JP7412163B2 - Mechanical parking system, parking control device, and parking control method - Google Patents

Description

The present invention relates to a mechanical parking lot system, a parking lot control device, and a parking lot control method.

Some of the currently popular mechanical parking lots are equipped with a turning device for loading and turning vehicles in the entry/exit area near the entrance/exit door inside the building. By using this turning device, the direction of the vehicle can be changed so that the vehicle can enter the parking lot smoothly. Additionally, the direction of the vehicle being pulled out of the parking lot can be automatically aligned with the direction of departure of the vehicle, thereby increasing convenience for users.

Patent No. 6258743

When a vehicle is loaded onto the above-mentioned swivel device and turned, if there is a foreign object such as a person or baggage within the movement area of the swivel device, the foreign object may come into contact with the swivel device or the vehicle, resulting in injury or injury. Damage may occur.

In order to avoid this, a camera device is fixedly installed on the wall or floor of the loading/unloading area, and the image information taken by the camera device is analyzed to monitor the movement area of the swing device and detect foreign objects. There is technology to detect this. However, since the area to be monitored within the movement area of the swivel device changes from moment to moment due to the movement of the swivel device, there is a problem in that even if the above-mentioned technology is used, foreign objects may not be detected due to the occurrence of blind spots, etc. was there.

The present invention has been made in view of the above circumstances, and provides a mechanical parking lot system, a parking lot control device, and a parking lot that can safely operate a vehicle turning device installed in a mechanical parking lot. The purpose is to provide a control method.

The mechanical parking system of the present invention for achieving the above object includes a carrier that loads vehicles and transports them within the mechanical parking lot, a turning device that rotates the carrier, and a foreign object installed on the outer edge of the carrier. a parking lot control device that is communicatively connected to the carriage, the swing device, and the foreign object detection sensor; The parking lot control device includes a detection unit that detects, when the foreign object detection sensor detects a foreign object in the moving area during the turning operation of the cart by the turning device, the parking lot control device causes the turning device to move the cart. It is characterized by having an operation control section that reduces or stops the turning speed of the turning speed.

Further, the parking lot control device of the present invention includes a carriage that loads vehicles and transports them in a mechanical parking lot, a turning device that turns the carrying device, and a turning device that is installed on an outer edge of the carrying device, and that is provided with a turning operation by the turning device. A foreign object detection sensor that detects a foreign object in the moving area of the moving carrier is communicatively connected to the carrier, the turning device, and the foreign object detection sensor, and the foreign object is detected during the turning operation of the carrier by the turning device. The present invention is characterized by comprising an operation control unit that reduces or stops the rotation speed of the carrier by the rotation device when a foreign object in the movement area is detected by a sensor.

Further, the parking lot control method of the present invention includes a carriage that loads vehicles and transports them in a mechanical parking lot, a turning device that turns the carrying device, and a turning device that is installed on an outer edge of the carrying device, and a turning operation of the turning device. A foreign object detection sensor that detects a foreign object in the moving area of the moving carrier, and a parking lot control device that is communicatively connected to the carrier, the turning device, and the foreign object detection sensor, control the turning operation of the carrying device by the turning device. The present invention is characterized in that when a foreign object in the movement area is detected by the foreign object detection sensor, the turning speed of the carrier by the turning device is reduced or stopped.

According to the mechanical parking lot system, parking lot control device, and parking lot control method of the present invention, it is possible to safely operate a turning device for a vehicle installed in a mechanical parking lot.

1 is an overall diagram showing the configuration of a mechanical parking system according to an embodiment. It is a flow chart which shows operation of a parking lot control device used for a mechanical parking lot system by one embodiment.

<Configuration of mechanical parking system according to one embodiment>
The configuration of a mechanical parking system according to an embodiment of the present invention will be described with reference to FIG. 1. The mechanical parking system 1 according to the present embodiment includes a turning device 4 installed near an entry/exit door 3 in a mechanical parking lot 2 such as an elevator parking, and a rotating device 4 that is loaded with vehicles and transported within the mechanical parking lot 2. A pallet 5, which is a carrier for carrying, a plurality of foreign object detection sensors 6-1 to 6-6 installed on the outer edge of the pallet 5, a rotation device 4, a drive mechanism (not shown) that drives the operation of the pallet 5, and The parking lot control device 7 is communicatively connected to the foreign object detection sensors 6-1 to 6-6.

The swinging device 4 has a drive unit 41 that swings the pallet 5 in a predetermined direction (for example, clockwise) using the center of gravity P as a fulcrum with the pallet 5 placed thereon. In FIG. 1, a pallet movement area A in which the pallet 5 moves due to the turning operation of the turning device 4 is indicated by a chain line.

By rotating the pallet 5 with the rotating device 4, the direction of the pallet 5 can be changed so that the vehicle can be smoothly parked in the mechanical parking lot 2. Further, the direction of the vehicle to be exited from the mechanical parking lot 2 is automatically adjusted to the departure direction of the vehicle, thereby increasing convenience for users.

The foreign object detection sensors 6-1 to 6-6 are composed of camera devices or optical sensors, and detect foreign objects within predetermined monitoring areas B1 to B6, respectively. The foreign object detection sensors 6-1 to 6-6 are installed so that the sum of their monitoring areas B1 to B6 includes the pallet movement area A.

The parking lot control device 7 includes a monitoring area storage section 71, an operation information acquisition section 72, an operation control section 73, a sensor information acquisition section 74, a movement area foreign object determination section 75, and an operation command generation section 76. have

The monitoring area storage unit 71 stores position information of the pallet movement area A and the monitoring areas B1 to B6 of the foreign object detection sensors 6-1 to 6-6. The operation information acquisition unit 72 acquires information on an entry instruction operation and an exit instruction operation performed by a user of the mechanical parking lot 2 on an operation panel (not shown) of the mechanical parking lot 2.

The operation control unit 73 controls the mechanical parking including the drive unit 41 and the drive mechanism for the pallet 5 based on the operation information acquired by the operation information acquisition unit 72 and a command generated by the operation command generation unit 76 described later. Controls the operation of each device in the parking lot 2. The sensor information acquisition unit 74 acquires foreign object detection information from the foreign object detection sensors 6-1 to 6-6.

The movement area foreign object determination unit 75 is based on the position information of each area stored in the monitoring area storage unit 71, the operation information acquired by the operation information acquisition unit 72, and the information acquired by the sensor information acquisition unit 74. , it is determined whether or not there is a foreign object within the pallet movement area A.

When the moving area foreign object determining section 75 determines that there is a foreign object in the pallet moving area A during the turning operation of the pallet 5 by the turning device 4, the operation command generation section 76 causes the foreign object to be placed on the pallet 5 or on the pallet 5. Calculate the estimated time until the vehicle makes contact. Then, if the calculated estimated time is less than or equal to a preset first threshold and exceeds a second threshold shorter than the first threshold, a command to decelerate the turning speed is generated, and if the estimated time is less than or equal to the second threshold, A command to stop the rotation operation is generated.

<Operation of mechanical parking system according to one embodiment>
Next, the operation of the mechanical parking system according to this embodiment will be explained with reference to the flowchart of FIG. 2. Vehicle X using the mechanical parking lot 2 enters through the entry/exit door 3 and stops on the pallet 5 on the turning device 4 ("YES" in S1), and the user performs an entry instruction operation on the operation panel. When the operation information acquisition unit 72 acquires the information (“YES” in S2), the operation control unit 73 of the parking lot control device 7 controls the foreign object detection sensors 6-1 to 6-6 to perform foreign object detection processing. is started (S2).

Detection information from foreign object detection sensors 6-1 to 6-6 is transmitted to parking lot control device 7 and acquired by sensor information acquisition section 74. If the moving area foreign object determination section 75 determines that there is no foreign object within the pallet moving area A ("NO" in S4), the operation control section 73 drives the drive section 41 of the swing device 4 to a predetermined position. A turning operation of the pallet 5 is started in a predetermined direction at a speed (S5).

When a foreign object is detected by any of the foreign object detection sensors 6-1 to 6-6 during the turning operation of the pallet ("NO" in S6), the detection information including the position information of the foreign object is sent to the parking lot control device 7. and is acquired by the sensor information acquisition unit 74. Then, based on the position information of the foreign object acquired by the sensor information acquisition unit 74 and the position information of the pallet movement area A stored in the monitoring area storage unit 71, the movement area foreign object determination unit 75 determines the position of the foreign object. It is determined whether or not the pallet is within the pallet movement area A (S7).

Through this process, for example, a user who gets off the vehicle X into the pallet movement area A during the turning operation of the pallet 5, a dropped baggage, etc. are detected as foreign objects.

When the moving area foreign object determination unit 75 determines that the foreign object is within the pallet moving area A (“YES” in S7), the operation command generation unit 76 generates the position information of the foreign object and the operation control unit 73. The estimated time until the pallet 5 comes into contact with the foreign object is calculated based on the turning operation status of the pallet 5 (the moving angle and the moving speed of the pallet 5).

Here, if the calculated estimated time is less than or equal to a preset first threshold and exceeds a second threshold shorter than the first threshold ("YES" in S8 → "NO" in S9), The operation command generation unit 76 generates a rotation speed deceleration command. The generated deceleration command is sent to the motion control section 73, and the speed of the turning motion by the drive section 41 is reduced (S10).

Further, if the calculated estimated time is less than or equal to the second threshold (“YES” in S8 → “YES” in S9), the motion command generation unit 76 generates a stop command for the turning motion. The generated stop command is sent to the motion control section 73, and the turning operation by the drive section 41 is stopped (S11).

In the above-mentioned process, when the turning operation of the pallet 5 ends without detecting a foreign object in the pallet moving area A ("NO" in S7 → "YES" in S6), When a foreign object is detected, but the turning operation ends before the time until contact becomes equal to or less than the first threshold ("YES" in S7 → "NO" in S8 → "YES" in S6), or when the pallet When a foreign object is detected in the moving area A and the time until contact becomes less than the first threshold and the turning speed is decelerated, but the turning operation ends before it becomes less than the second threshold ("YES" in S7 → S8 (“YES” in S9 → “NO” in S9 → “YES” in S10 → “YES” in S6), the process is ended. When the turning operation is completed, the pallet 5 loaded with the vehicle X is transported to the parking space where the vehicle X is to be parked.

Furthermore, when the operation information acquisition unit 72 acquires information on the unloading instruction operation performed by the user on the operation panel, and the pallet 5 loaded with the vehicle X to be unloaded stops on the turning device 4, the above-mentioned The processes of steps S3 to S11 are executed.

According to the above embodiment, when operating a mechanical parking lot turning device, a foreign object within the movement area of a rotating pallet is detected with high accuracy, and the time required for the pallet to come into contact with the detected foreign object is determined in advance. When the rotation speed is equal to or less than the set first threshold value and exceeds a second threshold value shorter than the first threshold value, the rotation speed is decelerated, and when the rotation speed is equal to or less than the second threshold value, the rotation operation is stopped in a stepwise manner. By changing the operating state, it is possible to operate the device safely and to prevent stoppage due to erroneous detection of a foreign object.

In the embodiment described above, when a foreign object is detected in the pallet movement area A by any of the foreign object detection sensors 6-1 to 6-6, the calculated estimated time is less than or equal to the first preset threshold, and When the second threshold value, which is shorter than the first threshold value, is exceeded, the operation control unit 73 may decelerate the swinging speed of the swinging device 4 so that the shorter the calculated estimated time is, the slower the swinging speed of the swinging device 4 is.

1 Mechanical parking system 2 Mechanical parking lot 3 Entry/exit door 4 Swivel device 5 Pallet 6-1 to 6-6 Foreign object detection sensor 7 Parking lot control device 41 Drive section 71 Monitored area storage section 72 Operation information acquisition section 73 Operation Control unit 74 Sensor information acquisition unit 75 Foreign object determination unit in moving area 76 Operation command generation unit

Claims (4)

A carrier for transporting a loaded vehicle in a mechanical parking lot, a rotating device for rotating the carrier, a plurality of foreign object detection sensors for detecting foreign objects within a predetermined monitoring area , the carrier, the rotating device, and the rotating device. Equipped with a parking lot control device that is communicatively connected to a foreign object detection sensor,
The plurality of foreign object detection sensors are
installed at the outer edge of the carrier so that an area obtained by adding up the monitoring areas of each foreign object detection sensor includes a movement area of the carrier that moves by the turning operation of the turning device;
The parking lot control device includes:
When a foreign object is detected in the movement area by the foreign object detection sensor during the turning operation of the carrier by the turning device, an estimated time until the carrier or a vehicle on the carrier comes into contact with the foreign object is calculated. If the calculated estimated time is less than or equal to a preset first threshold and exceeds a second threshold that is shorter than the first threshold, the turning speed of the turning device is reduced, and the turning speed is less than or equal to the second threshold. In this case, the mechanical parking system is characterized by having an operation control unit that stops the turning operation by the turning device . The operation control unit of the parking lot control device is configured to detect a foreign object in the movement area by the foreign object detection sensor, and calculate an estimated time that is less than or equal to a preset first threshold and shorter than the first threshold. The mechanical parking lot according to claim 1 , wherein when the second threshold is exceeded, the turning speed of the turning device is reduced so that the shorter the calculated estimated time is, the slower the turning speed is. system. The system includes a carrier that loads vehicles and transports them within a mechanical parking lot, a turning device that rotates the carrier, and a plurality of foreign object detection sensors that detect foreign objects within a predetermined monitoring area, and the monitoring area of each foreign object detection sensor is The added area is communicatively connected to a group of foreign object detection sensors installed on the outer edge of the carrier so that the added area includes a moving area of the carrier that moves by the rotation operation of the rotation device,
When a foreign object is detected in the movement area by the foreign object detection sensor during the turning operation of the carrier by the turning device, an estimated time until the carrier or a vehicle on the carrier comes into contact with the foreign object is calculated. If the calculated estimated time is less than or equal to a preset first threshold and exceeds a second threshold that is shorter than the first threshold, the turning speed of the turning device is reduced, and the turning speed is less than or equal to the second threshold. In this case, the parking lot control device includes an operation control unit that stops the turning operation by the turning device . The system includes a carrier that loads vehicles and transports them within a mechanical parking lot, a turning device that rotates the carrier, and a plurality of foreign object detection sensors that detect foreign objects within a predetermined monitoring area, and the monitoring area of each foreign object detection sensor is a group of foreign object detection sensors installed on the outer edge of the carrier so that the added area includes a movement area of the carrier that moves by the turning operation of the turning device; the carrier, the turning device, and the foreign object detection sensor. A parking lot control method for a mechanical parking system comprising: a parking lot control device communicatively connected to a parking lot system;
The parking lot control device includes:
When a foreign object is detected in the movement area by the foreign object detection sensor during the turning operation of the carrier by the turning device, an estimated time until the carrier or a vehicle on the carrier comes into contact with the foreign object is calculated. If the calculated estimated time is less than or equal to a preset first threshold and exceeds a second threshold that is shorter than the first threshold, the turning speed of the turning device is reduced, and the turning speed is less than or equal to the second threshold. If so, the parking lot control method is characterized in that the turning operation by the turning device is stopped .

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