JPH09100647A - Correction method and device for slantwise parking of car in mechanical multi-story garage - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable correction of slantwise parking of car easily and accurately. SOLUTION: In a state that the deliverying speed for a vehicle 1 by means of a front wheel carrying conveyor 11 and a rear wheel carrying conveyor 12 reaches a specified speed the start time of passing front wheel 1a of a vehicle 1 on the counter-conveying direction side and the start time of passing rear wheel 1b thereof on the counter-conveying direction side are detected respectively by detectors 15-18, and thereafter the slantwise degree of the vehicle 1 is discriminated according to a difference between the detection time of the front wheel 1a and the detection time of the rear wheel 1b. Based thereon the running speeds of the conveyors 11, 12 are controlled.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for automatically correcting a stop at an oblique stop in a mechanical multi-story parking lot, that is, a stop in which the vehicle is not directed in a predetermined direction but directed in another direction. .

[0002]

2. Description of the Related Art In recent years, a mechanical multi-story parking garage for mechanically entering and exiting a car has been widely used. Such a mechanical multi-story parking garage is roughly divided into a storage stage, an elevator, a traveling trolley, and a retrieval stage. Be composed. A conveyor or the like is provided between the loading and unloading stage and the elevator and between the elevator and the traveling carriage so that the vehicle can be mechanically transported. Since the vehicle is mechanically transported as described above, when the vehicle is stopped in an oblique posture and transported in such a state, the vehicle body, the door mirror, and the like may contact and be damaged in an elevator, a traveling vehicle, or the like. On the other hand, the stopping posture on the entrance stage depends on the driving skill of the driver, and the vehicle cannot always stop accurately at a predetermined stop position.

[0003] Therefore, a mechanism for mechanically correcting a vehicle stopped at an angle is required, and the following methods have conventionally been used to correct such a vehicle stop at an angle.

(A) On a conveyor on which wheels are placed, concave grooves and running guides matching the wheel width are provided so as to project so that the vehicle is not likely to stop diagonally.

(B) As shown in FIG. 13, a front wheel slat conveyor 104 and a rear wheel slat conveyor 105, which are installed in parallel so as to run toward the elevator 103 on the floor of the storage stage 102, and the adjacent elevator 103 on the floor. It is also possible to move both slat conveyors 104, 105 and a fork conveyor 106 installed in parallel in the direction of the arrow to move the vehicle 1 mounted on both slat conveyors 104, 105 from the storage stage 102 to the elevator 103. However, by controlling the traveling of both slat conveyors 104 and 105 during the transfer, the vehicle is diagonally stopped (the vehicle 1 has both slat conveyors 104 and 105).
5 means that the vehicle is not stopped vertically. The same applies below). The front wheel slat conveyor 104 and the rear wheel slat conveyor 105
"Conveyor for front wheel conveyance" and "Conveyor for rear wheel conveyance" described in the claims.

The correction method by such a device is such that the front wheel detection sensor 107 and the rear wheel detection sensor 108, which place detection lines on a single line perpendicular to the running method of both slat conveyors, near the end points of both slat conveyors 104, 105. When one of the sensors 107 or 108 detects one wheel, the slat conveyor 104 or 105 that conveys the detected one wheel is stopped, and then the other sensor 107 or 108 is transferred. When the other wheel is detected, the traveling of the slat conveyor 104 or 105 that carries the detected other wheel is stopped. With this method, the positions of the front wheels and the rear wheels, that is, the direction of the vehicle 1 can be set in a state perpendicular to the traveling direction of the slat conveyors 104 and 105. In this way, after the slats conveyors 104 and 105 are stopped and the diagonal stop is corrected, the slats conveyors 104 and 10 are stopped.
By restarting the traveling of the vehicle 5, the vehicle 1 can be transported to the elevator 103 in the correct direction. Such an oblique stop correction method is disclosed in Japanese Utility Model Laid-Open No. 4-34355.

[0007]

The conventional method introduced above has the following disadvantages.

(1) In the method described in the above (A), when the depth of the groove or the height of the traveling guide is reduced, there is no effect of preventing the vehicle from stopping obliquely. On the other hand, when the depth of the groove is increased,
There is a possibility that the side surface of the groove or the like and the tire or the aluminum wheel may be rubbed and damaged. Also, the driver has a great psychological pressure to park at the correct position. For this reason, it is difficult for drivers with low driving skills to enter the warehouse, and it takes a lot of time to enter the warehouse.

(2) In the method described in the above (B), when the wheels are in a stationary state (meaning that the front wheels are not turning straight but turning right or left, the same applies hereinafter). The front wheel slat conveyor 104 is stopped earlier than a predetermined position because the vehicle 1 is detected earlier than in the case where the vehicle is in a straight traveling state, and the vehicle 1 is moved to both slat conveyors 104, 1
It cannot be corrected perpendicular to 05.

In addition, even when the tire widths of the front wheels and the rear wheels are different from each other, the vehicle itself is vertically set in order to make the outside of the wheels whose passage is detected by the sensors 107 and 108 perpendicular to the traveling direction of the slat conveyors 104 and 105. Cannot be modified.

Further, both slat conveyors 104, 10
Since the operation of stopping and restarting 5 causes the vehicle to stop at an angle, the driving torque required for the slat conveyors 104 and 105 with the vehicle mounted thereon increases. For this reason, it is difficult to accurately control the travel of the slat conveyors 104 and 105, and as a result, it is difficult to accurately correct an oblique stop. On the other hand, if an accurate correction is to be performed by such a device, the structure of the device becomes complicated and expensive.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned conventional inconveniences, and an object of the present invention is to provide a method and an apparatus for automatically correcting an oblique stop of a mechanical multi-story parking garage which can easily and accurately correct an oblique stop. .

[0013]

In order to achieve the above-mentioned object, the present invention provides a mechanical multi-story parking lot according to the present invention in which the vehicle is parked diagonally (the direction of the vehicle is perpendicular to the running direction of the front wheel conveyor and the rear wheel conveyor). The same applies to the following.) The automatic correction method is based on the traveling speed of the front wheel conveyor that runs in the lateral direction with the front wheels of the vehicle and the rear wheel transportation that runs in the same direction with the rear wheels of the vehicle. A method for automatically correcting the oblique stop of a mechanical multi-story parking garage in which the direction of the vehicle is corrected in a direction perpendicular to the traveling direction of each conveyor by controlling the traveling speed of the conveyor, wherein the transport speed of the vehicle by each of the conveyors is adjusted. After reaching the predetermined speed, the detector detects the passage start timing of the front wheel on the side opposite to the transport direction of the vehicle and the start time of passage of the rear wheel on the side opposite to the transport direction of the vehicle. Based on the time difference between the sensing time and the detection time of the rear wheel, the inclination of the vehicle (based on a plane perpendicular to the traveling direction of the two conveyors, the distance from the reference plane to the front wheel, the distance to the rear wheel, The same applies hereinafter.) And correcting the direction of the vehicle by controlling the traveling speed of at least one of the front wheel conveyor and the rear wheel conveyor based on the result of the judgment. It is.

The oblique stop correction method for a mechanical multistory parking lot of the present invention having the above-described structure has the following effects.

During the constant speed conveyance of the vehicle by the front and rear wheel conveyors, a front wheel passage start timing (timing) and a rear wheel passage start timing (timing) are detected, and a time difference between the timings is detected. More precisely, the inclination of the vehicle is determined by considering the traveling speeds of the two conveyors. By changing the traveling speed of the front-wheel transport conveyor or the rear-wheel transport conveyor based on the determination of the degree of inclination, the direction of the vehicle is changed and the oblique posture of the vehicle is corrected. In particular, since the posture of the vehicle is determined by detecting the front and rear wheels opposite to the direction of conveyance by the conveyor, the posture of the vehicle can be corrected before it is determined that there is an oblique posture and before the vehicle is carried out to another stage. The parking efficiency is not hindered by the posture correction work.

In the present method, when the tire width and tread width of the front and rear wheels are different, the direction of the vehicle cannot be accurately corrected in a direction perpendicular (perpendicular) to the traveling direction of the conveyor. For vehicles sold in volume,
The difference is as small as about 20 mm, and does not affect the correction of the oblique posture of the vehicle.

It is preferable that the oblique correction of the vehicle is performed by increasing the speed of the conveyor that is conveying the wheel on the side where the detection timing is delayed.

According to this method, the inclination of the vehicle is corrected by increasing the traveling speed of one of the conveyors, so that the control is easy and the vehicle can be moved in the lateral direction regardless of the presence or absence of the vehicle. The transport time is constant.

According to a third aspect of the present invention, the start and end times of passage of the front wheels on the side opposite to the transport direction of the vehicle, and the start times and passage of rear wheels of the rear side of the vehicle on the opposite side of the vehicle by the detector. End times are respectively detected, and times D100 and D101, which are half the time difference between the passage start time and the passage end time of each wheel, are calculated. The sum of the time differences D102 and D101 between the front and rear wheel detection times is D1
It is preferable to determine the degree of inclination of the vehicle based on whether it is equal to 00, larger or smaller than 00.

According to this method, the degree of obliqueness is calculated using the time difference between the front wheel passage timing and the rear wheel passage timing at the midpoint between the start and end of each pass, so that the front wheel and the rear wheel are calculated. The degree of obliqueness compared at the center of the tire of the wheel is obtained. Therefore, even when the front wheels are in a stationary state or when the tire widths of the front and rear wheels are different, the direction of the vehicle can be accurately corrected. In this method,
Even if the vehicle is not parked in a predetermined position, or even if the front wheels do not face the traveling direction and remain in the stationary state, if the front wheels and the rear wheels are bridged between the front and rear wheel conveyors, the parking lot It is possible to carry it in. Therefore, the burden on the driver is small, and the carrying-in work does not take much time.

According to a fourth aspect of the present invention, there is provided a device for automatically correcting an oblique stop of a mechanical multi-story parking garage, comprising the following steps: A) a front-wheel transport conveyor for driving the front wheels of the vehicle in the lateral direction; A mechanical system that corrects the direction of the vehicle in a direction perpendicular to the traveling direction of each conveyor by controlling the traveling speed of the front wheel conveyor and the rear wheel conveyor, equipped with a rear wheel conveyor that travels An automatic correcting device for oblique stop of a multi-story parking garage, B) having a detection line on a straight line in a direction perpendicular to the traveling direction of the conveyor, and a front wheel on a side opposite to a transport direction of the vehicle and a rear side on a side opposite to the transport direction. A front wheel detection sensor and a rear wheel detection sensor that respectively detect the passage of the wheels, and C) the data of the vehicle that is being conveyed at a predetermined speed detected by these two sensors based on data on the passage start time and the passage end time of the front and rear wheels of the vehicle. Diagonal degree A control unit that controls the traveling speed of at least one of the front wheel conveyor and the rear wheel conveyor based on the calculation result; andD) a variable speed based on a command from the control unit. And a drive unit for driving the front wheel conveyor and a drive unit for driving the rear wheel conveyor.

According to the device for automatically correcting the oblique stop of a mechanical multi-story parking lot according to the fourth aspect, the method according to the first or second aspect can be implemented, and the same operation as those methods can be exhibited. In addition, since the detection lines of the front wheel detection sensor and the rear wheel detection sensor are aligned on a straight line in a direction perpendicular to the traveling direction of the conveyor and are detected during conveyance at a predetermined speed, the timing of front wheel passage and rear wheel passage are determined. The value obtained by multiplying the time difference between the timings by the transport speed is the oblique degree. This simplifies calculations and speed control of both conveyors.

According to a fifth aspect of the present invention, the calculation of the degree of obliqueness of the vehicle is performed by calculating a time difference between an intermediate point between the passage start time and the passage end time of the front wheels and an intermediate point between the passage start time and the passage end time of the rear wheels. Multiplied by data on the traveling speed of each of the conveyors.

According to the automatic oblique stop correction system for a mechanical multi-story parking lot, the method of the third aspect can be implemented, and the same operation as the method can be exhibited.

According to a sixth aspect of the present invention, the automatic oblique stop automatic correction device for a mechanical multi-story parking garage according to the fourth or fifth aspect of the present invention is preferably provided on a storage stage.

The automatic oblique stop automatic correction device for a mechanical multi-story parking garage can be used for the transfer of the above-described storage stage and the elevator, the transfer of the elevator and the traveling vehicle, and the like. If the oblique posture is corrected, the posture will hardly become oblique after the transfer, and it is effective to equip the storage stage with the device.

[0027]

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of a method and an apparatus for automatically correcting an oblique stop of a mechanical multi-story parking lot according to the present invention will be described with reference to the drawings. FIG. 1 is a schematic plan view of the mechanical multi-story parking lot, and FIG. 2 is a schematic plan view of a storage stage equipped with the automatic oblique stop automatic correction device for the mechanical multi-story parking lot according to the present invention.

(1) Overview of mechanical multi-storey parking lot As shown in FIG. 1, the structure of the mechanical multi-storey parking lot is roughly classified into a storage stage 2, a storage elevator 3, a traveling carriage 4, a parking space 5, It comprises an elevator 6 for delivery and a delivery stage 7. Multi-storey parking lots having such a structure are often used in underground parking lots.

When entering the parking lot, the driver confirms that the vehicle can enter the parking lot by the entrance control light 10 and the gate device 8, and then makes the vehicle 1 enter the entrance stage 2. next,
The vehicle 1 is mechanically carried into the storage elevator 3 by the slat conveyors 11 and 12, and the storage elevator 3 is moved to an arbitrary floor. Thereafter, the vehicle 1 is carried into the traveling vehicle 4 movably provided on the floor, the traveling vehicle 4 is moved, and the vehicle 1 is carried into an arbitrary parking space 5, whereby parking is completed. On the other hand, when leaving from the parking lot, conversely, the vehicle 1 is transported in the order of the traveling carriage 4, the exit elevator 6 and the exit stage 7, and after the driver confirms that the exit by the gate device 9 is possible, the driver drives toward the exit. I do.

As described above, since the vehicle is stopped on the storage stage 2 by the driver's operation, the vehicle 1 is not inclined in the direction perpendicular to the traveling direction of the slat conveyors 11 and 12, but is stopped in an oblique posture. Sometimes. With such an oblique posture, the vehicle 1 may come into contact with the inner wall of the elevator 3. In order to prevent such inconveniences, an oblique stop automatic correction device, which will be described later, is provided on the storage stage 2.

(2) Configuration of the Storage Stage and Storage Elevator The transportation of the vehicle 1 from the storage stage 2 to the storage elevator 3 is performed by the front wheel slat conveyor 11 provided on the storage stage 2 and the rear, as shown in FIG. Wheel slat conveyor 12
And the fork conveyor 14 provided on the storage elevator 3 by synchronously operating. The front wheel slat conveyor 11 is provided so as to be able to carry front wheels and travel in the direction of the elevator 3 (same as the lateral direction of the vehicle 1 and indicated by an arrow in the drawing), and the rear wheel slat conveyor 12 carries the rear wheels and The slat conveyor 11 is provided so as to be able to travel in the same direction. On the other hand, the fork conveyor 14 carries the front wheel and the rear wheel of the vehicle 1 and can run in the same direction. Further, in order to smoothly transfer the vehicle 1 from the slat conveyors 11 and 12 of the storage stage 2 to the fork conveyor 14 of the storage elevator 3,
A column-shaped transfer roller 13 rotatable in the traveling direction of the two conveyors 11, 12, and 14 is provided on the storage elevator 3 on the boundary side with the storage stage 2 on the storage elevator. The configuration up to this point is the above-mentioned conventional device (B) (see FIG. 13).
However, the control method for correcting the position of a sensor for detecting an oblique posture described later and the posture is different.

(3) Automatic oblique stop correction device In FIG. 2, a position detection sensor for the front wheel 1a on the opposite side (left side) in the direction opposite to the conveyance direction, crossing the front wheel slat conveyor 11 and the rear wheel slat conveyor 12 on the storage stage 2 respectively. 15 and 16, and detection sensors 17 and 18 for the rear wheel 1b on the side opposite to the transport direction (left side). The positions at which the detection sensors 15, 16, 17 and 18 are installed are determined by moving the front and rear wheels when the traveling speed of each of the slat conveyors 11 and 12 reaches a predetermined speed (40 m / min in this example) as described later. It is a detectable position. In the photoelectric sensor according to the present embodiment, a straight line of light emitted from the light projectors 15 and 17 is directed toward the light receivers 16 and 18 by the respective slat conveyors 11.
・ They are arranged so as to be perpendicular (perpendicular) to the traveling direction of twelve.

FIG. 3 is a block diagram showing a control device of the automatic correction device for oblique stop, and FIG. 4 is a block diagram showing a detection unit, a calculation unit and an operation unit of the control device of FIG.

As shown in FIG. 3, in addition to the detection sensors 15 to 18, the control device includes a front wheel slat conveyor 11
And variable speed drive motors 20 and 21 for driving the rear wheel slat conveyor 12 respectively. Each drive motor 2
0 and 21 are connected to inverters 27 and 28 in a control panel 25 via a power cable 23,
8 is connected to the sequencer 26. The light receivers 16 and 18 of the photoelectric sensor are connected to a sequencer 26 via a control cable 22.

As shown in FIG. 4, the control device comprises a detecting section, a calculating section and an operating section, and the photoelectric sensors 15 to 18 constituting the detecting section are connected to the left front wheel 1a and the left rear wheel 1 in FIG.
The start time and the end time when b respectively passes are detected and output to the calculation unit. The operation unit is configured by a software (ladder sequence) circuit of the sequencer 26. In the arithmetic unit, the width of each wheel (tire) is calculated based on the time data input from the detection sensors 15 to 18, that is, the time when the left front wheel 1a and the left rear wheel 1b shield the detection sensors 15 to 18. At the same time, the time difference between when the left front wheel 1a and the left rear wheel 1b start blocking light of the detection sensors 15 to 18 is calculated. Then, from these time data, the oblique direction and the oblique degree of the vehicle 1 are determined based on steps described later.

From these results, the slat conveyor 11 or 12 which needs to increase the speed from the predetermined speed is determined, and the speed increase command is sent to the inverter 27 or 28 which controls the speed of each slat conveyor 11 or 12. Is output. In this example, the speed-up command sets the speed-up speed in advance (inverter output frequency: 60 Hz) and determines the time element for how many seconds the speed-up time is output. The steady running speed of each of the slat conveyors 11 and 12 is 40 m / min (inverter output frequency: 46.
4 Hz) is set.

(4) Automatic Correction Method of Slant Stopping FIG. 5 (a) is a diagram showing speed patterns of the slat conveyors 11 and 12, and FIG. 5 (b) is a diagram showing a slant detection timing of the vehicle.

As shown in FIG. 5A, the speed of each of the slat conveyors 11 and 12 is gradually increased to 40 m / min from the start of operation, and the slat conveyors 11 and 12 are operated at a constant speed of 40 m / min. And 10m
After decelerating once to / min and operating at a constant speed, decelerate and stop. The detection of the front and rear wheels 1a and 1b of the vehicle 1 by the detection sensors 15 to 18 is performed in a state where the vehicle is driven at a constant speed of 40 m / min.

As shown in FIG. 5 (b), after one of the detection sensors 15, 16, or 17, 18 has detected the passage start time of one of the wheels 1a or 1b, the other detection sensor 15, 16 or 17
Assuming that the time difference between when 16 or 17, 18 detects the passage start timing of the other wheel 1a or 1b is t seconds, 667
The displacement of the front and rear wheels is mm / s (40 m / min) × t, that is, 667 tmm. The time difference t is caused by a diagonal direction of the vehicle, a stationary tire, a stationary tire of a 4WS vehicle, a difference in front and rear tire width, a difference in front and rear tread width, and the like. According to the method of the present invention, In any case, the oblique direction of the vehicle can be corrected almost exactly. The difference between the front and rear tire widths and the difference between the front and rear tread widths are each about 20 mm, so that there is no effect on the oblique correction control.

FIG. 6 is a timing chart of a calculation section for implementing the automatic oblique stop correction method, and shows a case where the left front wheel 1a is parked on the right side (in the traveling direction of the conveyor) of the left rear wheel 1b. .

As shown in FIG. 6, each of the detection sensors 15-1
Of the detection signal from the slat conveyor 1
The operation is performed in a state where a signal indicating that the traveling speed of 1 · 12 has reached 40 m / min is issued. In this example, since the front wheel 1a is detected in advance, the front wheel detection holding timer T30 starts measuring the elapsed time at the same time as the detection sensors 15 and 16 detect it, and thereafter the elapsed time of the timer T30 is detected. Is the reference time data during the warehousing operation. When the rear wheel 1b is detected in advance, the rear wheel detection holding timer T40
The elapsed time measured by is the standard.

The light-shielding time (time difference between the passage start time and the passage end time) of the front wheel 1a, which previously shielded the sensor, is T2
And the time difference D at the midpoint (center) of the front wheel 1a
Calculate 100.

D100 = T2 ÷ 2..., T3 denotes the light blocking time of the rear wheel 1b after which the sensor is blocked, and the time difference D1 at the intermediate point (center) of the rear wheel 1b.
01 is calculated.

D101 = T3 ÷ 2 Here, assuming that a time difference t from when the front wheel 1a is detected to when the rear wheel 1b is detected is D102, the attitude of the vehicle 1 (FIG. 2) is expressed by the following relational expression. Is determined.

D100 = D101 + D102... Normal posture (no oblique correction is required) D100 <D101 + D102... Front wheel front oblique posture [rear wheel front oblique posture] The inside is the time when the rear wheels are ahead. The correction of the diagonal posture of the vehicle is performed based on the following relational expression.

In the case of: ((D101 + D102) -D100) * K = D1 where K: acceleration constant (determined empirically by implementation), D1: acceleration time (seconds), and rear wheel When the output frequency of the inverter 28 is 60 Hz, the slat conveyor 12
The speed is increased by two seconds, and the oblique posture of the vehicle 1 is corrected.

When: (D100- (D101 + D102)) * K = D2 ... Here, D2: acceleration time (seconds), and the front wheel slat conveyor 11 outputs D at the output frequency 60 Hz of the inverter 27.
The speed is increased by 2 seconds, and the oblique posture of the vehicle 1 is corrected.

FIG. 7 is a flow chart showing the procedure of the above-mentioned oblique stop automatic correction method. As shown in FIG. 7, in the method of this example, when discriminating, the steps of measuring the deviation between the front and rear wheels, the steps of determining the front wheel width, the steps of determining the rear wheel width, and these steps are performed. Based on each of the calculated data, a step of determining the slat conveyor to be accelerated among the slat conveyors 11 and 12, and calculating the acceleration time to correct the diagonal direction of the vehicle. Although not shown in the flowchart, when the correction of the vehicle direction is not necessary, the speed correction time in the correction calculation step becomes 0, and the correction work ends (ends).

(5) Example of Correction of Slant Stopping Posture Case 1: Case of No Slant Posture and No Tire Standing (FIG. 8A) [Determination] D100 (T2 / 2) = D101 (T3 / 2) D102 ( T1) = 0 T2 = T3 [No tire stationary] D100 = D101 + D102 [No oblique posture] Case 2: Front wheel oblique posture / No tire stationary (FIG. 8 (b)) [Determination] D100 (T2 / 2) = D101 (T3 / 2) D102 (T1) ≠ 0 T2 = T3 [No tire stationary] D100 <D101 + D102 [Front wheel leading oblique posture] ○ Increase rear wheel slat conveyor 12 Case 3: No slant posture When there is a tire stationary (FIG. 9A) [Determination] D100 (T2 / 2) ／ D101 (T3 / 2) D102 (T1) ≠ 0 T2 ≠ T3 [Tire stationary is present D100 = D101 + D102 [No slanting posture] Case 4: No slanting posture / Tire standing off (FIG. 9B) [Determination] D100 (T2 / 2) = D101 (T3 / 2) D102 (T1) ≠ 0 T2 ≠ T3 [there is a stationary tire] D100 = D101 + D102 [there is no diagonal posture] ○ Increase the speed of the rear wheel slat conveyor 12 Case 5: When the front diagonal posture is the front wheel and the tire is stationary (FIG. 10A) D100 (T2 / 2) = D101 (T3 / 2) D102 (T1) ≠ 0 T2 ≠ T3 [there is a tire stationary installation] D100 <D101 + D102 [front-wheel forward oblique attitude] ○ Speed-up rear wheel slat conveyor 12 Case 6 : In the case where the front wheel is in the oblique posture and the tire is stationary (FIG. 10B) [Determination] D100 (T2 / 2) = D101 (T3 / 2) D1 2 (T1) ≠ 0 T2 ≠ T3 [with tire stationary] D100 <D101 + D102 [front wheel leading diagonal position] ○ Speeding up rear wheel slat conveyor 12 Case 7: rear wheel leading diagonal position without tire loading ( FIG. 11 (a)) [Determination] D100 (T2 / 2) ≠ D101 (T3 / 2) D102 (T1) ≠ 0 T2 = T3 [No tire stationary] D100 <D101 + D102 [Rear-wheel front-diagonal posture] ○ Front wheel Acceleration of slat conveyor 11 Case 8: Diagonal posture of the front wheels and tire stationary (Fig. 11 (b)) [Determination] D100 (T2 / 2) ≠ D101 (T3 / 2) D102 (T1) ≠ 0 T2 ≠ T3 [with tire stationary] D100 <D101 + D102 [rear wheel leading diagonal position] ○ front wheel slat conveyor 11 speed up Case 9: rear wheel leading diagonal position When there is a tire stationary (FIG. 12 (a)) [Judgment] D100 (T2 / 2) ≠ D101 (T3 / 2) D102 (T1) ≠ 0 T2 ≠ T3 [there is a tire stationary] D100 <D101 + D102 [after] Wheel leading oblique posture] ○ Front wheel slat conveyor 11 is accelerated. Case 10: No oblique posture in 4WS car, no tire stationary (FIG. 12 (b)) [Determination] D100 (T2 / 2) = D101 (T3 / 2) D102 (T1) = 0 T2 = T3 [no tire stationary] D100 = D101 + D102 [no diagonal posture]

(6) Other Embodiments One embodiment of the present invention has been described above. For example, the present invention can be implemented as follows. That is, a) Front and rear wheel detection sensors are also installed near the carry-out sides of the slat conveyors 11 and 12 of the storage stage 2 so that it can be detected whether or not the oblique posture of the vehicle 1 has been corrected. If the correction of the vehicle 1 is insufficient, the slat conveyors 11 and 12 are caused to run in opposite directions, and the direction of the vehicle 1 is corrected again.

B) An infrared sensor or a limit switch is used instead of the photoelectric sensor.

C) The posture correcting device of the present invention is mounted on the storage elevator 2 and the traveling carriage 4 in addition to the storage stage 2.

D) Although the control is complicated, the traveling speed of both slat conveyors 11 and 12 is controlled to correct the posture of the vehicle.

[0054]

As is apparent from the above description,
According to the automatic oblique stop correction method and device of the mechanical multi-story parking lot according to the present invention, the following effects can be obtained.

(1) According to the method of the first aspect, the inclination of the vehicle can be easily and accurately determined based on the time difference between the detection of the front and rear wheels and by considering the traveling speed of the conveyor for front and rear wheel conveyance. The oblique attitude of the vehicle can be corrected based on the determination of the degree of obliqueness. Furthermore, since the posture of the vehicle is determined by detecting the front and rear wheels on the opposite side to the transport direction by the conveyor, the posture of the vehicle can be corrected before the vehicle is taken out to another stage after determining the oblique posture, The parking efficiency is not hindered by the posture correction work.

(2) In the method according to the second aspect, the correction of the oblique attitude of the vehicle is performed by increasing the traveling speed of one of the conveyors, so that the control is easy and regardless of the presence or absence of the oblique correction of the vehicle. The transport time of the vehicle becomes constant.

(3) In the method according to the third aspect, the time difference between the timing of passing the front wheel and the timing of passing the rear wheel is calculated by taking into account the time difference at the intermediate point between the start time and the end time of the passage. Is calculated, it is possible to obtain the degree of obliqueness at the center of the tire between the front wheel and the rear wheel. Therefore, for example, even when the front wheels are in the stationary state or when the front and rear wheels have different tire widths, the direction of the vehicle can be accurately corrected.

(4) The apparatus according to the fourth aspect can implement the method according to the first or second aspect, has the same effects as those of the methods, and has a simple structure and a low manufacturing cost.

(5) The device according to claim 5 can execute the method according to claim 3, and the same effect as that of the method can be obtained.

(6) Since the device according to the sixth aspect corrects the oblique posture when the vehicle is carried out of the storage stage, problems such as the vehicle coming into contact with other members in the subsequent devices are prevented. .

[Brief description of the drawings]

FIG. 1 is a plan view showing an overall outline of a mechanical multi-story parking lot provided with an automatic oblique stop correction device according to an embodiment of the present invention.

FIG. 2 is a plan view showing an embodiment of the automatic oblique stop correction device of the present invention.

FIG. 3 is a configuration diagram illustrating a control device of the automatic oblique stop correction device according to the embodiment of the present invention.

FIG. 4 is a block diagram illustrating a detection unit, a calculation unit, and an operation unit of the control device in FIG. 3;

FIG. 5 (a) is a diagram showing speed patterns of the slat conveyors 11 and 12, and FIG. 5 (b) is a diagram showing oblique detection timing of the vehicle.

FIG. 6 is a timing chart of a calculation unit for implementing the automatic oblique stop correction method, showing a case where the left front wheel 1a is parked on the right side (on the traveling direction of the conveyor) of the left rear wheel 1b.

FIG. 7 is a flowchart showing a procedure of an oblique stop automatic correction method.

FIG. 8 (a) is a plan view showing a state in which there is no oblique posture and tires are not cut off (case 1), and FIG. 8 (b) is a state in which the front wheels are in an oblique posture and tires are not cut off (case 2). FIG.

9 (a) is a plan view showing a state in which there is no oblique posture and tires are cut off (case 3), and FIG. 9 (b) is a state in which the front wheels are in an oblique posture and tires are not cut off (case 4). FIG.

FIG. 10 (a) is a plan view showing a state (case 5) in which the front wheel is obliquely positioned and the tire is stationary, FIG. 10 (b).
FIG. 8 is a plan view showing a state in which the front wheel is in an oblique posture and a tire is stationary (case 6).

FIG. 11 (a) is a plan view showing a state (case 7) in which the rear wheels are in an oblique posture with no front tires and the tires are not stationary, and FIG. 11 (b).
FIG. 7 is a plan view showing a state in which the rear wheel is in an oblique posture and a tire is stationary (case 8).

FIG. 12 (a) is a plan view showing a state (case 9) in which a rear-wheel leading diagonal posture is set and tires are stationary, and FIG. 12 (b) is a plan view.
FIG. 4 is a plan view showing a state (case 10) of a 4WS vehicle without an oblique posture and without tire standing-off.

FIG. 13 is a perspective view showing a conventional oblique stop automatic correction device.

[Explanation of symbols]

 1 Vehicle 2 Storage Stage 11 Front Wheel Slat Conveyor 12 Rear Wheel Slat Conveyor 15-18 Sensor 20 ・ 21 Variable Speed Drive Motor 25 Control Panel 26 Sequencer 27 ・ 28 Inverter

Claims (6)

[Claims] The vehicle is controlled by controlling the traveling speed of a front-wheel transport conveyor that travels in the lateral direction with front wheels of the vehicle and the traveling speed of a rear-wheel transport conveyor that travels in the same direction with rear wheels of the vehicle. A method of automatically correcting the oblique stop of a mechanical multi-story parking lot in which the direction of the vehicle is corrected in a direction perpendicular to the traveling direction of each conveyor, in a state where the transport speed of the vehicle by each of the conveyors reaches a predetermined speed, a detector After detecting the passage start time of the front wheels on the side opposite to the transport direction of the vehicle and the start time of passage of the rear wheels on the side opposite to the transport direction of the vehicle, respectively, the detection time of the front wheels and the detection time of the rear wheels By determining the degree of inclination of the vehicle based on the time difference, and controlling the traveling speed of at least one of the front wheel conveyor and the rear wheel conveyor based on the determination result, the direction of the vehicle is determined. A method for automatically correcting an oblique stop of a mechanical multi-story parking garage, wherein the correction is performed. 2. The automatic oblique stop correction method of a mechanical multi-story parking garage according to claim 1, wherein the vehicle is obliquely corrected by increasing the speed of the conveyor conveying the wheel on the side where the detection timing is delayed. 3. The detector detects a passage start time and a passage end time of a front wheel on a side opposite to the conveyance direction of the vehicle, and a passage start time and a passage end time of a rear wheel on the side opposite to the conveyance direction of the vehicle. The time difference between the passage start time and the passage end time of each wheel is 1
The time D100 and D101 of / 2 are respectively calculated, and the inclination degree of the said vehicle is discriminate | determined based on whether the sum of the time difference D102 and D101 of the detection timing of the front and rear wheels is equal to, larger or smaller than D100. 2. The method for automatically correcting a diagonal stop of a mechanical multi-story parking lot according to 2. 4. A vehicle for driving a vehicle, comprising: a front wheel conveyor for carrying a front wheel of a vehicle in a lateral direction; and a rear wheel conveyor for carrying a rear wheel of a vehicle in a lateral direction. A diagonal stop automatic correction device of a mechanical multi-story parking lot that corrects the direction of the vehicle in a direction perpendicular to the traveling direction of each conveyor by controlling the traveling speed of the conveyor, A front-wheel detection sensor and a rear-wheel detection sensor that have a detection line that is linear in the vertical direction and that detects the passage of the front wheel on the side opposite to the conveyance direction and the rear wheel on the side opposite to the conveyance direction of the vehicle. The obliqueness of the vehicle is calculated based on data relating to the passage start time and the passage end time of the front wheels and rear wheels of the vehicle being conveyed at a predetermined speed, and based on the calculation result, the front wheel conveyor and the rear wheel are used. A control unit for controlling the traveling speed of at least one of the conveyors; an operating unit comprising a drive motor for the front wheel conveyor and a drive motor for the rear wheel conveyor that can be varied based on a command from the controller; An automatic correcting device for obliquely stopping a mechanical multi-story parking garage, comprising: 5. The calculation of the degree of obliqueness of the vehicle is performed by calculating a time difference between an intermediate point between a passage start time and a passage end time of a front wheel and an intermediate point between a passage start time and a passage end time of a rear wheel. 5. The automatic correcting device for obliquely stopping a mechanical multi-story parking lot according to claim 4, wherein the data is multiplied by data relating to the traveling speed. 6. The storage stage according to claim 4, wherein the storage stage is provided.
The automatic oblique stop automatic correction device for the mechanical multi-story parking lot described in the above.