JP7437666B2 - Parking facilities and parking guidance methods - Google Patents

Description

TECHNICAL FIELD The present invention relates to a parking facility in which a vehicle moves by itself to a parking position after entering through an entrance, and a method for guiding the parking facility therein.

Parking facilities in which vehicles drive themselves from an entrance to a parking position can be broadly classified into mechanical parking devices and self-propelled parking lots. Here, the "parking position" means a parking position in a parking room of a mechanical parking device or a parking slot in a self-propelled parking lot.

A mechanical parking device (for example, an elevator parking device) has a carriage at a parking position (parking position) in a storage room, and a driver drives a vehicle (for example, a passenger car) to park the vehicle on the carriage, and then , the device operates and transports the unmanned vehicle to the storage location using the carrier.
The carrier is, for example, a cage on which a pallet is placed, or a conveyor device, and in either case, the storage range on the carrier is set to the necessary minimum in order to improve the storage efficiency of the vehicle.

Therefore, when driving and parking the vehicle on the carrier, the driver has to put the entire outside of the vehicle inside the parking area on the carrier, which may make it difficult to drive.
Conventionally, a large mirror has been installed in front of the parking area so that the driver can see the position of his/her own vehicle reflected in the mirror, thereby assisting with driving operations when entering the parking lot.

However, if the parking area at the time of parking is dimly lit or if the mirror is difficult to see, parking on the carrier depends on driving skills such as sensing the width of the vehicle, which is difficult for beginners. In particular, it has been difficult to store vehicles with wide outer tires on pallets with narrow road widths.

Therefore, Patent Document 1 has already been proposed as a means for supporting driving on a carrier.

In the "vehicle guidance monitoring device" of Patent Document 1, the left and right side frame lines are displayed as vertical lines on the monitor installed on the wall of the boarding area along with the front of the vehicle entering from the entrance/exit, and the left and right side frame lines are A guide character image is displayed to guide the vehicle between the two. In addition, when the vehicle's progress deviates from the left and right side frame lines, the moving range frame line defined by the front edge frame line, rear edge frame line, and left and right side frame lines is displayed on the monitor along with the vehicle, and A guide character image is displayed to guide the vehicle within the range frame line.

On the other hand, in a self-propelled parking lot, the parking position of the vehicle is set in advance by a rectangular frame line (parking frame) on an outdoor or indoor road surface (floor or ground surface), and the parking position ( The vehicle enters the parking space by driving itself to the parking slot. Parking slots are usually marked directly on the floor or ground with white lines or the like.

A self-propelled parking lot is provided with a large number of parking slots of different sizes depending on the size of the vehicle (for example, a motorcycle, a light car, a regular passenger car, a truck, a bus, etc.). Therefore, the driver of the vehicle has to search for an empty parking slot of suitable size for his vehicle and park there, and especially when the parking space is almost full, he wastes time trying to find an empty parking slot. may be spent.

Therefore, Patent Document 2 has already been proposed as a driving support means when entering a self-propelled parking lot.

In the "information guidance system" of Patent Document 2, a center server acquires vehicle data of parked vehicles and transmits the acquired vehicle data to a mobile device. The mobile device displays a parking lot map showing vehicle data of vehicles parked in each of a plurality of parking bay positions.

Patent No. 6108816 Japanese Patent Application Publication No. 2015-69429

The conventional parking equipment described above has the following problems.

(1) In conventional mechanical parking systems, the operator guides the user as far as the entrance of the storage room, and inside the storage room, the user uses a mirror installed in front to determine the position of the vehicle without the operator's guidance. I needed to make a decision.
However, there are multiple markings inside the storage room, such as vehicle width restrictions, evacuation areas, walking paths, dangerous boundaries, and access restrictions, and it is difficult for users (especially beginner drivers) to understand the meaning of these markings and know when to use them. It is difficult to immediately determine which markings to pay attention to. As a result, users may become confused about where to go, where to stop, and what to do after stopping, and may hesitate to use the service due to stress.

The "vehicle width limit" is a mark marked on the floor of the carrier so that the allowable outer tire range can be recognized as the limit of deviation. An "evacuation site" is a place where people can evacuate in the event that they are trapped, and is a marked place where they will not be exposed to direct harm such as contact when the device is activated. A "walking path" is a marking on the floor that serves as a path for people and on areas where walking is expected. A "danger boundary" is a marking of the maximum outer edge (danger boundary) when the equipment or vehicle is moving (for example, when a pallet is rotated). ``Restricted access'' refers to markings on areas that are dangerous for people to enter.
Markings are usually written directly on the floor surface using paint or the like using different colors.

(2) In conventional self-propelled parking lots, after entering from the entrance, users need to search for an empty parking slot that is the appropriate size for their vehicle based on the guidance display installed in the parking lot. be. However, if there is a branch in the parking lot, the user may get lost in the search route.
In order to solve this problem, if guides are placed in the parking lot, the cost will be excessive. Furthermore, when the on-site map is displayed from the center server to a mobile device (for example, a smartphone) as in Patent Document 2, it is necessary to shift the driver's line of sight from the front while driving, which reduces safety. Furthermore, if wireless communication within the parking lot is unstable, it will be difficult to use the parking lot.

The present invention was devised to solve the above-mentioned problems. In other words, an object of the present invention is to enable even beginner drivers to easily and comfortably park at a parking position without having to worry about where to drive, where to park, or what to do after parking after entering the vehicle from the entrance. The purpose of the present invention is to provide parking facilities that can be used and a guide method for parking there.

According to the present invention, there is provided a parking facility in which a vehicle moves by itself from an entrance to a parking position,
a position detection device that is installed in a self-driving range of the vehicle and detects the vehicle position;
A projection mapping device that projects images onto the floor,
Equipped with a storage room with a parking position inside,
The projection mapping device has an in-warehouse projector installed in the storage room and capable of projecting an image onto the floor of the storage room,
The internal projector is
Projecting a warehousing guide image, which is a mapping image of the warehousing flow line that guides the vehicle to the parking position at the time of warehousing, when the warehousing/exit door is fully opened;
Next, projecting a vehicle width restriction image indicating a limit of deviation of the vehicle at the time of parking, at the time when the vehicle is detected immediately after passing through the entrance/exit door;
After that, projecting a walking route image indicating a walking route at the time of exiting when the vehicle is parked at the parking position,
Projecting a dangerous boundary image indicating a dangerous part while the user is inside the warehouse after the vehicle is parked at the parking position,
A parking facility is provided that projects an evacuation site image showing an evacuation site in case of being trapped when the vehicle is parked at the parking position and the entrance/exit door is fully closed .

Further, according to the present invention, there is provided a parking guidance method for parking equipment, comprising:
Projecting a warehousing guide image, which is a mapping image of the warehousing flow line that guides the vehicle to the parking position at the time of warehousing, when the warehousing/exit door is fully opened;
Next, projecting a vehicle width restriction image indicating a limit of deviation of the vehicle at the time of parking, at the time when the vehicle is detected immediately after passing through the entrance/exit door;
After that, projecting a walking route image indicating a walking route at the time of exiting when the vehicle is parked at the parking position,
Projecting a dangerous boundary image indicating a dangerous part while the user is inside the warehouse after the vehicle is parked at the parking position,
A parking facility entry guidance method is provided in which an evacuation site image showing an evacuation site in case of being trapped is projected when the vehicle is parked at the parking position and the entry/exit door is fully closed .

According to the present invention, the position detection device detects the vehicle position, and the projection mapping device projects an image including guidance suitable for the vehicle position onto a wall or floor. This allows the driver of the vehicle to easily determine from the video where to drive, where to park, and what to do after parking after entering the vehicle from the entrance.
Therefore, even if the user is a novice driver, he or she can easily and comfortably park the vehicle in the parking position without getting confused.
Furthermore, since the image is projected onto the wall or floor, there is no need to shift your line of sight from the front while driving, resulting in high safety. Furthermore, since communication with a user's mobile device (for example, a smartphone) is not required, high stability (robustness) can be ensured without being affected by unstable wireless communication.

1 is a side view showing a parking facility according to the invention; FIG. It is a front view in case a parking facility is a mechanical parking device. FIG. 3 is a view taken along the line AA in FIG. 2, and is a plan view of the storage room. It is a BB arrow view of FIG. 2 and a side view of the storage room. FIG. 3 is a schematic diagram showing a specific example of a first video. FIG. 2 is an overall flowchart showing a driving guidance method at the time of warehousing according to the present invention. FIG. 2 is an overall flowchart showing a driving guidance method when leaving a warehouse according to the present invention. It is a top view in case a parking facility is a self-propelled parking lot. It is an explanatory view of a parking frame of a self-propelled parking lot.

Embodiments of the present invention will be described below based on the drawings. Note that common parts in each figure are given the same reference numerals, and redundant explanation will be omitted.

FIG. 1 is a side view showing a parking facility 100 according to the invention. The parking facility 100 may be a mechanical parking device or a self-propelled parking lot.
In this figure, a parking facility 100 is a parking lot where vehicles 1 drive themselves from an entrance to a parking position and enter the parking lot, and includes a position detection device 10 and a projection mapping device 20.

The position detection device 10 is provided within the self-driving range of the vehicle 1 and detects the vehicle position (current position of the vehicle 1).
The position detection device 10 is, for example, a photoelectric sensor, but other sensors such as a magnetic sensor, a pressure sensor, a laser radar, etc. may be used as long as it can detect the vehicle 1.

The projection mapping device 20 projects an image X onto a wall surface 51 or a floor surface 52.
Projection mapping refers to a technology that uses computer-generated CG and projection equipment such as a projector to project an image or video (hereinafter referred to as video X) onto a building, object, or space.
In the present invention, the projection mapping device 20 projects the image X onto the wall surface 51 or the floor surface 52 as projection mapping. Note that the video X may be synchronized with sound (music or audio).

In FIG. 1, a projection mapping device 20 includes a projector device 22 and a control device 24.
The projector device 22 projects a video X (image or video) onto a wall surface 51 or a floor surface 52. "Projection" means to enlarge and project an image using, for example, a liquid crystal.
The control device 24 is, for example, a computer (PC), has an input device, a storage device 26 that stores a plurality of images X suitable for the vehicle position, a calculation device, and an output device, and controls the projector device 22.

With the above-described configuration, the position detection device 10 can detect the vehicle position, and the projection mapping device 20 can project the image X including guidance suitable for the vehicle position onto the wall surface 51 or the floor surface 52.

FIG. 2 is a front view when the parking facility 100 is a mechanical parking device.
In this example, the mechanical parking device 100 is an elevator parking device, but the present invention is not limited thereto, and other mechanical parking devices may be used.

In FIG. 2, 1 is a vehicle (for example, a passenger car), 2 is a pallet on which the vehicle 1 is placed, 3 is a hoistway, 4 is a storage shelf, 5 is a carrier that goes up and down the hoistway 3, 6 is a main body frame, and 7 is a main body frame This is a traction type (friction drive type) hoist installed on the top of the 6.

The plurality of storage shelves 4 are storage spaces that accommodate the vehicles 1, respectively. The storage shelf 4 has, for example, rails 4a, so that the vehicle 1 can be transferred to and from the carrier 5.

The carrier 5 has a transfer device (not shown) that transfers the vehicle 1 to and from the storage shelf 4 . That is, in this example, the carrier 5 has a traverse mechanism that horizontally moves the pallet 2 on which the vehicle 1 is placed, and allows the pallet 2 on which the vehicle 1 is placed to traverse between the storage shelf 4 and the carrier 5. There is.

In FIG. 2, the mechanical parking device 100 further includes a storage room 8 into which the vehicle 1 is stored.
The vehicle 1 enters the storage room 8 from the outside. In this example, the warehousing room 8 is a warehousing/retrieval room where the vehicle 1 enters the vehicle from the outside and exits the vehicle from the outside, but it may also be used only for warehousing.
Further, the storage room 8 has an entrance/exit (not shown) that communicates with the outside. The entry/exit door is provided with an opening/closing door (hereinafter, entry/exit door 9, see FIG. 3) that can be opened and closed.

The front position of the storage room 8 that communicates with the storage room 8 via the opening/closing door (the storage door 9) is hereinafter referred to as the "warehousing standby position."
The carrier 5 moves the vehicle 1 up and down between the storage room 8 and the storage shelf 4.
In addition, in this example, the storage room 8 is provided at the lowest stage of the mechanical parking device 100. However, the storage room 8 is not limited to the lowest level, and may be located in the middle or the highest level.

FIG. 3 is a view taken along the line AA in FIG. 2, and is a plan view of the storage room 8. As shown in FIG. Further, FIG. 4 is a view taken along the line BB in FIG. 2, and is a side view of the storage room 8. As shown in FIG.

In FIG. 3, a parking range (parking position A) for the vehicle 1 is set on the upper surface of the pallet 2 placed on the carrier 5. Parking position A is indicated by a bold rectangle in this figure.
In FIG. 3, the outer edge of the parking position A consists of a front end a1, a rear end a2, a right end a3, and a left end a4.

3 and 4, the position detection device 10 has a first detection sensor 12 that detects the vehicle 1 protruding from the outer edge of the parking position A.
The first detection sensor 12 is a photoelectric sensor in this example, and has a detection beam 12a that passes horizontally or obliquely on a vertical plane including the front end a1, rear end a2, right end a3, and left end a4 of the parking position A.
With this configuration, the first detection sensor 12 can detect the protrusion of the vehicle 1 from the parking position A. Note that the vehicle position can also be detected by the first detection sensor 12.

In FIG. 3, the position detection device 10 further includes a second detection sensor 14 that detects the position of the vehicle 1 when it is parked.
The second detection sensor 14 is a photoelectric sensor in this example, and has a detection beam 14a that detects the vehicle 1 located in front of the entrance/exit door 9 (input standby position C) and near the inside of the entrance/exit door 9.
With this configuration, the second detection sensor 14 can detect the vehicle 1 immediately after passing through the warehousing standby position C and the warehousing/exit door 9.

In FIGS. 3 and 4, five projector devices 22 are provided inside the storage room 8 (hereinafter referred to as "inside the warehouse"), and one projector device 22 is installed outside the storage room 8 (warehousing standby position C). It is provided.

The projector device 22 inside the refrigerator is hereinafter referred to as an inside projector 22A (or a first projector).
The refrigerator interior projector 22A projects the image X onto the wall surface 51 or the floor surface 52 inside the refrigerator at a luminous intensity with high visibility (for example, 3000 lumens or more).
The wall surface 51 is preferably the front or side surface of the interior of the refrigerator, but may be the back surface. The floor surface 52 is preferably within a range that is visible from the vehicle 1.

In this example, one of the five internal projectors 22A projects the image X onto the front of the inside of the refrigerator, and the remaining four internal projectors 22A project the image X onto the floor 52 and the pallet 2. It looks like this. Note that the number of in-house projectors 22A is not limited to five, and may be any number.

The warehouse projector 22A projects the warehouse interior image X1 (or the first image) as the image X according to the vehicle position. That is, the video X produced by the refrigerator interior projector 22A includes the refrigerator interior video X1.

FIG. 5 is a schematic diagram showing a specific example of the warehouse interior image X1.
The warehouse interior image X1 includes, for example, a warehousing guide image B1, a vehicle width restriction image B2, a walking route image B3, a dangerous boundary image B4, and an evacuation site image B5. These images are preferably moving images, but may be still images. Furthermore, it is preferable to use letters, symbols, and sounds together.

The warehousing guide image B1 is a mapping image of the warehousing flow line that guides the vehicle 1 to the parking position at the time of warehousing, and is projected, for example, when the warehousing/exit door 9 is fully opened.
The vehicle width restriction image B2 is an image showing the limit of the deviation of the vehicle 1 during parking, and is projected, for example, at the time when the second detection sensor 14 detects the vehicle 1 immediately after passing through the entrance/exit door 9.
The walking route image B3 is an image showing the walking route at the time of exit, and is projected, for example, when the vehicle 1 is parked at the parking position.
The dangerous boundary image B4 is an image showing a dangerous part, and is projected, for example, when the user is inside the warehouse after the vehicle 1 is parked at the parking position.
The evacuation site image B5 is an image showing an evacuation site in case of being trapped, and is projected when the vehicle 1 is parked at the parking position and the entry/exit door 9 is fully closed.

Note that even when the first detection sensor 12 detects the vehicle 1 protruding from the outer edge of the parking position A, the first projector 22A displays the caution image X2 (or the second image ) should be projected.
The caution image X2 projects the outer edges of the parking position A (front end a1, rear end a2, right end a3, left end a4) on the floor surface 52 so that the protruding position can be seen, and also provides entry guidance such as moving forward or backward into the warehouse. It is best to explain in writing that it protrudes from the front.

The projector device 22 on the outside of the storage room 8 (the storage standby position C), that is, in front of the storage door 9, is hereinafter referred to as a front projector 22B (or a second projector).
The front projector 22B is configured to project a front image X3 (or third image) onto the outer front of the entry/exit door 9 or the front of the parking facility 100. Note that the number of front projectors 22B is not limited to one, but may be any number.

The front projector 22B projects a front image X3 that includes notes on warehousing, event information, advertisements, or a mascot character. These front images X3 are preferably moving images, but may be still images.
The front image X3 by the front projector 22B is preferably projected, for example, when the second detection sensor 14 detects the vehicle 1 at the warehousing standby position C.

The parking facility entry guidance method according to the present invention is a parking facility entry guidance method for the parking facility 100 in which the vehicle 1 moves by itself from the entrance to the parking position and enters the parking facility.
The warehousing guidance method of the present invention includes a position detection step F1 and a projection mapping step F2.
In the position detection step F1, the vehicle position is detected within the self-driving range of the vehicle 1.
In the projection mapping step F2, an image X including guidance suitable for the vehicle position is projected onto the wall surface 51 or the floor surface 52.

Hereinafter, the parking guidance method of the present invention for the mechanical parking device 100 will be described in detail.

FIG. 6 is an overall flowchart showing the driving guidance method at the time of warehousing according to the present invention.
In this figure, the driving guidance method at the time of warehousing consists of steps S1 to S9.
In addition, in this figure, the operations or actions by the operator, the user, the mechanical parking device 100 (hereinafter referred to as the "parking device"), and the projection mapping device 20 (hereinafter referred to as the "projection device") are classified and shown in order from the left. .

In FIG. 6, after the start of warehousing, when the user arrives at the warehousing standby position C provided on the outside front of the warehousing room 8 (S1), the operator performs the warehousing operation (S2), and the parking device opens the warehousing/exit door. 9 opens (S4). The user waits at the warehousing standby position C until the warehousing door 9 opens (S3).
While the user is waiting (S3), the position detection device 10 detects the vehicle position, and the projection device projects the image Y1. It is preferable that the video Y1 is a video that does not disturb users, such as precautions when entering the warehouse, event information, mascot character production, department store advertisements, etc.

Next, the user enters the warehouse through the entry/exit door 9 (S5), gets off the vehicle at parking position A (vehicle fixed position) (S6), and exits the storage room 8 (S7).
After the door is opened (S4) and the user is entering the warehouse (S5), the projection device projects images Y2 and Y3. Images Y2 and Y3 include a mapping image of the warehousing flow line (warehousing guide image B1), a vehicle width restriction image B2, a guide image for moving forward or backward (caution image X2), and seasonal images (Marine Day, Halloween, Christmas), etc. ) is recommended.
After the user gets off the vehicle (S6, S7), the projection device projects the image Y4. The image Y4 includes, for example, markings of authentication standards, an exit route (walking route image B3), a dangerous boundary image B4, an evacuation space (evacuation site image B5), and the like.

Next, the operator performs a door closing operation (S8), and the parking device closes the entry/exit door 9 (S9), thereby completing the entry work. It is preferable to project the image Y5 even after the door is closed (S9). The video Y5 is, for example, a character image such as "Be careful" and "Go ahead."

FIG. 7 is an overall flowchart showing the driving guidance method at the time of leaving a warehouse according to the present invention.
In this figure, the driving guidance method at the time of leaving the warehouse consists of steps T1 to T7.

In FIG. 7, after the start of unloading, when the user arrives at the unloading standby position provided on the outside front of the storage room 8 (T1), the operator performs a retrieval operation (T2), and the parking device operates the entrance/exit door 9. opens (T4). The exit waiting position is the same as the receiving waiting position C. The user waits at the exit standby position until the entry/exit door 9 opens (T3).
While the user is waiting (T3), the projection device projects the image Y6. Image Y6 is preferably a video similar to image 1.

Next, the user enters the warehouse through the entry/exit door 9, gets into the vehicle at parking position A (vehicle fixed position), and exits from the entry/exit room 8 (T5).
When the door is opened (T4) and the user is leaving the warehouse (T5), the projection device projects the image Y7. The video Y7 preferably includes mapping of the exit flow line, markings of authentication standards, exit routes, evacuation spaces, etc., as well as images with a seasonal feel (Marine Day, Halloween, Christmas).

Next, the operator performs a door closing operation (T6), the parking device closes the entry/exit door 9 (T7), and the exit operation is completed. It is preferable to project the image Y8 even after the door is closed (T7). Video Y8 is, for example, a text video such as "Thank you for coming today."

FIG. 8 is a plan view when the parking facility 100 is a self-propelled parking lot.
In this figure, parking facility 100 has an entrance 27, a branch road 28, and a parking slot 29.
The parking facility 100 includes a vehicle identification device 30 provided at the entrance 27, the branch road 28, and the parking slot 29 to identify the vehicle 1. The vehicle identification device 30 has a camera and an image processing device, reads the license plate of the vehicle 1, and stores it in the storage device 26.
The storage device 26 further stores the position of the parking frame 29 and its usage status.

The projector device 22 includes an in-lot projector 22C (or a third projector) provided near an entrance 27, a branch road 28, and a parking slot 29 in the parking lot.
The indoor projector 22C projects an indoor image X4 (or a fourth image) according to the vehicle position. The on-site video X4 is a moving image that includes a route guidance image B6 that guides the vehicle 1 to the empty parking slot 29 at the time of parking.
Although a plurality (10) of in-house projectors 22C are shown in this example, any number of in-house projectors may be used as long as they can project the in-hall image X4 at a predetermined position.

In FIG. 8, when the vehicle 1 arrives at the entrance 27, the position detection device 10 detects the vehicle position, and the vehicle identification device 30 reads the license plate of the vehicle 1. The projection mapping device 20 determines the specifications (car type, size, etc.) of the vehicle 1 from the license plate, stores the specifications of the vehicle 1 in the storage device 26, and locates an empty parking slot 29 suitable for the vehicle 1. Secure it and create a route to that location.
The in-house projector 22C at the entrance 27 projects an image X including guidance suitable for the entrance 27 onto the wall surface 51 or the floor surface 52.

In FIG. 8, when the vehicle 1 arrives at the branch road 28, the position detection device 10 detects the vehicle position, the vehicle identification device 30 reads the license plate of the vehicle 1, and the on-site projector 22C provides route guidance for the vehicle 1. The included image X is projected onto a wall surface 51 or a floor surface 52.

In FIG. 8, when the vehicle 1 arrives at the parking slot 29, the position detection device 10 detects the vehicle position, the vehicle identification device 30 reads the license plate of the vehicle 1, and the on-site projector 22C guides the vehicle to the empty parking slot 29. An image X including the above is projected onto a wall surface 51 or a floor surface 52.

With the above-described configuration, the driver of the vehicle 1 can easily determine from the image X (inside image X4) where to pass and where to park after entering from the entrance.

FIG. 9 is an explanatory diagram of the parking frame 29 of the self-propelled parking lot.
In this figure, (A) shows the parking slot 29 when the vehicle 1 is only a regular passenger car, and (B) shows the parking slot 29 when the vehicle 1 is a regular passenger car, a bus, and a motorcycle.

In FIG. 9, the parking frame 29 is not a rectangular frame drawn with a white line or the like on the floor surface 52, but is a projected image included in the on-site video X4 and projected by the on-site projector 22C. That is, the indoor video X4 projected by the indoor projector 22C includes a projected image of the parking slot 29.
Further, the projector device 22 can change the size and arrangement of the projected parking frame 29.

With this configuration, the size and arrangement of the parking slots 29 can be adjusted according to the types of vehicles 1 (light cars, small passenger cars, large passenger cars, buses, trucks, motorcycles, bicycles, etc.) that use the parking facility 100 and their proportions. The usage efficiency of the parking facility 100 can be improved by changing the parking facility 100.

According to the embodiment of the present invention described above, the position detection device 10 detects the vehicle position, and the projection mapping device 20 projects the image X including guidance suitable for the vehicle position onto the wall surface 51 or the floor surface 52. Thereby, the driver of the vehicle 1 can easily determine from the image X where to drive after entering the vehicle from the entrance, where to park, and what to do after parking.
Therefore, even if the user is a novice driver, he or she can easily and comfortably park the vehicle in the parking position without getting confused.

Further, since the image X is projected onto the wall surface 51 or the floor surface 52, there is no need to shift the line of sight from the front while driving, resulting in high safety. Furthermore, since communication with a user's mobile device (for example, a smartphone) is not required, high stability (robustness) can be ensured without being affected by unstable wireless communication.

Note that the present invention is not limited to the embodiments described above, and it goes without saying that various changes can be made without departing from the gist of the present invention.

A storage area (parking position), a1 front end, a2 rear end, a3 right end, a4 left end,
B1 warehousing guide image, B2 vehicle width restriction image, B3 walking route image,
B4 Danger boundary image, B5 Evacuation site image, B6 Route guidance image,
X video, X1 interior video (first video), X2 warning video (second video),
X3 Front image (3rd image), X4 Inside image (4th image),
Y1, Y2, Y3, Y4, Y5, Y6, Y7, Y8 video,
1 vehicle (passenger car), 2 pallet, 3 hoistway, 4 storage shelf, 5 carrier,
6 main body frame, 7 hoisting machine, 8 storage room, 9 storage door (opening/closing door),
10 position detection device, 12 first detection sensor, 12a detection beam light,
14 second detection sensor, 14a detection beam light,
20 projection mapping device (projection device),
22 projector device, 22A internal projector (first projector),
22B front projector (second projector),
22C In-house projector (third projector),
24 control device, 26 storage device, 27 entrance, 28 branch road, 29 parking slot,
30 vehicle identification device, 51 wall surface, 52 floor surface,
100 Parking equipment (mechanical parking device, self-propelled parking lot)

Claims (3)

A parking facility in which vehicles drive themselves from the entrance to the parking position,
a position detection device that is installed in a self-driving range of the vehicle and detects the vehicle position;
A projection mapping device that projects images onto the floor,
Equipped with a storage room with a parking position inside,
The projection mapping device has an in-warehouse projector installed in the storage room and capable of projecting an image onto the floor of the storage room,
The internal projector is
Projecting a warehousing guide image, which is a mapping image of the warehousing flow line that guides the vehicle to the parking position at the time of warehousing, when the warehousing/exit door is fully opened;
Next, projecting a vehicle width restriction image indicating a limit of deviation of the vehicle at the time of parking, at the time when the vehicle is detected immediately after passing through the entrance/exit door;
After that, projecting a walking route image indicating a walking route at the time of exiting when the vehicle is parked at the parking position,
Projecting a dangerous boundary image indicating a dangerous part while the user is inside the warehouse after the vehicle is parked at the parking position,
A parking facility that projects an evacuation site image showing an evacuation site in case of being trapped when the vehicle is parked at the parking position and the entrance/exit door is fully closed . The position detection device includes a first detection sensor that detects the vehicle protruding from the parking position,
When the first detection sensor detects the vehicle protruding from the outer edge of the parking position, projecting a caution image as an image on the floor surface by the interior projector;
The parking facility according to claim 1, wherein the caution image projects the outer edge of the parking position onto the floor surface so that the protruding position can be seen. The parking facility entry guidance method according to claim 1,
Projecting a warehousing guide image, which is a mapping image of the warehousing flow line that guides the vehicle to the parking position at the time of warehousing, when the warehousing/exit door is fully opened;
Next, projecting a vehicle width restriction image indicating a limit of deviation of the vehicle at the time of parking, at the time when the vehicle is detected immediately after passing through the entrance/exit door;
After that, projecting a walking route image indicating a walking route at the time of exiting when the vehicle is parked at the parking position,
Projecting a dangerous boundary image indicating a dangerous part while the user is inside the warehouse after the vehicle is parked at the parking position,
A parking facility entrance guidance method that projects an evacuation site image showing an evacuation site in case of being trapped when the vehicle is parked at the parking position and the entrance/exit door is fully closed .

Images