an image of a vehicle to be parked, and a method for controlling parking of the vehicle in the mechanical parking device (60) based on the image. and a step of determining suitability.

A parking management program for a mechanical parking device (60) according to the present disclosure includes a process of acquiring an image of a vehicle to be parked, and a process for controlling parking of the vehicle in the mechanical parking device (60) based on the image. The computer executes the process of determining suitability.

11: CPU
12:ROM
13: RAM
14: Hard disk drive 15: Communication section 18: Bus 22: Operation panel 30: Control device 31: Acquisition section 32: Estimation section 33: Judgment section 34: Notification section 35: Photographing means 60: Mechanical parking device 61a to 61l: Horizontal Feeding conveyor 62 : Incoming lift 63 : Traveling cart 64 : Cart running path 65 : Outgoing lift 66 : Storage floor (storage area)
70: Boarding/disembarking room 70a: Storage area (warehousing berth)
70b: Departing area (departing berth)

Claims (10)

an acquisition unit that acquires an image of a vehicle to be warehoused;
an estimating unit that estimates the model of the vehicle to be warehoused based on the image;
a determination unit that determines whether or not the vehicle whose vehicle type is estimated is suitable for parking in a mechanical parking device, based on information in which the vehicle type and the parking record are associated ;
A warehousing management system for mechanical parking devices. an acquisition unit that acquires an image of a vehicle to be warehoused;
an estimating unit that estimates the model of the vehicle to be warehoused based on the image;
a determination unit that determines whether the vehicle is suitable for entering the mechanical parking device based on vehicle specification information corresponding to the estimated vehicle type of the vehicle;
A warehousing management system for mechanical parking devices. The mechanical parking system according to claim 1 or 2 , wherein the determination unit estimates dimensions of a predetermined position in the vehicle based on the acquired image, and determines whether or not the vehicle is parked based on the estimated dimensions. Equipment inventory management system. an acquisition unit that acquires an image of a vehicle to be warehoused;
an estimating unit that estimates the model of the vehicle to be warehoused based on the image;
Based on the image of the vehicle and the image of a reference vehicle corresponding to the estimated vehicle type, a modified part of the vehicle with respect to the reference vehicle is identified, and based on information regarding the modified part , a modified part of the mechanical parking device is specified. a determination unit that determines whether the vehicle is suitable for warehousing;
A warehousing management system for mechanical parking devices. The warehousing management system for a mechanical parking device according to any one of claims 1 to 4 , further comprising a notification unit that notifies a user of the mechanical parking device based on a determination result in the determination unit. a goods receipt area;
a storage area for storing vehicles;
a conveyance means for conveying a vehicle between the storage area and the storage area;
A warehousing management system for a mechanical parking device according to any one of claims 1 to 5 ,
Mechanical parking device equipped with. a step of acquiring an image of a vehicle to be warehoused;
a step of estimating the model of the vehicle to be warehoused based on the image;
a step of determining whether or not the vehicle whose vehicle type is estimated is suitable for warehousing in the mechanical parking device , based on information in which the vehicle type and the warehousing record are associated ;
A parking management method for a mechanical parking device having a step of acquiring an image of a vehicle to be warehoused;
a step of estimating the model of the vehicle to be warehoused based on the image;
a step of determining whether or not the vehicle can be parked in a mechanical parking device based on vehicle specification information corresponding to the estimated vehicle type of the vehicle;
A parking management method for a mechanical parking device having a step of acquiring an image of a vehicle to be warehoused;
a step of estimating the model of the vehicle to be warehoused based on the image;
Based on the image of the vehicle and the image of a reference vehicle corresponding to the estimated vehicle type, a modified part of the vehicle with respect to the reference vehicle is identified, and based on information regarding the modified part, a modified part of the mechanical parking device is specified. a step of determining whether the vehicle is suitable for warehousing;
A parking management method for a mechanical parking device having A storage management program for a mechanical parking device for causing a computer to function as a storage management system for a mechanical parking device according to any one of claims 1 to 5 .

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