JP7456048B1 - Mechanical parking device, its safety confirmation method, and safety confirmation program - Google Patents

Abstract

[Problem] To provide a mechanical parking device, a safety confirmation method, and a safety confirmation program that can improve safety. [Solution] The mechanical parking device is equipped with a boarding/de-boarding compartment where at least one of the vehicles enters and leaves the parking lot, a rear detection sensor and a vehicle presence sensor for detecting the position of the vehicle in the boarding/de-boarding compartment, an interior monitoring unit 80 that changes the monitoring area to check whether there is anyone in the boarding/de-boarding compartment depending on the position of the vehicle in the boarding/de-boarding compartment, and an object detection sensor 30 for detecting objects in the monitoring area. [Selected Figure] Figure 7

Description

The present disclosure relates to a mechanical parking device, its safety confirmation method, and safety confirmation program.

Various methods have been proposed for mechanical parking devices to ensure safety.
For example, in Patent Document 1, as an example of door closing processing, when the authentication information of the user who performed the first authentication operation matches the authentication information of the user who performed the second authentication operation, safety confirmation is performed. A mechanical parking device is described in which the entry/exit door closes when the door close button is then pressed.
In addition, Patent Document 2 discloses that the position, size, and shape of a vehicle that has entered the boarding and alighting area is detected to obtain vehicle contour data, and the range excluding the range of the vehicle contour data from the boarding and alighting area is set as the remaining detection range. A mechanical parking device is disclosed which is configured to allow activation of the mechanical parking device when it is confirmed that no one is present in the occupancy detection range.

Japanese Patent Application Publication No. 2014-139401 Japanese Patent Application Publication No. 2014-80735

One of the important issues is to ensure that the passenger compartment is unattended as much as possible and to improve the safety of mechanical parking systems.

An object of the present disclosure is to provide a mechanical parking device, its safety confirmation method, and safety confirmation program that can improve safety.

A mechanical parking device according to an aspect of the present disclosure includes a boarding/alighting room for at least one of entering and exiting a vehicle, a vehicle detection means for detecting a position of a vehicle in the boarding/alighting room, and a vehicle detection unit in the boarding/alighting room. The vehicle includes indoor monitoring means for changing a monitoring area for confirming whether a passenger compartment is unoccupied according to the position of the vehicle, and object detection means for detecting an object in the monitoring area.

A mechanical parking device according to an aspect of the present disclosure includes a boarding/exiting room for at least one of entering and exiting a vehicle, an intrusion detection sensor for detecting an intrusion of an object into the boarding/exiting room, and an intrusion detection sensor for detecting an intrusion of an object into the boarding/exiting room; and indoor monitoring means for controlling activation and deactivation of the intrusion detection sensor according to the position.

A safety confirmation method for a mechanical parking device according to an aspect of the present disclosure is a safety confirmation method applied to a mechanical parking device equipped with a boarding and alighting room for at least one of vehicle entry and exit. a step of detecting the position of the vehicle in the room; a step of changing a monitoring area for confirming whether the passenger compartment is unoccupied according to the position of the vehicle in the passenger compartment; and a step of detecting an object in the monitoring area. executed by the computer.

A safety confirmation method for a mechanical parking device according to an aspect of the present disclosure includes a boarding room for at least one of entering and exiting a vehicle, and an intrusion detection sensor that detects intrusion of an object into the boarding and boarding room. A safety confirmation method applied to a mechanical parking device, the method comprising: detecting the position of a vehicle in the passenger compartment; and enabling and disabling the intrusion detection sensor depending on the position of the vehicle in the passenger compartment. A computer executes the controlling process.

A safety confirmation program for a mechanical parking device according to one aspect of the present disclosure is a safety confirmation program for causing a computer to execute the safety confirmation method for a mechanical parking device described above.

According to the present disclosure, there is an effect that safety can be improved.

FIG. 1 is a longitudinal cross-sectional view of a mechanical parking device according to an embodiment of the present disclosure. FIG. 1 is a schematic perspective perspective view showing a passenger compartment according to an embodiment of the present disclosure. FIG. 3 is a diagram for explaining an example of the installation position of a sensor inside and outside a passenger compartment according to an embodiment of the present disclosure. FIG. 2 is a diagram for explaining an example of a detection range of a range sensor according to an embodiment of the present disclosure. 1 is a diagram illustrating a configuration example of an internal operation panel according to an embodiment of the present disclosure. 1 is a diagram illustrating a configuration example of an external operation panel according to an embodiment of the present disclosure. FIG. 2 is a functional block diagram showing an example of functions included in a control device for a mechanical parking device according to an embodiment of the present disclosure. It is a diagram showing an example of a monitoring area at the time of warehousing according to an embodiment of the present disclosure. It is a diagram showing an example of a monitoring area at the time of warehousing according to an embodiment of the present disclosure. It is a diagram showing an example of a monitoring area at the time of warehousing according to an embodiment of the present disclosure. It is a diagram showing an example of a monitoring area at the time of warehousing according to an embodiment of the present disclosure. It is a diagram showing an example of a monitoring area at the time of warehousing according to an embodiment of the present disclosure. FIG. 2 is a diagram illustrating an example of a monitoring area at the time of leaving a warehouse according to an embodiment of the present disclosure. FIG. 2 is a diagram illustrating an example of a monitoring area at the time of leaving a warehouse according to an embodiment of the present disclosure. FIG. 2 is a diagram illustrating an example of a monitoring area at the time of leaving a warehouse according to an embodiment of the present disclosure. FIG. 2 is a diagram illustrating an example of a monitoring area at the time of leaving a warehouse according to an embodiment of the present disclosure. FIG. 2 is a diagram illustrating an example of a monitoring area at the time of leaving a warehouse according to an embodiment of the present disclosure. FIG. 2 is a diagram illustrating an example of a monitoring area at the time of leaving a warehouse according to an embodiment of the present disclosure. It is a flowchart which showed an example of a processing procedure of warehousing processing concerning one embodiment of this indication. It is a flowchart which showed an example of a processing procedure of warehousing processing concerning one embodiment of this indication. It is a flowchart which showed an example of a processing procedure of warehousing processing concerning one embodiment of this indication. It is a flowchart which showed an example of the processing procedure of the internal monitoring process performed at the time of warehousing concerning one embodiment of this indication. It is a flowchart which showed an example of a processing procedure of shipping processing concerning one embodiment of this indication. It is a flowchart which showed an example of a processing procedure of shipping processing concerning one embodiment of this indication. It is a flow chart showing an example of a processing procedure of internal monitoring processing performed at the time of leaving a warehouse concerning one embodiment of this indication.

Hereinafter, a mechanical parking device, its safety confirmation method, and safety confirmation program according to an embodiment of the present disclosure will be described with reference to the drawings. In the embodiment described below, an elevator-type tower-type mechanical parking device will be described as an example of the mechanical parking device of the present disclosure, but the invention is not limited to this example. The mechanical parking device of the present disclosure may be of a vertical circulation type, a planar reciprocating type, a horizontal circulation type, a two-stage type, or the like. Alternatively, a conveyor-type or fork-type mechanical parking device that does not use a pallet may be used.

FIG. 1 is a longitudinal sectional view of a mechanical parking device 1 according to an embodiment of the present disclosure. As shown in FIG. 1, the mechanical parking device 1 is an elevator-type tower-type multilevel parking facility that can accommodate a plurality of vehicles 2, and is a parking tower provided with an entrance 3 and an entrance/exit door 4. It is equipped with 5. The ground floor of the parking tower 5 is a boarding and alighting room 7 for entering and leaving the vehicle 2, and a turntable 8 for changing the direction of the vehicle 2 is installed on the floor surface of the room 7. The turntable 8 has a structure in which a turning plate 10 and a turning drive section 11 are provided in a concave pit 9 formed on the floor surface of the passenger compartment 7. In addition, although this embodiment shows the case where both parking and exit are performed in the passenger compartment 7, the invention is not limited to this. For example, the boarding and alighting rooms may be different for entering and leaving the warehouse, and may include a boarding and alighting room exclusively for entering and a boarding and alighting room exclusively for leaving. Moreover, in this embodiment, although one passenger compartment is shown, a plurality of passenger compartments may be provided.

A vertical lift passage 13 is formed in the center of the parking tower 5, and a lift 14 (transport means) is provided in the passage so as to be able to move up and down. The lift 14 is suspended at its four corners by a plurality of wire ropes extending downward from a winch (not shown) provided at the top of the parking tower 5, for example, and is moved up and down within the elevator passageway 13 when the winch is activated. I can do it.

On the other hand, vehicle storage shelves 17 (parking spaces) are provided on both sides of the elevator passageway 13. The vehicle storage shelves 17 are provided vertically in multi-tiered fashion with the elevator passageway 13 in between, and each vehicle storage shelf 17 accommodates one pallet 18 for loading a vehicle. Note that the pillars of the vehicle storage shelf 17 and the like are omitted from the illustration.

When the heights of the floor surfaces of the lift 14 and the vehicle storage shelf 17 match, an empty pallet 18 or a pallet 18 loaded with a vehicle 2 is transferred from the lift 14 to the vehicle storage shelf 17. Alternatively, a delivery mechanism (not shown) is provided that allows smooth delivery from the vehicle storage shelf 17 to the lift 14.

FIG. 2 is a schematic perspective view showing the passenger compartment 7. FIG. Inside the passenger compartment 7, there is an indoor parking area, which is a space in which a pallet 18 is arranged in the center. In this embodiment, the indoor parking area and the area of the pallet 18 are the same.
In addition, on the wall in front of the entry/exit door 4 in the passenger compartment 7, there is a mirror 24 for the user (driver) to check the position of the vehicle 2, and a guide for "forward", "stop", and "reverse". An electric stop position indicator light 25 is provided. Further, inside the passenger compartment 7, a three-color light 23 whose lighting state changes depending on the state of entry and exit is provided. For example, the three-color lights 23 are arranged in the order of red, yellow, and blue from the top. The stop position indicator light 25 and the three-color light 23 function as a notification section for notifying the user of information. In addition, other notification means such as speakers, warning lights, displays, etc. are installed in the passenger compartment to notify users of information (guidance information for entering and exiting the garage, error occurrence information, etc.) by voice or display. It may be.

In the passenger compartment 7, four cameras 35A to 35D are installed to photograph the interior situation. In this embodiment, the cameras 35A to 35D are, for example, video cameras, and are respectively attached to different wall surfaces (four surfaces) of the passenger compartment 7. For example, the camera 35A is arranged to take pictures of the front of the vehicle 2 stopped in the passenger compartment 7, the camera 35B is arranged to take pictures of the rear of the vehicle 2, the camera 35C is arranged to take pictures of the left side of the vehicle 2, and the camera 35D is arranged to take pictures of the right side of the vehicle 2. Each is placed in the position where it will be photographed. Note that the number of cameras installed is not limited to the above, and it is sufficient that at least one camera is provided.

Inside the passenger compartment 7, an internal operation panel 26 is provided that receives input information for closing the entry/exit door 4 when leaving the garage, for example. This internal operation panel 26 is mainly operated by a user (for example, a driver). The internal operation panel 26 may be provided on the right side or the left side of the passenger compartment 7, or may be provided on the right side and the left side, respectively.

Furthermore, an external operation panel 22 is provided outside the passenger compartment 7. This external operation panel 22 is operated by, for example, a user (driver) using this mechanical parking device 1, a manager, a maintenance worker, or the like. Further, a monitor 28 is installed near the external operation panel 22 to display real-time images captured by the cameras 35A to 35D. Further, outside the passenger compartment 7, an entry control light 21 including blue and red lamps is provided above the entry/exit door 4.

The passenger compartment 7 is provided with a plurality of sensors. For example, the passenger compartment 7 includes an object detection sensor (object detection means) 30 (see FIG. 7) for detecting a person in the passenger compartment 7, and a vehicle detection sensor (object detection means) 30 (see FIG. 7) for detecting the position of the vehicle in the passenger compartment 7. Vehicle detection means) 36 (see FIG. 7), etc. are provided.

FIG. 3 is a diagram for explaining an example of the installation position of the sensor inside and outside the passenger compartment 7. As shown in FIG.
As shown in FIG. 3, in this embodiment, two range sensors 30A and 30B are provided as an example of the object detection sensor 30. The range sensor 30A is provided, for example, on the rear left side of the passenger compartment 7, and the range sensor 30B is provided, for example, on the rear right side of the passenger compartment 7. For example, as shown in FIG. 4, the range sensors 30A and 30B output a search wave W, such as a laser beam or an ultrasonic wave, which has the property of being reflected upon hitting a target, and move within a predetermined angular range while receiving the reflected wave. By scanning in the horizontal direction, objects (people, pets, luggage, etc.) in the passenger compartment are detected.

Note that the object detection sensor 30 is not limited to this example. For example, the object detection sensor 30 may be any sensor that can detect an object in a monitoring area, which will be described later, or may be a combination of a plurality of sensors. For example, in addition to or in place of the above-mentioned range sensors 30A and 30B, other known object detection means may be used as appropriate to detect objects in the monitoring area. For example, other known object detection means include human sensors, photoelectric sensors, etc. provided in each of the front area, right side area, left side area, and rear area of the passenger compartment 7. Furthermore, it is also possible to use the above-mentioned cameras 35A to 35D as other object detection means, and in this case, it is possible to determine whether the passenger compartment is unoccupied based on the image data acquired by the cameras 35A to 35D. I can do it.
The detection signal of the object detection sensor 30 is configured to be output to a sensor control section 57 (see FIG. 7), which will be described later.

Further, in this embodiment, as examples of the vehicle detection sensor 36, a rear detection sensor 31, a vehicle presence sensor 33, an opening sensor 34, etc. are provided.
The rear detection sensor 31 is one of the stop position detection sensors for detecting that the vehicle 2 is normally stopped on the pallet (indoor parking area) 18, and detects that the rear part of the vehicle 2 is at a predetermined stop position. This sensor is used to determine whether the limit has been exceeded. For example, the rear detection sensor 31 is a pair of photoelectric sensors provided near the pallet 18, or in other words, the rear of the indoor parking area (on the entrance/exit door side). Depending on whether the light beam from the photoelectric sensor is blocked, it is possible to determine whether the rear part of the vehicle 2 exceeds a predetermined stopping position when entering the garage, and when leaving the garage, it is possible to determine whether the rear part of the vehicle 2 is beyond a predetermined stopping position. It becomes possible to detect at an early stage that movement has started from the pallet 18 (indoor parking area) toward the entry/exit door 4.

The vehicle presence sensor 33 is a sensor that detects that the vehicle 2 is parked on the pallet 18. The vehicle presence sensor 33 is, for example, a pair of photoelectric sensors, and detects whether a vehicle is placed on the pallet 18 based on whether the light beam from the photoelectric sensor is blocked.

The opening sensor 34 is, for example, a sensor that outputs information regarding the opening of the entry/exit door 4. For example, the opening degree sensors 34 are a pair of photoelectric sensors provided on both side surfaces of the entrance/exit 3 and at a predetermined height position. Depending on whether or not the light beam from this photoelectric sensor is blocked, the opening degree of the entry/exit door 4, in other words, the position in the height direction is detected. Further, the opening sensor 34 can detect entry into and exit from the passenger compartment 7 of the vehicle when the entry/exit door 4 is fully open. For example, the opening sensor 34 is provided at a height of 300 mm from the ground.
Detection signals from these vehicle detection sensors 36 are configured to be output to a sensor control section 57 (see FIG. 7), which will be described later.

Further, the entrance/exit 3 of the passenger compartment 7 is provided with an entry/exit detection sensor (intrusion detection means) 32 for detecting when a person or a vehicle enters or exits the passenger compartment 7 . The entrance/exit detection sensor 32 includes, for example, a pair of sensors 32A provided inside the entrance/exit 3 and a pair of sensors 32B provided outside the entrance/exit 3. The sensors 32A and 32B are, for example, a type of sensor that receives a beam transmitted from a transmitter at a receiver. When this beam is blocked by the vehicle 2, a person, etc., the sensor is turned on, and its detection signal is transmitted to a sensor control section 57 (see FIG. 7), which will be described later.

For example, the sensor control unit 57 determines that a person or a vehicle has left the passenger compartment 7 when ON signals are input in the order from the sensor 32A to the sensor 32B. Further, the sensor control unit 57 determines that a person or a vehicle has entered the passenger compartment 7, for example, when ON signals are input in the order from the sensor 32B to the sensor 32A.

Note that the method of detecting the intrusion of a person or vehicle into the passenger compartment 7 is not limited to the above example. For example, instead of the sensor 32A, a sensor for detecting a person in the rear area of the passenger compartment 7 (a human sensor, a range sensor, a rear sensor, etc.) or a predetermined sensor installed in the passenger compartment may be used. Good too.
Further, in FIG. 3, the sensors 32A and 32B are provided on the inside and outside of the passenger compartment 7, respectively, with the entrance/exit door 4 in between, but the sensor 32A and 32B are not limited to this example. For example, both the sensors 32A and 32B may be provided inside the passenger compartment, or may be provided outside the passenger compartment.

Furthermore, the sensor control unit 57 can determine whether a person is entering or exiting or a vehicle is entering or exiting, based on the detection signal of the entry/exit detection sensor 32. For example, when a person enters or exits, the sensors 32A and 32B do not output on signals at the same time. On the other hand, when the vehicle 2 enters and leaves the vehicle, since the vehicle has a certain length, the ON signal of the sensor 32A and the ON signal of the sensor 32B overlap in time. In this way, it is possible to determine whether a person is entering or exiting or a vehicle 2 is entering or exiting, depending on the temporal overlap between the on-signal of the sensor 32A and the on-signal of the sensor 32B.

In this embodiment, the entry/exit detection sensor 32 configured as described above is configured to be able to detect intrusion and exit, respectively, but the invention is not limited to this example. For example, the sensor 32A or 32B may be omitted, and the entry/exit detection sensor 32 may be configured with a pair of photoelectric sensors. In this case, although it is not possible to determine whether the person is intruding or leaving the warehouse, it is possible to at least detect that a person or pet has passed through the entrance 3. Furthermore, the entry/exit detection sensor 32 is not limited to the sensor described above. For example, it is also possible to use the camera 35 as an entry/exit detection means.

FIG. 5 is a diagram showing an example of the configuration of the internal operation panel 26. As shown in FIG. As shown in FIG. 5, the internal operation panel 26 includes an input section 260 for the user to perform input operations. The input unit 260 is provided with, for example, an authentication information input unit for receiving authentication information of a user. In this embodiment, the IC card reader 261 is provided as an example of the authentication information input section, but the present invention is not limited to this example. The authentication information input unit includes, for example, a numeric keypad, a biometric information reading unit that reads so-called biometric information such as fingerprints, iris, vein information, and facial images, and wireless communication (for example, 3G, 4G, 5G, 6G, wireless LAN, Wifi). , LTE, etc.) may include a wireless communication unit that receives authentication information.

Further, the input unit 260 may include a door closing reservation button 263, an unattended confirmation button 264, and the like. Further, the input unit 260 may include a touch panel 262. The display on the touch panel 262 is controlled by a control device 40, which will be described later, and also includes authentication information read by an IC card reader 261, information input by operating the door closing reservation button 263 and the unattended confirmation button 264 by an operator or the like. is output to the control device 40. Note that in place of the touch panel 262, a display without an input function may be provided.

Further, various input screens and guidance may be displayed on the touch panel 262, and various input information may be input from the touch panel 262 according to the displayed guidance. In this case, the IC card reader 261, door closing reservation button 263, and unattended confirmation button 264 are replaced by buttons displayed on the touch panel 262. In this way, the method of inputting various information is not limited to the above example, and any known technique may be adopted as appropriate.

Further, the internal operation panel 26 may have a wireless communication section, and the wireless communication section receives various input information from a mobile terminal provided by the user, thereby inputting authentication information and confirming that no one is present. It may be configured such that input, safety confirmation input, door closing instruction input, etc. can be performed. Furthermore, an on-vehicle device may be used instead of the mobile terminal. Examples of mobile terminals include smartphones, tablet terminals, remote controllers, and the like.
Further, in the case where these various input information are input via a wireless line, it is possible to simplify the internal operation panel 26. For example, instead of providing the wireless communication section on the internal operation panel 26, the input section 260 may be omitted. Further, the display and the wireless communication unit do not necessarily need to be provided in the same housing, and may be installed at appropriate positions, respectively.

FIG. 6 is a diagram showing an example of the configuration of the external operation panel 22. As shown in FIG. As shown in FIG. 6, the external operation panel 22 is housed in a metal casing 43, for example, for protection from wind and rain and to prevent mischief, and this casing 43 is provided with a lockable lid 44. It is being When the operator operates the external operation panel 22, the operator unlocks the lock, opens the lid 44, and accesses the external operation panel 22.

The external operation panel 22 includes, for example, an authentication information input section for receiving authentication information of a user. In this embodiment, the IC card reader 46 is provided as an example of the authentication information input section, but the present invention is not limited to this example. The authentication information input unit includes, for example, a numeric keypad, a biometric information reading unit that reads so-called biometric information such as fingerprints, iris, vein information, and facial images, and wireless communication (for example, 3G, 4G, 5G, 6G, wireless LAN, Wifi). , LTE, etc.) may include a wireless communication unit that receives authentication information.

The external operation panel 22 also includes a touch panel 45, a speaker 47 for providing voice guidance to an operator (for example, a user) on how to operate, an emergency stop button 48 for emergency stopping the operation of the mechanical parking device 1, a microphone, etc. may be provided.

The touch panel 45 has both a display function and an input function. The touch panel 45 displays, for example, various types of guidance information for causing the operator to perform operations for entering and exiting the warehouse, as well as displaying operation buttons and the like for causing the operator to perform operations for entering and exiting the warehouse. The display on the touch panel 45 is controlled by a control device (control means) 40 described later, and information input by operating the touch panel 45 by an operator or the like is output to the control device 40. The control device 40 is installed inside or outside the passenger compartment 7, for example.

FIG. 7 is a functional block diagram showing an example of functions provided in the control device 40 of the mechanical parking device 1 according to the present embodiment. The control device 40 is, for example, an information processing device, and includes a CPU, an auxiliary storage device for storing programs executed by the CPU, a main memory that functions as a work area when each program is executed, and a communication device for connecting to a network. It is equipped with an interface, etc.
The control device 40 performs overall control of the mechanical parking device 1. For example, the control device 40 includes a comprehensive database 52 in which various data necessary for controlling the mechanical parking device 1 are stored. The comprehensive database 52 includes the vehicle status, pallet shape type, vehicle storage shelf shape type, identification information of the person who is permitted to use the mechanical parking device 1, and contact information of the user (for example, registered email address). etc.) are stored. Persons who are permitted to use the mechanical parking device 1 include, in addition to users, managers, maintenance personnel, and the like.

Further, the control device 40 includes a storage unit 41 for storing data necessary for executing warehousing processing and warehousing processing, which will be described later. For example, the storage unit 41 stores the ID of the user who succeeded in user authentication in the first user authentication process (first authentication information), the detection result of the object detection sensor 30 (for example, the scan result by the range sensors 30A and 30B) , monitoring area, information on various modes, etc. are stored.

The auxiliary storage device of the control device 40 stores control programs for controlling each mechanism of the mechanical parking device 1, and the CPU reads various programs stored in the auxiliary storage device to the main memory. By executing this, the functions of each part described below are realized. Furthermore, when executing the program, the CPU refers to and uses various data stored in the comprehensive database 52.

The control program may be stored in advance in an auxiliary storage device such as a ROM when the control device 40 is manufactured, or may be downloaded and installed from a server that distributes the control program etc. after construction. . Alternatively, it may be installed via an external storage device. In this way, there are no particular limitations on how to install various programs.

The control device 40 includes a main control section 50. In addition to the above-mentioned comprehensive database 52, the main control section 50 includes an entry/exit door control section 55, a conveyor control section 56, a sensor control section 57, a camera control section 58, an image database 59, a vehicle measurement control section 61, a turning A control unit 62 and the like are connected. Further, the main control unit 50 is connected to an internal operation panel 26 and an external operation panel 22, and is configured to allow two-way communication.

The entry/exit door control unit 55 opens and closes the entry/exit door 4 by controlling a door drive unit 63 that receives an operation command from the main control unit 50 and drives the entry/exit door 4 to open and close. Further, the entry/exit door control section 55 receives a position signal of the entry/exit door 4 from the entry/exit door sensor 67 and feeds back the information to the main control section 50 .

The entry/exit door sensor 67 detects, for example, whether the entry/exit door 4 is fully open or fully closed, and outputs a detection signal (door fully open signal, door fully closed signal) indicating this to the entry/exit door control unit 55. As the entry/exit door sensor 67, a known sensor can be appropriately employed. For example, an example of the entry/exit door sensor 67 is a limit switch. The door drive unit 63 is configured to include, for example, a motor. Note that various known configurations can be appropriately adopted for the door drive unit 63.

The conveyance machine control section 56 controls the lifting and lowering of the lift 14 and the loading and unloading operations of the pallets 18 by controlling a lift drive section 64 that drives the lift 14 upon receiving an operation command from the main control section 50 . Further, the transport machine control unit 56 receives a position signal of the lift 14 from the transport machine position sensor 68 and feeds back the information to the main control unit 50.

The sensor control unit 57 receives the detection signal from the object detection sensor 30 and outputs the information to the main control unit 50. Further, the sensor control unit 57 determines whether a person or vehicle enters or exits based on the detection signal of the entrance/exit detection sensor 32 and outputs the determination result to the main control unit 50 . Further, the sensor control section 57 outputs the detection signal of the vehicle detection sensor 36 to the main control section 50.

Further, the sensor control unit 57 controls the disabling and enabling of the object detection sensor 30 and the disabling and enabling of the entry/exit detection sensor 32 based on instructions from the main control unit 50 .
Here, invalidating the sensor includes stopping the operation of the sensor itself, that is, putting the sensor in a state where it cannot detect an object. In addition, disabling a sensor means that although the sensor itself is operating, even if an object is detected by the sensor, the detection result of the sensor is disabled in the judgment processing by the software (if no object is detected). judgment).

The camera control section 58 receives an operation command from the main control section 50, causes the camera 35 (35A to 35D) installed inside the passenger compartment 7 to take an image, and outputs the image information to the main control section 50. This image information is stored in the image database 59 for a predetermined period of time. Note that the image database 59 may be provided inside the comprehensive database 52 or may be provided on the cloud.

The vehicle measurement control unit 61 receives an operation command from the main control unit 50, uses a vehicle measuring device 69 to measure the weight of the vehicle mounted on the lift 14, and uses this information to control the main control via a vehicle weight sensor 73. feedback to section 50. This vehicle weight information is used for controlling the lift 14 and the like.

The swing control unit 62 receives an operation command from the main control unit 50 and operates the turntable 8 by controlling the swing drive unit 11 that turns the turntable 8. Further, the rotation control section 62 receives a rotation position signal of the turntable 8 from the turntable position sensor 71 and feeds the information back to the main control section 50 .

The main control unit 50 operates the mechanical parking device 1 based on feedback from each control unit 55 , 56 , 57 , 58 , 61 , and 62 and input information from the internal operation panel 26 or the external operation panel 22 . Further, the main control unit 50 executes a control program for the warehousing process and a control program for the warehousing process based on various information exchanged with the internal operation panel 26 and the external operation panel 22. Note that the detection signals of the object detection sensor 30, entry/exit detection sensor 32, rear detection sensor 31, and vehicle presence sensor 33 are input to the main control unit 50 via the sensor control unit 57 described above. It may also be input directly to the main control unit 50. By doing so, it becomes possible to implement faster control according to the detection signal.

Further, the main control section 50 includes, for example, an indoor monitoring section (indoor monitoring means) 80 and an unattended confirmation section 81.
The indoor monitoring unit 80 changes the monitoring area for checking whether the vehicle is unoccupied depending on the position of the vehicle in the passenger compartment, more specifically, the position on the moving route of the vehicle. In addition, the indoor monitoring unit 80 disables and enables the object detection sensor 30 and disables the entry/exit detection sensor 32 according to the position of the vehicle in the passenger compartment, more specifically, the position on the moving route of the vehicle. control activation and activation. Note that in a state where the entry/exit detection sensor 32 is disabled, the object detection sensor 30 assumes the function of the entry/exit detection sensor 32. In other words, by virtually setting the boundary between the monitoring area and the area other than the monitoring area (for example, the thick line in FIGS. 9 to 11 and 15 to 17) as an intrusion detection line, it is possible to detect The intrusion detection line can be dynamically changed by

The unoccupied confirmation unit 81 confirms whether the monitoring area set by the indoor monitoring unit 80 is unoccupied based on the detection signal from the object detection sensor 30. Specifically, the unattended confirmation unit 81 determines whether an object is detected in the monitoring area. If no object is detected in the monitoring area, it is determined that no one is present, and if an object is detected, it is determined that the area is not unoccupied.

Next, the activation and deactivation of the entry/exit detection sensor 32 and the object detection sensor 30 and the setting of the monitoring area by the indoor monitoring unit 80 will be explained with reference to FIGS. 8 to 18.

[Monitoring area at the time of warehousing]
At the time of parking, for example, as shown in FIG. 8, when the vehicle 2 is parked outside the passenger compartment, the indoor monitoring unit 80 sets a monitoring area K0 that is the entire area inside the passenger compartment, and also monitors the object detection sensor 30 and Enable the entry/exit detection sensor 32.

Next, for example, as shown in FIG. 9, when it is detected that the entry/exit door 4 is fully open, the indoor monitoring unit 80 sets a monitoring area K1. The monitoring area K1 is, for example, an area obtained by excluding the rear area of the passenger compartment 7 from the monitoring area K0. Further, the indoor monitoring unit 80 disables the entry/exit detection sensor 32.

Next, for example, as shown in FIG. 10, when the vehicle 2 enters the passenger compartment and is detected by the opening sensor 34, the interior monitoring unit 80 sets a monitoring area K2. The monitoring area K2 is, for example, an area obtained by excluding a part of the rear area of the passenger compartment 7 and the indoor parking area from the monitoring area K0 of the passenger compartment 7.
Further, for example, as shown in FIG. 11, when the vehicle 2 is detected by the rear detection sensor 31, the indoor monitoring unit 80 sets a monitoring area K3. The monitoring area K3 is, for example, an area obtained by excluding the rear area and front area of the passenger compartment 7 and the indoor parking area from the monitoring area K0.

Further, for example, as shown in FIG. 12, when the vehicle 2 is not detected by the rear detection sensor 31 and the vehicle 2 is detected by the vehicle presence sensor 33, in other words, the vehicle 2 moves onto the pallet 18. When the object detection sensor 30 is stopped, the indoor monitoring unit 80 disables the object detection sensor 30.

Next, for example, as shown in FIG. 13, when the exit of the user (driver) is detected by the opening sensor 34, the indoor monitoring unit 80 sets a monitoring area K4. The monitoring area K4 is an area obtained by excluding the indoor parking area and the area in front of the passenger compartment from the monitoring area K0.

Note that the timing for activating the entry/exit detection sensor 32 is not limited to the above. For example, when it is detected that the vehicle has stopped on the pallet 18, in other words, in the state shown in FIG. 12, the entry/exit detection sensor 32 may be enabled.

[Monitoring area when leaving the warehouse]
At the time of leaving the warehouse, the monitoring area K4 is set and the object detection sensor 30 and the entry/exit detection sensor 32 are enabled until the entry/exit door 4 is fully opened.

Next, for example, as shown in FIG. 14, when it is detected that the entry/exit door 4 is fully open, the indoor monitoring unit 80 temporarily disables the object detection sensor 30. That is, when leaving the garage, the user needs to enter the passenger compartment and move inside, so it is necessary to disable at least the object detection sensor 30. The timing for activating the object detection sensor 30 is, for example, when it is confirmed that the user has boarded the vehicle 2 based on the sensor in the passenger compartment or the image of the camera 35, or when the internal operation panel is activated as described later. For example, when a predetermined period of time has elapsed since the door closing reservation input operation was performed in step 26.

Next, for example, as shown in FIG. 15, when the user gets into the vehicle 2 and moves the vehicle 2, and the vehicle 2 is detected by the rear detection sensor 31, the indoor monitoring unit 80 detects the monitoring area K3. Set. Further, the indoor monitoring unit 80 disables the entry/exit detection sensor 32.

Next, as shown in FIG. 16, when the vehicle 2 is not detected by the vehicle presence sensor 33, the indoor monitoring unit 80 sets a monitoring area K2.
Subsequently, as shown in FIG. 17, when the vehicle 2 is not detected by the rear detection sensor 31, the indoor monitoring unit 80 sets a monitoring area K1.
Next, as shown in FIG. 18, when the opening sensor 34 detects the exit of the vehicle 2, the indoor monitoring unit 80 sets the monitoring area K0 and activates the entry/exit detection sensor 32. As a result, when an object is detected by the entry/exit detection sensor 32, it is determined that it is an intrusion by a person or a pet.

In this way, the indoor monitoring unit 80 sets different monitoring areas K1 to K4 depending on the moving position of the vehicle 2 in the passenger compartment. In other words, the indoor monitoring unit 80 dynamically sets different monitoring areas depending on the position of the vehicle movement route in the passenger compartment 7. Thereby, an appropriate monitoring range can be dynamically set according to the movement of the vehicle, and safety can be improved.

〔Warehousing processing〕
Next, an example of the warehousing process executed by the control device 40 at the time of warehousing will be described with reference to the drawings. 19 to 21 are flowcharts showing an example of the procedure of the warehousing process executed by the control device 40.

First, when entering the warehouse, the user moves the vehicle 2 in front of the entry/exit entrance 3, gets out of the vehicle, and heads toward the external operation panel 22. Then, the user unlocks the lock using a special key and opens the lid 44 of the housing 43. When the control device 40 detects that the lid 44 is opened (SA1 in FIG. 19), it displays the first user authentication screen on the touch panel 45 of the external operation panel 22 (SA2).

When the user contacts the IC card with the IC card reader 46, the user ID (first authentication information) registered in the IC card is read and transmitted to the control device 40. When the user ID is input (SA3), the control device 40 performs first user authentication (first authentication) to determine whether the person who is attempting to enter the warehouse is a pre-registered user. Do it (SA4). Specifically, the control device 40 accesses the comprehensive database 52 and determines whether the input user ID is registered. As a result, if the first user authentication is not successful (SA5: NO), the user is notified that the authentication has failed by displaying a message that the user authentication has failed on the touch panel 45, and then the first user authentication is not successful. Display the user authentication screen No. 1 (SA2).

On the other hand, if the first user authentication is successful (SA5: YES), that is, if the user ID is registered in the comprehensive database 52, the input operation from the touch panel 45 of the external operation panel 22 is possible. It is set to a permission state (SA6), the user ID for which the first user authentication was successful is stored in the storage unit 41 (SA7), and a startup confirmation screen is displayed on the touch panel 45 of the external operation panel 22 (SA8).

When the start button is pressed on the start confirmation screen (SA9), the control device 40 sets an operation permission state in which vehicle transport mechanisms such as the lift 14 and mechanical mechanisms such as the entry/exit door 4 can be operated (SA10). An empty pallet is called from the vehicle storage shelf 17 (SA11).

Next, when the empty pallet arrives at the loading/unloading room 7, the control device 40 displays a door opening screen on the touch panel 45 indicating that the loading/unloading door 4 is to be opened, and opens the loading/unloading door 4 (SA12). Then, when the loading/unloading door 4 is completely opened (SA13 in FIG. 20), the control device 40 sets the operation lock state in which the operation of the mechanical mechanism (vehicle transport means such as the lift 14 and the loading/unloading door 4) is locked ( SA14).

Next, the control device 40 causes the touch panel 45 to display a warehousing guidance screen that prompts the user to enter the warehouse (SA15), and further sets the external operation panel 22 to an operation lock state in which input from the touch panel 45 is not accepted (SA16). ). This makes it possible to prevent a third party from inputting information from the touch panel 45 while the user is away from the external operation panel 22 .

Furthermore, when it is detected that the entry/exit door 4 is completely opened, the control device 40 starts internal monitoring processing (SA17). Note that details of the internal monitoring process will be described later.

After confirming the warehousing guidance screen, the user gets into the vehicle 2, moves the vehicle 2 into the passenger compartment, places the vehicle 2 on the empty pallet conveyed into the passenger compartment, and exits the passenger compartment.
Next, the control device 40 displays a second user authentication screen on the touch panel 45 of the external operation panel 22, and prompts the user to input authentication information (SA18).

As a result, when the user etc. contacts the IC card with the IC card reader 46 and the authentication information (second authentication information) is input (SA19), the control device 40 inputs the received user ID (second authentication information). ) is a pre-registered user ID or not, a second user authentication is performed (SA20).

As a result, if the second user authentication is successful (SA20: YES), then the user ID (first authentication information) input in the first user authentication and the user ID input in the second user authentication are A verification process is performed to determine whether or not the user ID (second authentication information) obtained is the same as the user ID (second authentication information) (SA21). If the verification process is successful (SA21: YES), the process moves to step SA22 in FIG.

On the other hand, if the second user authentication is not successful (SA20: NO) or if the verification process is not successful (SA21: NO), the process returns to step SA18 and the second user authentication screen is displayed. let Note that at this time, a notification may be sent to the effect that the authentication or verification has failed.

In step SA22 of FIG. 21, the control device 40 puts the external operation panel 22 into an operation permission state. Next, the control device 40 causes the touch panel 45 to display an unoccupied confirmation screen for the user to confirm that the passenger compartment is unoccupied, and provides guidance for the user to confirm that the passenger compartment is unoccupied (SA23).

When the unattended confirmation button is pressed on the unattended confirmation screen (SA24), a door close screen for closing the entry/exit door 4 is displayed on the touch panel 45 of the external operation panel 22 (SA25). On the door closing screen, for example, a door closing button is displayed, and guidance is displayed that prompts the user to operate the door closing button after confirming again that the passenger compartment is unoccupied.

In this door closing screen, when the closing button is pressed (SA26), the control device 40 determines whether the monitoring area K4 (see FIG. 13) is unoccupied based on the detection signal of the object detection sensor 30 (SA27). As a result, if an object is detected in the monitoring area K4 (SA27: NO), the process returns to step SA23. On the other hand, if the monitoring area K4 is unmanned (SA27: YES), a door closing process is performed (SA28), and the user ID (first authentication information) stored in the storage unit 41 is deleted (SA29). , ends the warehousing process.

[Internal monitoring process at the time of warehousing]
Next, the internal monitoring process executed at SA17 in FIG. 20 at the time of warehousing will be described. FIG. 22 is a flowchart showing an example of the procedure of internal monitoring processing at the time of warehousing, which is executed by the control device 40.
As described above, the control device 40 starts internal monitoring processing when it is detected that the entry/exit door 4 is completely opened.

First, the control device 40 sets the monitoring area K1 (see FIG. 9) (SB1), and further disables the entry/exit detection sensor 32 (SB2). Subsequently, when the vehicle 2 starts moving into the passenger compartment and the opening sensor 34 detects the vehicle 2 (SB3), the control device 40 sets the monitoring area K2 (see FIG. 10) (SB4). ). Further, when the vehicle 2 moves further and is detected by the rear detection sensor 31 (SB5), the control device 40 sets a monitoring area K3 (see FIG. 11) (SB6). Subsequently, when the vehicle 2 moves onto the pallet 18 and stops (SB7), in other words, when the vehicle is not detected by the rear detection sensor 31 and is detected by the vehicle presence sensor 33, the control device 40 The object detection sensor 30 is disabled (SB8). Next, when the exit of the user (driver) is detected by the opening sensor 34 (SB9), the control device 40 activates the object detection sensor (SB10) and sets the monitoring area K4 (see FIG. 12). (SB11). Further, the control device 40 enables the entry/exit detection sensor 32 (SB12), and ends the internal monitoring process.

Note that in the internal monitoring process described above, if an object is detected in the monitoring area by the object detection sensor 30 while the vehicle 2 is moving, the control device 40 determines whether an object (person, pet, etc.) is detected in the monitoring area. An announcement will be made to inform users of the situation and encourage them to check the safety of their surroundings. For example, the announcement can be made by voice or warning using a speaker installed in the passenger compartment. Alternatively, a display may be installed at the front of the passenger compartment and a message may be displayed on the display. Alternatively, by lighting up the stop position indicator light 25, the user may be guided to stop the vehicle 2, check the safety of the surrounding area, and then resume movement. Furthermore, if communication with the on-vehicle device mounted on the vehicle 2 is possible, the notification may be made through the on-vehicle device via the wireless communication section.

[Issuance processing]
Next, the delivery process executed by the control device 40 according to this embodiment will be described with reference to FIGS. 23 and 24. FIGS. 23 and 24 are flowcharts showing an example of the procedure of the shipping process executed by the control device 40. FIG.

The processing up to the opening of the door in the unloading process is the same as SA1 to SA12 in the warehousing process described above, except that in step SA11, a pallet on which a vehicle is placed is called to the boarding room 7 instead of an empty pallet. Detailed explanation here will be omitted. In step SC13 of FIG. 23, when the loading/unloading door 4 is completely opened, the control device 40 sets the operation lock state in which the operation of the mechanical mechanism (vehicle transport means such as the lift 14 and the loading/unloading door 4) is locked (SC14). ).

Next, the control device 40 causes the touch panel 45 to display an exit guidance screen prompting the user to exit the garage (SC15), and further sets the external operation panel 22 to an operation lock state in which input from the touch panel 45 is not accepted ( SC16). This makes it possible to prevent a third party from inputting information from the touch panel 45 while the user is away from the external operation panel 22 .

Further, when it is detected that the entry/exit door 4 is completely opened, the control device 40 starts internal monitoring processing (SC17). Note that details of the internal monitoring process will be described later.

After confirming the exit guidance screen, the user moves to the boarding room 7. Subsequently, the control device 40 displays a second user authentication screen on the touch panel 262 of the internal operation panel 26 (see FIG. 5), and prompts the user to input authentication information (SC18). The control device 40 may, for example, turn on the red color of the three-color light 23 and notify the user of guidance prompting the user to input authentication information by voice via a speaker.

As a result, when a user or the like contacts an IC card with an IC card reader and authentication information (second authentication information) is input (SC19), the control device 40 performs second user authentication (SC20). As a result, if the second user authentication is successful (SC20: YES), then the user ID (first authentication information) input in the first user authentication and the user ID input in the second user authentication are A verification process is performed to determine whether the user ID (second authentication information) obtained is the same or has a predetermined relationship (SC21). As a result, if the matching process is successful (SC21: YES), the process moves to step SC22 in FIG. 24.

On the other hand, if the second user authentication is not successful (SC20: NO) or if the verification process is not successful (SC21: NO), the process returns to step SC18 and the second user authentication screen is displayed. let Note that at this time, a notification may be sent to the effect that the authentication or verification has failed.

Next, in step SC22 of FIG. 24, the control device 40 puts the internal operation panel 26 into an operation permission state (SC22). Next, the control device 40 causes the touch panel 262 to display an unoccupied confirmation screen for having the user confirm that the cabin is unoccupied (SC23), and provides guidance for the user to confirm that the cabin is unoccupied (SC24). ). Further, at this time, the control device 40 may cause the tricolor light 23 to blink red.

When the unattended confirmation button 264 (see FIG. 5) is pressed on the unattended confirmation screen (SC24), the control device 40 causes the touch panel 262 to display a closing reservation screen for making a reservation for closing the entry/exit door 4 (SC25). ). On the door closing reservation screen, for example, guidance is displayed that prompts the user to confirm again that the passenger compartment is unoccupied and then operate the door closing reservation button 263 (see FIG. 5). Further, at this time, the control device 40 may turn on the yellow light of the three-color light 23.

When the user who has confirmed this closing door reservation screen presses the door closing reservation button 263 (SC26), the control device 40 provides guidance urging the user to board the vehicle, and also turns on the yellow tricolor light 23. Make it blink. Subsequently, the control device 40 determines whether or not it has been confirmed that the passenger compartment 7 is unoccupied based on the detection result of the object detection sensor 30 (SC27). Here, the object detection sensor 30 in the passenger compartment needs to confirm that there is no one present after the user has boarded the vehicle. For this reason, for example, the control device 40 detects the object detection sensor after a predetermined period of time after the door closing reservation button 263 is pressed, or after the user's boarding is confirmed by the sensor or camera 35 installed in the passenger compartment. Unattended confirmation is performed based on the detection results of 30.

As a result, if the object detection sensor 30 cannot confirm that the passenger compartment is unoccupied (SC27: NO), the process returns to step SC23 and the unoccupied confirmation screen is displayed on the touch panel 262 again. Further, at this time, the control device 40 may notify the touch panel 262 that a person has entered the passenger compartment.

On the other hand, in step SC27, if the intrusion of a person is not detected (SC27: YES), the control device 40 provides guidance to the user to leave by voice etc. lights up. Thereby, when the user moves the vehicle 2 and the vehicle 2 is detected by the rear detection sensor 31, the control device 40 causes the tricolor light 23 to flash blue. Then, when the exit of the vehicle 2 is detected by the opening sensor 34 (SC28), the control device 40 turns off the tricolor light 23 and performs door closing processing (SC29), and uses the information stored in the storage unit 41. The customer ID is deleted (SC30), and the shipping process is ended.

[Internal monitoring process when leaving the warehouse]
Next, the internal monitoring process executed at SC17 in FIG. 23 at the time of leaving the warehouse will be described. FIG. 25 is a flowchart illustrating an example of the procedure of internal monitoring processing at the time of leaving the warehouse, which is executed by the control device 40.
As described above, the control device 40 starts internal monitoring processing when it is detected that the entry/exit door 4 is completely opened.

First, the control device 40 temporarily disables the object detection sensor 30 (SD1). Subsequently, when the user gets into the vehicle 2 and starts moving outside the passenger compartment, and the vehicle 2 is detected by the rear detection sensor 31 (SD2), the control device 40 controls the monitoring area K3 (see FIG. 15). is set (SD3), and furthermore, the entry/exit detection sensor 32 is disabled (SD4).

Furthermore, when the vehicle 2 moves and the vehicle 2 is not detected by the vehicle presence sensor 33 (SD5), the control device sets the monitoring area K2 (see FIG. 16) (SD6). Furthermore, when the vehicle 2 moves and the vehicle 2 is not detected by the rear detection sensor 31 (SD7), the control device sets the monitoring area K1 (see FIG. 17) (SD8). Furthermore, when the vehicle 2 moves and the opening sensor 34 detects that the vehicle has left the passenger compartment 7 (SD9), the control device 40 sets the monitoring area K0 (see FIG. 18) (SD10). Furthermore, the entry/exit detection sensor 32 is enabled (SD11), and the internal monitoring process is ended.

In addition, in the internal monitoring process described above, if an object is detected in the monitoring area by the object detection sensor 30 or if an intrusion of a person or pet into the passenger compartment 7 is detected by the entry/exit detection sensor 32, the control device 40 may make an announcement to notify that a person, pet, etc. has been detected in the passenger compartment and urge the user to check the safety of the surrounding area.
The announcement can be made by voice or warning, for example, using a speaker installed in the passenger compartment. Alternatively, a display may be installed at the front of the passenger compartment and a message may be displayed on the display. Furthermore, by lighting or blinking the three-color light 23 in a predetermined manner, the vehicle 2 may be temporarily stopped, and after confirming the safety of the surrounding area, the vehicle 2 may be guided to resume movement again. Moreover, when the control device 40 is in a state where wireless communication with the on-vehicle device mounted on the vehicle 2 is enabled, the control device 40 may notify through the on-vehicle device.

In addition, in the internal monitoring process, the control device 40 controls when the object detection sensor 30 detects an object in the monitoring area, or when the entry/exit detection sensor 32 detects that a person or pet enters the passenger compartment 7. , to cancel the door closing reservation made from the internal operation panel 26 before getting into the vehicle 2, and to have the user perform a series of input operations from the internal operation panel 26 (for example, SC18 to SC27 in FIG. 23) again. You can also use it as Alternatively, the control device 40 may cancel the reservation for closing the door from the internal operation panel 26 made before entering the vehicle 2, and cause the door to be closed by an input operation from the external operation panel 22 in the same manner as when entering the vehicle. good.

As described above, a series of processing procedures related to the warehousing process and the warehousing process according to the present embodiment have been described, but the procedures and processing contents are merely examples, and processes can be added, omitted, or changed as appropriate.

Further, in the internal monitoring process at the time of leaving the garage described above, the entry/exit detection sensor 32 is disabled when the vehicle 2 is detected by the rear detection sensor 31, but the invention is not limited to this. For example, the timing for disabling the entry/exit detection sensor 32 may be any time before the vehicle 2 passes the position on the vehicle movement route where the entry/exit detection sensor 32 is installed.

Furthermore, in the above-described warehousing process, a series of processes for closing the door are performed from the external operation panel 22, but the process is not limited to this. For example, similar to the exit process, a series of processes for closing the door may be performed from the internal operation panel 26.
Similarly, in the above-described unloading process, a series of processes for closing the door are performed from the internal operation panel 26, but the present invention is not limited to this. For example, similar to the warehousing process, a series of processes for closing the door may be performed from the external operation panel 22.

Further, the input operation for opening the entry/exit door 4, the input operation and confirmation work for closing the entry/exit door 4, etc. are merely examples, and are not limited thereto. That is, as for the input operation for opening the entry/exit door 4, the input operation and confirmation work for closing the entry/exit door 4, publicly known input operations, confirmation operations, etc. can be appropriately adopted.

As described above, according to the mechanical parking device 1, its safety confirmation method, and safety confirmation program according to the present embodiment, the vehicle detection sensor 36 for detecting the position of the vehicle 2 in the passenger compartment 7 , an indoor monitoring unit 80 that changes a monitoring area for checking whether the passenger compartment is unoccupied according to the position of the vehicle in the passenger compartment 7, and an object detection sensor 30 for detecting an object in the monitoring area.

This makes it possible to set an appropriate monitoring area according to the position of the vehicle 2 when the vehicle 2 is moving. As a result, intrusion from the outside can be detected with high accuracy, and safety can be improved.

Although the present disclosure has been described above using the above embodiments, the technical scope of the present disclosure is not limited to the range described in the above embodiments. Various changes or improvements can be made to the embodiments described above without departing from the gist of the disclosure, and forms with such changes or improvements are also included within the technical scope of the present disclosure. In addition, the flow of the warehousing process, the warehousing process, the internal monitoring process at the time of warehousing, and the internal monitoring process at the time of warehousing described in the above embodiment is an example, and unnecessary steps may be deleted within the scope of the gist of the present disclosure. It is possible to add new steps, change the processing order, etc.

Further, in the above embodiment, the rear detection sensor 31, the vehicle presence sensor 33, and the opening sensor 34 are used as the vehicle detection sensor 36, but the present invention is not limited thereto. For example, another sensor may be used as the vehicle detection sensor 36. Furthermore, a vehicle detection sensor may be additionally installed so that the position of the vehicle 2 on the vehicle movement route can be detected more precisely. Alternatively, a distance sensor may be installed in front or behind the passenger compartment and the position of the vehicle may be detected by measuring the distance to the vehicle. In this way, by detecting the position of the vehicle 2 more precisely, it becomes possible to set the monitoring area more precisely.

Further, in the above embodiment, an upwardly-opening door was exemplified and explained as the entry/exit door 4, but the invention is not limited to this. For example, the entry/exit door 4 may be opened downward (a type stored on the ground) or may be opened horizontally.

Further, in each of the embodiments described above, the case where the external operation panel 22 and the internal operation panel 26 are controlled by the control device 40 is illustrated, but the present invention is not limited to this example. For example, an operation panel control device may be provided for each of the external operation panel 22 and the internal operation panel 26, and the above-described processing may be realized by exchanging information between the operation panel control device and the control device 40. In this case, for example, the operation panel control devices provided on each of the external operation panel 22 and the internal operation panel 26 may be made to execute the storage processing and verification processing of authentication information (user ID) that were performed by the control device 40. You can also use it as That is, the device configuration related to a specific control system for realizing the above-mentioned warehousing processing and warehousing processing is not limited to the above-mentioned configuration, and various configurations can be realized with reference to known techniques.

The mechanical parking device 1, its safety confirmation method, and safety confirmation program described in each embodiment described above can be understood, for example, as follows.

A mechanical parking device (1) according to a first aspect of the present disclosure includes a boarding room (7) in which a vehicle (2) enters and exits the garage, and a device for detecting the position of a vehicle in the boarding and boarding room. a vehicle detection means (36), an indoor monitoring means (80) for changing a monitoring area for checking whether the passenger compartment is unoccupied according to the position of the vehicle in the passenger compartment, and detecting an object in the monitoring area. and an object detection means (30).

This makes it possible to set an appropriate monitoring area according to the position of the vehicle when the vehicle is moving. As a result, intrusion from the outside can be detected with high accuracy, and safety can be improved.

A mechanical parking device (1) according to a second aspect of the present disclosure is such that, in the first aspect, the vehicle detection means includes an indoor parking area for stopping the vehicle in the passenger compartment and an entry/exit entrance (3) of the passenger compartment. and at least one sensor (33, 34) for detecting the position of the vehicle on the vehicle travel path during the vehicle travel.

Thereby, it becomes possible to set an appropriate monitoring area according to the position of the vehicle on the vehicle movement route between the indoor parking area where the vehicle is stopped in the passenger compartment and the entrance/exit of the passenger compartment.

In the mechanical parking device (1) according to a third aspect of the present disclosure, in the second aspect, the vehicle detection means detects that the rear part of the vehicle exceeds the rear parking position of the indoor parking area. The vehicle includes at least one of a rear detection sensor (31) and a vehicle presence sensor (33) for detecting that the vehicle is stopped in the indoor parking area.

This makes it possible to detect the position of the vehicle on the vehicle movement route using sensors that are generally installed in existing mechanical parking devices. As a result, the effort and cost of adding more sensors can be eliminated.

A mechanical parking device (1) according to a fourth aspect of the present disclosure provides a mechanical parking device (1) according to any one of the first to third aspects described above, in which when an object is detected in the monitoring area by the object detection means, the mechanical parking device (1) A notification means is provided to notify the user.

As a result, when an object is detected in the monitoring area, by alerting the user, it is possible, for example, to visually confirm that there is no one present. Thereby, safety can be further improved.

A mechanical parking device (1) according to a fifth aspect of the present disclosure includes an entrance/exit door (4) provided at an entrance/exit entrance (3) of a passenger compartment in any of the first to fourth aspects described above; an internal operation panel (26) provided in the passenger compartment for making a reservation for closing the entry/exit door; and a control for canceling the reservation for closing the door when an object is detected in the monitoring area by the object detection means. means (40).

In this way, if an object is detected in the monitoring area by the object detection means after the closing of the entry/exit door is reserved from the internal operation panel, the reservation for automatic closing at the time of exiting the garage is canceled, so there is no need to worry about people, pets, etc. This makes it possible to prevent the entry/exit door from being automatically closed while the vehicle is left in the passenger compartment. This makes it possible to further improve safety.

A mechanical parking device (1) according to a sixth aspect of the present disclosure, in the fifth aspect, includes an external operation panel (22) provided outside the passenger compartment, and the control means (40) controls the door closing reservation. If canceled, the reservation for closing the door from the internal operation panel is invalidated, and guidance is provided to the user to perform the door closing operation from the external operation panel.

In this way, if an object is detected in the monitoring area by the object detection means after the closing of the entry/exit door is reserved from the internal operation panel, the reservation for automatic door closing at the time of exit is canceled and the Instead, it becomes possible for the user to perform the door closing operation from an external operation panel. Thereby, safety can be further improved.

A mechanical parking device (1) according to a seventh aspect of the present disclosure, in any one of the first to sixth aspects, includes an intrusion detection sensor (32) that detects an intrusion of an object into the passenger compartment, and The monitoring means controls activation and deactivation of the intrusion detection sensor according to the position of the vehicle in the passenger compartment.

This makes it possible to control activation and deactivation of the intrusion detection sensor at appropriate timings depending on the movement state of the vehicle.

A mechanical parking device (1) according to an eighth aspect of the present disclosure includes a boarding and alighting room for at least one of entering and exiting a vehicle, an intrusion detection sensor that detects an intrusion of an object into the boarding and alighting room, and an intrusion detection sensor that detects entry of an object into the boarding and alighting room. and indoor monitoring means for controlling activation and deactivation of the intrusion detection sensor according to the position of the vehicle in the room.

This makes it possible to control activation and deactivation of the intrusion detection sensor at appropriate timings depending on the movement state of the vehicle.

The safety confirmation method for a mechanical parking device (1) according to the ninth aspect of the present disclosure is a safety confirmation method applied to a mechanical parking device equipped with a boarding/exiting room that performs at least one of parking and exiting a vehicle. a step of detecting the position of the vehicle in the passenger compartment; a step of changing a monitoring area to confirm whether the passenger compartment is unoccupied according to the position of the vehicle in the passenger compartment; and detecting an object in the monitoring area. The computer executes the steps.

A safety confirmation method for a mechanical parking device (1) according to a tenth aspect of the present disclosure includes a boarding and alighting room for at least one of vehicle entry and exit, and an intrusion detection system that detects intrusion of an object into the boarding and alighting room. A safety confirmation method applied to a mechanical parking device comprising a sensor, the step of detecting the position of a vehicle in the passenger compartment, and activating the intrusion detection sensor according to the position of the vehicle in the passenger compartment. and a step of controlling the invalidation.

A safety confirmation program according to an eleventh aspect of the present disclosure is a safety confirmation program for causing a computer to execute the safety confirmation method described in the ninth or tenth aspect.

1: Mechanical parking device 2: Vehicle 3: Entrance/exit door 4: Entrance/exit door 7: Boarding/exit room 18: Pallet 21: Entry control light 22: External operation panel 23: Three-color light 25: Parking position indicator light 26: Inside Operation panel 28: Monitor 30: Object detection sensor 30A: Range sensor 30B: Range sensor 32: Entrance/exit detection sensor 32A: Sensor 32B: Sensor 31: Rear detection sensor 33: Vehicle presence sensor 34: Opening sensor 35: Camera 35A: Camera 35B: Camera 35C: Camera 35D: Camera 36: Vehicle detection sensor 40: Control device 45: Touch panel 46: IC card reader 47: Speaker 48: Emergency stop button 50: Main control unit 52: General database 55: Entry/exit Door control section 57: Sensor control section 67: Entrance/exit door sensor 80: Indoor monitoring section 81: Unattended confirmation section 260: Input section 261: IC card reader 262: Touch panel 263: Door closing reservation button 264: Unattended confirmation button

Claims (9)

a boarding and alighting room for at least one of vehicle entry and exit;
Vehicle detection means for detecting the position of the vehicle in the passenger compartment;
indoor monitoring means for changing a monitoring area for confirming whether the passenger compartment is unoccupied according to each position of the vehicle detected by the vehicle detection means on the moving route of the vehicle in the passenger compartment;
A mechanical parking device comprising : object detection means for detecting an object in the monitoring area while the vehicle is moving . 2. The vehicle detection means includes at least one sensor for detecting the position of the vehicle on a vehicle movement path between an indoor parking area where the vehicle is stopped in the passenger compartment and an entrance/exit of the passenger compartment. Mechanical parking device. The vehicle detection means includes a rear detection sensor for detecting that the rear part of the vehicle is beyond the rear parking position of the indoor parking area, and a rear detection sensor for detecting that the vehicle is stopped in the indoor parking area. The mechanical type according to claim 2 , comprising at least one of a vehicle presence sensor and a distance sensor that is installed in front or behind the passenger compartment and detects the position of the vehicle by measuring the distance to the vehicle. parking device. The mechanical parking device according to claim 1, further comprising a notification device that notifies a user when an object is detected in the monitoring area by the object detection device. An entrance/exit door installed at the entrance/exit of the passenger compartment,
an internal operation panel provided in the passenger compartment and for making a reservation for closing the entry/exit door;
The mechanical parking device according to claim 1, further comprising a control means for canceling the door closing reservation when an object is detected in the monitoring area by the object detection means. Equipped with an external control panel installed outside the passenger compartment,
6. The control means, when canceling the door closing reservation, invalidates the door closing reservation from the internal operation panel and provides guidance to the user to perform the door closing operation from the external operation panel. Mechanical parking device. Equipped with an intrusion detection sensor that detects objects entering the passenger compartment.
The mechanical parking device according to claim 1, wherein the indoor monitoring means controls activation and deactivation of the intrusion detection sensor according to the position of the vehicle in the passenger compartment. A safety confirmation method applied to a mechanical parking device equipped with a boarding/exiting room for at least one of vehicle entry and exit, the method comprising:
a vehicle detection step of detecting the position of the vehicle in the passenger compartment;
an indoor monitoring step of changing a monitoring area for confirming whether the passenger compartment is unoccupied according to each position of the vehicle detected in the vehicle detection step on the moving route of the vehicle in the passenger compartment;
A safety confirmation method in which a computer executes an object detection step of detecting an object in the monitoring area while the vehicle is moving . A safety confirmation program for causing a computer to execute the safety confirmation method according to claim 8.