WO2019240120A1

WO2019240120A1 - Transport device and transport method

Info

Publication number: WO2019240120A1
Application number: PCT/JP2019/023066
Authority: WO
Inventors: 澄子土庫
Original assignee: 澄子土庫
Priority date: 2018-06-11
Filing date: 2019-06-11
Publication date: 2019-12-19
Also published as: JP2019214841A; JP6484772B1

Abstract

[Problem] To improve the safety of an operation for bringing an eligible vehicle into and out of, for example, a mechanical parking device, without a person entering. [Solution] A transport device that confirms the storage and entry eligibility of a vehicle 40 using an autonomous vehicle dolly 20 on which the vehicle 40 is placed, brings the vehicle 40 to a pallet PL installed in an accommodation space in a pit PT, and parks the vehicle 40, wherein the transport device comprises: the autonomous vehicle dolly 20 that proceeds to the pallet PL; an operation device 52 that remotely operates the eligibility confirmation and travel of the autonomous vehicle dolly 20 from outside the vehicle entry path; a loading platform unit 22 on which the vehicle 40 is placed; a driving autonomous unit 21 on the bottom of the autonomous vehicle dolly 20; a securing mechanism 26 provided on the bottom surface of the autonomous unit 21; an overhang detection unit 50 that sets the storage space Bd in which the vehicle 40 is stored, and detects contact between the boundary surfaces Bdt-Bdb and the vehicle 40; and a weighing unit 51 that measures the weight of the vehicle 40 placed on the autonomous vehicle dolly 20.

Description

Transport device and transport method

The present invention relates to a transport device and a transport device for transporting a qualified vehicle by a vehicle self-propelled carriage on which the vehicle is placed, and entering and parking the qualified vehicle toward a pallet installed in a storage space in a mechanical parking device. Regarding the method.

Conventionally, a vehicle is parked in a predetermined area such as a parking area of a mechanical parking device in which a vehicle is placed on a pallet (carrying device) and transported to a storage space by power and parked, for example, where a person is not preferable to enter. When doing so, personnel check the eligibility of entering the vehicle, and enter the vehicle in the area.

Especially in the case of a mechanical parking device, generally, the “width”, “depth”, “height”, and “weight” of a vehicle that can be parked are set for each device or for each accommodation space divided in the device. If an unacceptable vehicle outside these limits is brought into the equipment, it will be accommodated in the equipment by moving, overturning, or falling from the stop position when the vehicle is transported by the pallet in the equipment. It may come into contact with other vehicles and internal structures of the apparatus, and an excessive load may be applied to the apparatus.

Also, when transporting a vehicle to be placed on a pallet in a mechanical parking device, the vehicle may move or incline due to the vibration of the transporter and come into contact with another vehicle or a mechanical parking device internal structure. There is.

Some of these issues are resolved exclusively for individual issues. For example, the vehicle delivery system proposed by Patent Document 1 includes a device that secures human safety by using a pallet (vehicle carriage) for a driver to enter and exit on the entrance / exit side in front of the elevator in an elevator parking lot. ing. In addition, the mechanical parking facility proposed in Patent Document 2 is provided with a stop position detection device that detects that a vehicle placed on a pallet (carriage) on which the vehicle is placed protrudes from a predetermined position.

JP-A-5-340122 JP 2017-119985

However, it is the operator's responsibility to confirm the vehicle's accommodation or qualification before entering the vehicle in a closed area where people are not allowed to enter, for example, a predetermined area such as a parking room of a mechanical parking device. It has become.

For example, in a mechanical parking device, when parking a vehicle, it is necessary to confirm the eligibility of warehousing. Specifically, (1) the width of the vehicle is within the limit value (2) Vehicle height is required to confirm that the vehicle height is within the limit value, and that the antenna must be stored (3) ) The depth of the vehicle requires confirmation that the front and rear stop positions of the vehicle are within the limit values. (4) The weight of the vehicle is limited by the weight of the vehicle and the total weight of the load loaded on the vehicle. Since it may be necessary to confirm that the value is within the value, checking the vehicle qualification (1) to (4), etc. at the time of warehousing, and making necessary adjustments makes the warehousing work complicated. This is a burden on the operator.

In particular, in a mechanical parking device, personnel may enter the device during vehicle eligibility confirmation and adjustment, and work may be performed in close proximity to the device such as a vehicle approach path. There is a risk of contact with the pallet in the apparatus, and it is desired to provide a mechanism for improving workability and safety.

Further, in the mechanical parking device, when the vehicle placed on the pallet is transported in the mechanical parking device, the vehicle is moved / inclined from the stop position by the vibration of the pallet and parked in the mechanical parking device. There is a risk of contact with a vehicle or a structure in the mechanical parking device, and a device for improving workability and safety in the parking system of the mechanical parking device is desired.

Therefore, the present invention solves the above-described problems, and personnel are allowed to enter a predetermined area such as a parking room of a mechanical parking device, and are qualified without closely approaching the mechanical parking device. A transporting device capable of improving the workability and safety of loading and unloading by reducing the vibration applied to the vehicle when the vehicle is transported through the device, and making the work of carrying the vehicle easy The purpose is to provide a transportation method.

In order to solve the above-mentioned problems, the present invention transports a qualified vehicle by a vehicle self-propelled carriage on which the vehicle is placed, and enters the qualified vehicle toward a pallet installed in a storage space in a mechanical parking device. And a vehicle self-propelled carriage that can enter the pallet or retreat from the pallet and a vehicle that is placed on the loading part of the carriage, for example. A three-dimensional laser barrier composed of a boundary surface surrounding the storage space is set, for example, a three-dimensional information of the carriage is obtained by laser irradiation to detect the protrusion of the vehicle. An operating device that is operated remotely outside the vehicle approach path in front of the pallet, and a loading platform portion for placing the vehicle is disposed at an upper portion of the carriage, and a caster is disposed at the lower portion of the carriage. A free-running section for driving, characterized in that arranged to suppress fixing device vibration at the bottom of the self-propelled unit.
In addition, this caster is provided with the stopper which locks / unlocks driving | running | working operation | movement of the self-propelled trolley | bogie for vehicles.

In the above invention, the deck further includes a deck provided at an end of the self-propelled portion of the carriage, and the deck is placed on the loading platform portion of the carriage by lowering its tip and bonding to the floor surface. In the state, it is preferable that the tip of the deck can be raised horizontally.

In the above invention, it is preferable that the vehicle further includes a weighing unit that is provided on the carriage and that measures a load loaded on the carriage, and an information presentation unit that presents a measurement result by the weighing unit.

Further, the present invention is a method for storing a qualified vehicle on a pallet installed in a mechanical parking device using the transport device, wherein the vehicle is placed on the carriage in a vehicle approach path outside the mechanical parking device. Including a loading process for loading the vehicle, and a vehicle entering process in which the carriage on which a qualified vehicle is placed is made to enter the pallet by remote control and the vehicle is loaded onto the pallet. Vehicle exit process and shipping process.

In particular, in the loading process, for example, a three-dimensional laser barrier including a boundary surface that surrounds a storage space in which a vehicle placed on the loading platform of the cart is stored is set, and the storage space surrounded by the laser barrier is set. This is characterized in that a vehicle overhang detection step is included in which the vehicle overhang is detected by, for example, a sensor system to prevent storage outside the storage limit value set by the mechanical parking device or parking of an unacceptable vehicle.

In the above invention, outside the region, the weighing unit provided in the carriage measures the vehicle loaded on the carriage, and the total weight with the carriage exceeds a limit value set by the mechanical parking device. It is preferable to further include an overweight detection step for presenting.

Further, in the above invention, a fixing mechanism is provided on the lower surface of the self-propelled portion of the carriage, the fixing mechanism is adhered to the floor surface, and the carriage is fixed so as not to move by vibration of the pallet on which the carriage is placed, It is desirable to suppress the movement / tilting of the vehicle placed on the carriage.

As described above, according to these inventions, a person does not enter a predetermined area such as a parking area of a mechanical parking device, such as a parking area of a mechanical parking device. This facilitates the work of storing or qualifying vehicles that are eligible for storage without close approach, and suppresses movement of vehicles due to pallet vibration when qualified vehicles move within the mechanical parking device. In addition, the workability and safety of loading and unloading can be improved.

It is a perspective view which shows the use condition of the conveying apparatus which concerns on embodiment. It is the side view (a) and bottom view (b) which show the external appearance structure of the conveying apparatus which concerns on embodiment. (A) is a block diagram which shows the internal structure of the operating device of the conveying apparatus which concerns on embodiment, and a vehicle protrusion detection and an excess weight detection apparatus, (b) is explanatory drawing which shows the example of a display in an information presentation part. It is a perspective view which shows the condition of the parking chamber of the mechanical parking apparatus at the time of using the conveying apparatus which concerns on embodiment.

(Overall configuration of transport device)
Embodiments of a transport device according to the present invention will be described below in detail with reference to the accompanying drawings. In the present embodiment, in a mechanical parking device that accommodates a qualified vehicle and transports the qualified vehicle by a pallet (carriage) and parks it, the vehicle is qualified without entering the device at the time of entering and leaving. A simple vehicle into the device. Drawing 1 is a perspective view showing the condition of use of the transportation device concerning an embodiment. FIG. 2 is a diagram illustrating an external configuration of the transport device according to the present embodiment. FIG. 3A is a block diagram showing the internal configuration of the operation device of the transport device and the vehicle overhang detection and excess weight detection device according to the embodiment, and FIG. 3B is an explanatory view showing a display example in the information presentation unit. It is. Drawing 4 is an explanatory view showing the situation of the parking room of the mechanical parking device which uses the transportation device concerning this embodiment.

In a general mechanical parking apparatus, a plurality of pallets PL on which the vehicle 40 is placed are installed in a housing space called a pit PT so as to be movable. In this pit PT, a vehicle approaching path to the pallet PL is provided, for example, on the ground floor F0 so as to face the pallet PL. The vehicle 40 enters the pallet PL from the vehicle approaching path and is placed on the pallet PL. The pallet PL is moved up and down, rotated or moved to the left and right to be transferred to a predetermined position in the pit PT and stored in a three-dimensional manner by allowing parking in the vertical direction as well. In this accommodation space, “width”, “depth”, “height”, “weight” of a vehicle that can be stored or stored for each mechanical parking device, or in some cases, for each storage space divided in the mechanical parking device. The limit value is set.
In the following, satisfying these limit values is qualified.

In the present invention, it is possible to easily place and exit the eligible vehicle 40 on the pallet PL, and the driver and passengers of the vehicle 40 get on the vehicle 40 at the time of loading and unloading. In order to avoid entering the pallet PL as it is, and when the pallet PL moves in the pit PT, the qualified vehicle 40 mounted on the pallet PL is prevented from moving and tilting from the stop position due to vibration. The gist is to make the transportation of the vehicle 40 in the pit PT smooth and safe by suppressing it.

In the present embodiment, the vehicle self-propelled carriage is, for example, a vehicle self-propelled carriage 20 having a size and a shape that allows entry and placement on the pallet PL as shown in FIG. The vehicle self-propelled carriage 20 travels forward and backward by driving a caster 24 provided on the lower surface of the self-propelled portion 21, and places the vehicle 40 on the loading platform 22 provided on the upper surface of the self-propelled portion 21. Can be done. For example, as shown in FIG. 2 (a) and FIG. 2 (b), the vehicle self-propelled carriage 20 detects the protrusion of the vehicle 40 loaded on the loading platform 22 (located outside the appropriate space). A protrusion detection unit 50 is provided. The protrusion detection unit 50 sets a boundary surface surrounding the storage space Bd in which the vehicle 40 is stored on the loading platform 22, and each boundary surface and the outer surface of the vehicle 40 stored in the storage space Bd. For example, a sensor system that detects contact. In addition, a weighing unit 51 for weighing the load loaded on the loading platform 22 is provided, and the protruding detection unit 50 and each measurement result by the weighing unit 51 are displayed on the information presenting unit 52 d of the operation device 52.

Further, for example, as shown in FIG. 1, a deck 28 is provided at the end of the self-propelled portion 21 to facilitate placing the vehicle on the loading platform 22. Furthermore, a fixing mechanism 26 is provided on the lower surface of the self-propelled portion 21 as a fixing means for fixing the vehicle self-propelled carriage 20 by remote control so that the vehicle self-propelled carriage 20 does not move from the stop position. . The fixing mechanism 26 can prevent the vehicle mounted on the pallet PL from moving or tilting from the stop position due to vibration or inclination when the pallet PL moves up and down in the pit PT. Yes.

In addition, this protrusion detection part 50 can be comprised separately from the self-propelled cart 20 for vehicles. In this case, the vehicle self-propelled carriage 20 can be a relatively lightweight and simple structure.

The vehicle self-propelled carriage 20 is a transport device that allows a qualified vehicle 40 to enter the pallet PL or to retreat the vehicle 40 from the pallet PL. The overhang detection unit 50 of the vehicle self-propelled carriage 20 is configured so that the “width” and “depth” of an appropriate vehicle set for each mechanical parking device or for each accommodating space divided in the mechanical parking device in some cases. “Height” limit value, that is, for example, a laser barrier R including Bds1, Bds2, Bdf, Bdb, and Bdt surrounding the storage space Bd in which the vehicle 40 is stored on the loading platform 22 is set. Thus, the three-dimensional information of the vehicle 40 placed on the loading platform can be acquired, and the three-dimensional measurement of the vehicle can be performed. Further, a weighing unit 51 is provided in the loading platform 22 of the vehicle self-propelled carriage 20, and the total weight of the vehicle 40 and the vehicle self-propelling carriage 20 placed on the loading platform 22 can be measured.

Further, for example, as shown in FIGS. 2 (a) and 2 (b), the caster 24 disposed on the lower surface of the self-propelled portion 21 disposed at the lower part of the vehicle self-propelled carriage 20 is provided with a stopper 25. Can be locked or unlocked. The control of the stopper 25 is performed via wireless communication. In addition, a deck 28 is provided at the end of the self-propelled portion 21, and the deck 28 lowers its tip and adheres it to the floor surface so that the vehicle 40 is placed on the loading platform 22. The tip of the deck 28 can be raised horizontally.

For example, as shown in FIG. 3 (a), the operation device 52 is a control device that remotely operates the traveling of the vehicle self-propelled carriage 20 outside the vehicle approach path before the pallet PL. The operation device 52 is provided with an information presentation unit 52d that presents the measurement results obtained by the protrusion detection unit 50 and the weighing unit 51. When each measurement result does not satisfy a set appropriate value, an alarm or the like is performed. It can be done.

More specifically, the operation device 52 is an operation interface having a communication function and an arithmetic processing function, and performs various functions by an arithmetic processing device such as a CPU. The CPU virtually constructs various modules on the CPU by executing various programs. The “module” refers to a functional unit that is configured by hardware such as an apparatus or a device, software having the function, or a combination thereof, and achieves a predetermined operation.

Specifically, as shown in FIG. 3A, the operation device 52 includes a communication unit 52a, a remote control unit 52e, an operation unit 52f, and an information presentation unit 52d as modules for remote operation. . Further, the operation device 52 includes a storage unit 52b and a calculation unit 52c as modules of a weighing and three-dimensional measurement system.

The communication unit 52a is a module that transmits and receives data to and from other communication devices. The communication unit 52a communicates with the communication module of the vehicle self-propelled carriage 20, performs remote control of the vehicle self-propelled carriage 20, and also performs vehicle self-propelling. The result measured on the cart 20 side is received. As a communication method in the communication unit 52a, for example, a third generation (3G) communication method, a fourth generation (4G) communication method such as LTE, a communication method after the fifth generation (5G), and the like, Wireless communication networks such as WiFi (registered trademark) and Bluetooth (registered trademark) are included, and infrared communication, ultrasonic communication, and the like can also be employed.

The operation unit 52f is a device for inputting an operation signal by an operator (for example, a driver of the vehicle 40) such as a touch panel, a control stick, or a button. The operation signal input by the operation unit 52f is a remote control unit. The vehicle self-propelled carriage 20 which is transmitted to the vehicle self-propelled carriage 20 side through 52e and is the operation target is remotely operated. The remote control unit 52e is a module that converts the operation signal input from the operation unit 52f into a control signal for controlling the vehicle self-propelled carriage 20, and if necessary, the operation status or the vehicle self-propelled carriage 20 side The state is displayed on the information presentation unit 52d.

The information presentation unit 52d is an output device such as a monitor or liquid crystal display for displaying various types of information, and other LED lamps or voice output means. As the operation unit 52f and the information presentation unit 52d, a physical operation switch such as a touch panel or a button is connected, and display data of the operation screen is displayed on the display, and a touch operation or a button operation corresponding thereto is performed. Accordingly, it is possible to employ a GUI for acquiring a user operation signal.

The storage unit 52b is a device that accumulates data in a recording medium and reads out the accumulated data in response to a request from each device. For example, a hard disk drive (HDD), a solid state drive (SSD), a memory card, and the like Can be configured.

The calculation unit 52c is a module that executes programs such as firmware, OS, and various applications. In the present embodiment, the calculation unit 52c executes programs necessary for remote operation, and loads and three-dimensional information in the vehicle self-propelled carriage 20 Provides a function to perform the operation.

In particular, in the present embodiment, three-dimensional measurement of the vehicle 40 placed on the loading platform 22 is performed on the vehicle self-propelled carriage 20, and the limit value of “width”, “depth”, and “height”, for example, of the laser barrier R An overflow detection unit 50 that detects, for example, a sensor system that the vehicle 40 protrudes outside, and a weighing unit 51 that measures the weight of the vehicle 40 are provided. The measurement results of the protrusion detection unit 50 and the measurement unit 51 are transferred to the operation device 52 by wireless communication or the like, and the calculation unit 52c protrudes outside the laser barrier R of the vehicle 40 placed on the loading platform 22; The total loading amount of the vehicle self-propelled carriage 20 including the vehicle 40 (total weight of the self-propelled carriage 20 and the vehicle 40) is calculated, and the calculation result is the operation device 52 side as illustrated in FIG. It is presented to the information presentation unit 52d provided in

In the information presentation unit 52d, according to the detection result of the protrusion detection unit 50, the presence or absence of protrusion and the accumulated load calculated by the weighing unit 51 are displayed as the total weight, and a value that does not satisfy the qualified value is measured. In such a case, an alarm or the like is given, and the position of the protrusion to the outside of the laser barrier R is illustrated (for example, “highlighted display M1” shown in FIG. 3B), or the load weight exceeding the weight limit value is presented. , Adjust the stop position and stop situation, urge to become a qualified vehicle.

For example, as shown in FIG. 3B, when a result outside the limit value is measured by the measurement results of the protrusion detection unit 50 and the measurement unit 51, for example, as shown in FIGS. The stopper 25 of the caster 24 provided in the self-propelled portion 21 is locked, and the travel of the vehicle self-propelled carriage 20 can be restricted. Further, when the vehicle 40 is in a qualified state by the adjustment described in [0037], the stopper 25 provided on the caster 24 is unlocked, and the vehicle self-propelled carriage 20 can be in a travelable state.

(Operation of transport device)
By operating the transport apparatus described above, the transport method of the present invention can be implemented. For example, FIG. 4 is a perspective view showing a situation of a parking room of a mechanical parking device using the transport device according to the present embodiment. Note that the processing procedure described below is merely an example, and each processing may be changed as much as possible. Further, in the processing procedure described below, steps can be omitted, replaced, and added as appropriate according to the embodiment.

For example, as shown in FIG. 4, in the vehicle approach path in front of the pit PT, the driver and passengers get off the vehicle 40, and the driver performs a remote operation with the operation device to lower the tip of the deck 28 and lower the floor surface. It is made to adhere to (Figure (a)). In this state, the driver drives the vehicle 40 and places the vehicle 40 on the loading platform 22. At this time, the stopper 25 provided on the caster 24 disposed on the lower surface of the self-running portion 21 is in a locked state. Next, when the driver gets out of the vehicle 40 and the loading platform 22 and needs to make an adjustment so that the stop state of the vehicle 40 is qualified by an indication on the operation device 52, an alarm, or the like, the driver makes necessary adjustments. The state of overhang 40 and overweight limit is eliminated ((b) in the figure). At this time, the stopper 25 provided on the caster 24 on the lower surface of the self-propelled portion 21 is unlocked, and the vehicle self-propelled carriage 20 becomes capable of traveling by remote control. Thereby, the vehicle loading process including the protrusion detection and overweight detection process of the vehicle 40 is completed.

Next, the driver raises the tip of the deck 28 horizontally by remote control ((b) in the figure). In this state, the driver moves the vehicle 40 on the pallet PL so that the vehicle self-propelled carriage 20 on which the qualified vehicle 40 is placed is moved toward the pallet PL by remote control. It is carried in and stopped on the pallet PL ((c) in the figure). Thereby, the warehousing process is completed.

Further, at this time, the driver causes the fixing mechanism 26 provided on the lower surface of the self-propelled portion 21 of the self-propelled carriage 20 for the vehicle to project downward by remote operation and adhere to the floor surface of the pallet PL. In this state, when the pallet PL on which the vehicle 40 is placed moves up and down in the pit PT, the vehicle self-propelled carriage 20 and the vehicle 40 placed on the vehicle self-propelled carriage 20 are fixed by the fixing mechanism 26. It is possible to suppress movement and tilting from the stop position due to vibration.

When leaving the car, if the pallet PL on which the eligible vehicle 40 is placed stops at the entrance of a mechanical parking device facing the vehicle approach path provided on the ground floor F0, for example, the driver can remotely The fixing mechanism 26 provided on the lower surface of 21 is retracted upward to leave the floor surface. At this time, it is assumed that the stopper 25 of the caster 24 provided on the lower surface of the self-propelled portion 21 is unlocked without being particularly locked. In this state, the approach procedure shown in FIG. 4 is performed in reverse. This completes the vehicle exit process. Next, the driver loads the vehicle 40. The vehicle loading process is performed by a procedure opposite to the loading process except for the vehicle overhang detection and overweight detection processes. As a result, the delivery of the qualified vehicle 40 is completed.

Thus, according to the present invention, in the mechanical parking device, it is easily confirmed that the vehicle 40 is a qualified vehicle before warehousing, and the driver and the passenger are in the pallet PL and pit PT together with the qualified vehicle 40. Only the qualified vehicle is stored in and exited from the pallet PL without entering the vehicle, and when the qualified vehicle 40 placed on the pallet PL is transported by power in the pit PT, the vehicle caused by vibration For example, movement of 40 can be suppressed.

(Action / Effect)
According to the present embodiment described above, when a vehicle is stored in a closed area where it is not preferable for a person to enter, for example, in a parking room of a mechanical parking device, that is, for example, a mechanical parking device. It is easy to confirm that the vehicle is eligible for storage or entry without leaving the pallet PL and that the vehicle that is not eligible for storage or entry is carried into the mechanical parking device. It can be prevented in advance. Further, when the qualified vehicle 40 moves up and down in the mechanical parking device, the vehicle 40 can be prevented from moving and tilting due to the vibration of the pallet PL. Accordingly, the smoothness and safety of storage in the mechanical parking device or the entry / exit of vehicles suitable for warehousing and vehicle transportation in the mechanical parking device can be improved.

Bd ... Storage space Bdt-Bdb ... Boundary surface F0 ... Ground floor PL ... Pallet PT ... Pit R ... Laser barrier 20 ... Vehicle self-propelled carriage 21 ... Self-propelled part 22 ... Loading part 24 ... Caster 25 Stopper 26 ... Fixing mechanism 28 ... Deck 40 ... Vehicle 50 ... Projection detection unit 51 ... Weighing unit 52 ... Operation device 52a ... Communication unit 52b ... Storage unit 52c ... Calculation unit 52d ... Information presentation unit 52e ... Remote control unit 52f ... Operation unit

Claims

A transport device that transports a qualified vehicle by a vehicle self-propelled carriage for placing the vehicle, and enters and parks the vehicle toward a pallet installed in a storage space in the mechanical parking device,
A vehicle self-propelled carriage that allows entry into the pallet or retreating from the pallet;
An operating device for remotely operating the vehicle self-propelled carriage outside the vehicle approach path in front of the pallet;
A loading platform portion disposed on an upper portion of the vehicle self-propelled carriage, on which the vehicle is placed;
A self-propelled portion that is disposed at a lower portion of the vehicle self-propelled carriage and is driven by a caster on its lower surface;
A detection unit configured to set a boundary surface surrounding a storage space in which the vehicle is stored on the loading platform, and to detect contact between each boundary surface and the outer surface of the vehicle stored in the storage space; A conveying device comprising:
A weighing unit provided in the vehicle self-propelled carriage, and weighing a load loaded on the vehicle self-propelled carriage;
The transport device according to claim 1, further comprising an information presentation unit that presents a measurement result obtained by the measurement unit.
The deck further includes a deck provided at an end of the self-propelled portion, and the deck is placed on the cargo bed portion with the tip thereof lowered and bonded to the floor surface. The conveying device according to claim 1, wherein the conveying device is raised horizontally.
4. The vehicle according to claim 1, further comprising a fixing unit that fixes the vehicle self-propelled carriage by remote control so that the vehicle self-propelled carriage does not move from the stop position in the housing space. Crab transport device.
A method of transporting a qualified vehicle by a vehicle self-propelled carriage on which the vehicle is placed and storing the vehicle on a pallet installed in a storage space in a mechanical parking device,
In the vehicle approach path outside the mechanical parking device, a loading step of loading the vehicle on the vehicle self-propelled carriage;
Including a step of entering the vehicle self-propelled carriage on which the vehicle is placed toward the pallet by remote control, and carrying the vehicle onto the pallet.
In the loading step, the detection unit sets a boundary surface that surrounds the storage space in which the vehicle is stored, and the contact between each boundary surface and the outer surface of the vehicle stored in the storage space A transporting method characterized by including a detection step of detecting the above.
Outside the housing space, the weighing unit provided in the vehicle self-propelled carriage measures the load loaded on the vehicle self-propelled carriage, and the total weight of the vehicle self-propelled carriage and the luggage is a limit value. The transport method according to claim 5, further comprising an overweight detection step of presenting a result exceeding.
6. The method according to claim 5, further comprising a step of fixing the vehicle self-propelled carriage mounted on the pallet so as not to move within the accommodation space using a fixing means after the warehousing step. 6. The transportation method according to 6.