JP4101038B2 - Entry / exit equipment at parking facilities - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an entry / exit device in a parking facility for carrying a vehicle in and out of a carrier, for example, in a parking facility such as a tower parking lot in which a vehicle is stored and parked.
[0002]
[Prior art]
In a parking facility where a vehicle is stored and parked in a carrier, for example, a three-dimensional parking lot such as a tower-type parking lot or an elevator-type parking lot, a carrier that supports the vehicle is arranged three-dimensionally. Yes. That is, in a tower type parking lot, a cage as a carrying device comprising a pallet suspended by a hanger is configured to circulate three-dimensionally. In an elevator type parking lot, a lift that moves up and down through a multilayered accommodation space Thus, the vehicle placed on the pallet as a transporter is transported and transferred together with the pallet to a predetermined accommodation space.
[0003]
By the way, in such a parking facility, the vehicle is usually put directly on the pallet from the front yard facing the road. Although the pallet has a groove to guide the wheel, it is difficult to enter this pallet, especially for beginners who are not good at driving delicately. was there.
[0004]
As what can avoid such a problem, the automatic loading / unloading apparatus as shown to patent document 1 is proposed. This is configured so that the in-vehicle moving body is provided in the vestibule portion corresponding to the mounting position of the transporter so as to be movable in the loading / unloading direction, and includes two conveyors according to the tread of the vehicle mounted on the in-vehicle moving body. In addition, the vehicle mounted on the vehicle-mounted moving body is transferred into the transporter by moving the conveyor, and the vehicle is transferred to the transporter by driving the conveyor forward in synchronization with the backward movement of the vehicle-mounted moving body. Is.
[0005]
[Patent Document 1]
Japanese Patent Publication No. 58-18501 [0006]
[Problems to be solved by the invention]
However, in the automatic loading / unloading device of the conventional configuration as described above, although it is not necessary to directly enter the carrying device, it must be placed on the on-vehicle moving body at the position corresponding to the loading position of the carrying device, and this must be stopped. There was a problem that it was still difficult to enter the vehicle.
[0007]
This invention is made in view of the said problem, Comprising: It aims at providing the entrance / exit device in the parking facility which can convey the vehicle stopped to arbitrary positions to the predetermined position of parking facilities, such as a carrying device. To do.
[0008]
[Means for Solving the Problems]
An entry / exit device in a parking facility according to the present invention that achieves the above object is to move a vehicle into or out of a predetermined position of the parking facility, and to lift and support the vehicle and a steering device that can be steered And a control device that drives and controls the levitation support means and the travel device, the cart device being able to travel independently from left and right cart structures located on both sides of the vehicle. The levitation support means includes a wheel levitation support device as a wheel support levitation mechanism that is provided on each of the left and right cart components, and that supports the vehicle wheels in two front and rear positions corresponding to the front and rear wheels of the vehicle. In the wheel support levitation mechanism, a support roller member having a caster at a pair of tip portions disposed horizontally and in parallel is orthogonal to the axial direction by the levitation drive means. It is possible to drive in the horizontal direction, and the support roller member is positioned on both the front and rear sides of the wheel via the caster and moved in proximity by the lift drive means so that the wheel is supported and transported to a predetermined position. It is configured.
[0009]
This configuration, positioned on both sides of the vehicle to move independently left and right carriage construct under the control of the control device, provided with a caster at the distal end which is positioned in front and rear sides of the wheel, the left and right carriage structure By moving the supporting roller members corresponding to the front and rear wheels of the two front and rear vehicles provided close to each other by the levitating driving means, the wheels can be lifted and supported by the vehicle, and the vehicle is levitated and supported at a predetermined position. Can be conveyed.
[0012]
Further, the carriage device includes an imaging device, and the control device is configured to recognize and move the vehicle based on imaging information from the imaging device.
[0013]
With this configuration, the control device can recognize the vehicle based on imaging information from the imaging device, automatically move to the vehicle position, support the vehicle, and transport the vehicle to a predetermined position.
[0016]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.
FIG. 1 is an external perspective view of a vehicle transport device as a cart device which is an example of a configuration of an entry / exit device in a parking facility according to the present invention.
[0017]
The illustrated vehicle transport apparatus 1 is composed of a left transport cart 10L and a right transport cart 10R as a pair of left and right cart components, which move independently to be in contact with and separated from a vehicle (not shown), and with the cooperation of the vehicle support mechanism 30 provided therein. The vehicle is supported and transported by movement. The left transport cart 10L and the right transport cart 10R are configured symmetrically. Hereinafter, the left transport cart 10L will be described unless otherwise required, and the other description will be omitted.
[0018]
FIG. 2 is a conceptual plan view of the left conveying cart 10L as viewed from above, FIG. 3 is a partial sectional side view thereof, and FIG. 4 is a block diagram of its control system.
[0019]
The transport carriage 10 includes a travel mechanism 20 as a travel device, a vehicle support mechanism 30 as a levitating support means, a recognition mechanism 40, and a wireless communication device in a rectangular parallelepiped chassis 11 longer than the wheel base of the target vehicle. 50, a hydraulic pressure generating device 60 that supplies hydraulic pressure to a supporting hydraulic cylinder 34 (to be described later) of the vehicle support mechanism 30, a control device 70 that includes a microcomputer, and a battery (not shown) that supplies electric power to them. Yes.
[0020]
The travel mechanism 20 includes a support wheel 21 disposed outside the four corners of the chassis 11 and a drive mechanism 22, and the chassis 11 is supported by the support wheel 21 so as to be movable to a predetermined height on the road surface. The mechanism 22 is driven to move.
[0021]
The support wheel 21 is pivotably provided on the lower side of the support leg 21A that protrudes horizontally on the outside of the chassis 11, and supports the chassis 11 so as to be movable from the ground surface to a predetermined height. ing.
[0022]
As shown in FIG. 2, the drive mechanism 22 is rotationally driven by a steering wheel 24 having a ring gear 23 provided at the center of the chassis 11 so as to be rotatable about a vertical axis, a steering motor 25, and a travel drive motor 26. Traveling drive wheels 27.
[0023]
The ring gear 23 of the steering wheel 24 meshes with a drive gear 22D fixed to the rotation shaft of the steering motor 25, and the steering wheel 24 is rotationally driven by the steering motor 25.
[0024]
The traveling drive wheel 27 has a rotational axis horizontal, and is provided so that its peripheral surface protrudes downward from the inner peripheral opening of the steering wheel 24 and comes into contact with the road surface, and is rotationally driven by the traveling drive motor 26. It has become.
[0025]
The travel mechanism 20 configured in this manner moves and drives the chassis 11 by the rotational drive of the travel drive wheels 27 by the travel drive motor 26. Further, the traveling drive wheel 27 can be changed in the direction of movement by rotation around the vertical axis of the traveling drive wheel 27 by the rotation of the steering wheel 24 by the steering motor 25, and the transport carriage 10 can be moved back and forth and right and left. The travel drive motor 26 and the steering motor 25 are driven and controlled by the control device 70.
[0026]
The vehicle support mechanism 30 includes a wheel levitation support device 31 as a wheel support levitation mechanism that levitates and supports a vehicle wheel at two front and rear positions corresponding to the front and rear wheels of the vehicle.
[0027]
The wheel levitation support device 31 includes a support roller 32 as a pair of front and rear support roller members provided so as to be movable forward and backward by linear bearings 33 disposed in the chassis 11, and levitation for moving and driving each of the support rollers 32. It is comprised by the support hydraulic cylinder 34 as a drive means.
[0028]
The support roller 32 has a proximal end portion of the central axis supported by the slider of the linear bearing 33 and a distal end portion protruding outside the chassis 11 to a predetermined length via the protruding elongated hole 11A. A roller 32A is rotatably attached to the projecting portion, and a caster 32B having a wheel that is rotatable on a horizontal axis and rotatable on a vertical axis is attached to a tip so as to contact the ground surface. Yes.
[0029]
A support hydraulic cylinder 34 for moving and driving the front support roller 32 is disposed on the front side, and a support hydraulic cylinder 34 for moving and driving the rear support roller 32 is disposed on the rear side. It is connected to the shaft.
[0030]
In the wheel levitation support device 31 having such a configuration, each support hydraulic cylinder 34 is driven by the hydraulic pressure supplied and controlled from the hydraulic pressure generator 60 by the control device 70, and each support roller 32 is driven by the drive of each support hydraulic cylinder 34. Each moves independently back and forth along the linear bearing 33. Then, as shown in FIG. 5 which is a cross-sectional view of the transport carriage 10 and FIG. 6 which is an explanatory view of wheel levitation support, the front and rear support rollers 32 are positioned on both front and rear sides of the wheel 2H of the vehicle 2, By moving the roller 32 in the approaching direction, the wheel 2H can be levitated and supported as indicated by an imaginary line in FIG.
[0031]
The vehicle support mechanism 30 provided with such a wheel levitation device 31 at two positions in the front and rear positions the support roller 32 of each wheel levitation device 31 in a position corresponding to the front and rear wheels in accordance with the wheel base of the vehicle. Both front and rear wheels on one side of the vehicle can be levitated and supported. Since the vehicle support mechanism 30 does not directly support the vehicle body, the vehicle can be easily levitated and supported without fear of damaging the vehicle.
[0032]
The recognition mechanism 40 includes an imaging camera 41 disposed at the front and rear of the chassis 11 and side surfaces corresponding to the wheel levitation devices 31 of the wheel support mechanism 30, and an image recognition device 42 that processes images captured by these imaging cameras 41. It is comprised so that the position and distance of the mark of a vehicle, its wheel, and a conveyance destination can be recognized. In the configuration example shown in FIG. 4, the image recognition device 42 is configured integrally with the control device 70, and thus imaging information from the imaging camera 41 is output to the control device 70. .
[0033]
The hydraulic pressure generating device 50 is driven and controlled by the control device 70, and supplies the hydraulic pressure generated by the hydraulic pump driven by the power of the battery 80 to the wheel levitation device 31.
[0034]
The wireless communication device 60 is controlled by the control device 70 to receive and transmit information, and exchange information with the right transport cart 10R.
[0035]
The control device 70 controls and drives the travel mechanism 20 and the vehicle support mechanism 30 based on the information from the recognition mechanism 40 and the information from the other transport carriage 10R that has exchanged information via the wireless communication device 60. The carriage 10 is moved to a predetermined relative position with respect to the vehicle and is cooperated with the right transport carriage 10R. The control device 70 does not necessarily have to be mounted inside the transport carriage 10L, and may be configured to be separately fixed and controlled by communication via the wireless communication device 60. Therefore, in the vehicle transport device 1, the left transport cart 10L configured as described above and the right transport cart 10R configured symmetrically with the left transport cart 10R cooperate with each other as described below. The vehicle moves and supports the vehicle in a levitating state and transfers it to a predetermined position.
[0036]
That is, the left transport cart 10L and the right transport cart 10R move independently based on information from the recognition mechanism 40, respectively, and FIG. 7A is a plan view, FIG. 7B is a perspective side view, and FIG. As shown in FIG. 8B, each wheel levitation support device 31 is positioned on the side of the vehicle 2 in parallel with the wheel 2H, and then each wheel levitation support device 31 as shown in FIG. The support roller 32 moves to the side closer to the vehicle so as to interfere with the wheels, and the corresponding wheels 2H are levitated by the respective wheel levitation support devices 31 of the left conveyance cart 10L and the right conveyance cart 10R, so that the vehicle 2 is lifted. Support the rising. After that, the left conveyance cart 10L and the right conveyance cart 10R are moved together to convey to a predetermined position. As described above, the left transport cart 10L and the right transport cart 10R lift the wheels 2H from both sides to support the vehicle 2 so that the vehicle 2 can be supported and transported regardless of the ground height of the vehicle 2. .
[0037]
Next, a step of moving the vehicle to a predetermined position in the parking facility by the vehicle transport device 1 will be described in order based on FIG. 9 and FIG.
[0038]
FIG. 9 and FIG. 10 are diagrams showing a bird's-eye view of the vestibule portion 3A of the three-dimensional parking facility 3 as a parking facility, and the vehicle 2 on which the vehicle transport device 1 stops at the vestibule portion 3A To the pallet 3P and unload from the pallet 3P.
[0039]
The left conveyance cart 10L and the right conveyance cart 10R constituting the vehicle conveyance device 1 are normally waiting at predetermined positions on both sides of the pallet 3P as shown in FIG. 9A.
[0040]
When the vehicle 2 to be parked is dismounted from the front yard 3A of the parking facility 3 as a parking facility in an arbitrary posture, the left transport cart 10L and the right transport cart 10R move independently from the standby position as shown in (B). (C) as shown in FIG.
[0041]
Then, the left transport cart 10L and the right transport cart 10R cooperate to lift and support the vehicle, and move toward the pallet 3P as shown in (D).
[0042]
Thereafter, the supported vehicle 2 is transported onto the pallet 3P as shown in FIG. 10A, and the left transport cart 10L and the right transport cart 10R release the floating support of the vehicle 2 as shown in FIG. 10B. Then, after the vehicle 2 is transferred onto the pallet 3P, the vehicle 2 is retracted to both sides and the loading is completed.
[0043]
When the pallet 3P carrying the vehicle 2 moves to the parking level of the parking facility 3, the vehicle transport device 1 repeatedly transports the next vehicle 2 'stopped in the vestibule 3A in the same manner as described above. . Moreover, the vehicle parked in the parking facility 3 can be carried out by the reverse operation of the carry-in process.
[0044]
According to the vehicle transport device 1 having the above-described configuration, the left transport cart 10L and the right transport cart 10R can move in the front-rear and left-right directions independently or in cooperation, and can float and support the vehicle to be transported to a predetermined position. As a result, a vehicle parked in an arbitrary posture in the front yard of the parking facility can be carried into the parking facility, so there is no need to accurately stop the vehicle at a predetermined stop position, and the vehicle can be carried in and out of the parking facility. Is very simple and easy.
[0045]
In addition, this application is not limited to the said structural example, Especially the structure of a traveling apparatus, a levitation | floating support means, etc. can be changed suitably. Moreover, the target parking equipment is not limited to a mechanical type, and may be applied to a self-propelled type.
[0046]
【The invention's effect】
As described above, according to the entry / exit device in the parking facility according to the present invention, the vehicle is moved into or out of the predetermined position of the parking facility, and the levitating support means and the steering for lifting and supporting the vehicle are provided. And a control device that drives and controls the levitation support means and the travel device. The cart devices can travel independently and are arranged on the left and right sides of the vehicle. A wheel levitation support device as a wheel support levitation mechanism comprising a trolley structure, wherein the levitation support means is provided on each of the left and right trolley structures and levitates and supports vehicle wheels at two front and rear positions corresponding to the front and rear wheels of the vehicle. is constructed wherein the wheel support floating mechanism, the axial support roller member having a caster to a pair of tip disposed horizontally and parallel with floating drive means It is possible to drive in the horizontal direction orthogonal to each other, and the support roller member is positioned on both the front and rear sides of the wheel via the caster, and is moved close to the vehicle by the levitation drive means, and the wheel is supported and transported to a predetermined position. Since the vehicle parked in an arbitrary posture in the front yard of the parking facility can be carried into a predetermined position of the parking facility, the vehicle is accurately placed at the predetermined stop position for parking in the parking facility. This makes it possible to carry the vehicle into and out of the parking facility very easily and smoothly.
The levitation support means includes a wheel levitation support device as a wheel support levitation mechanism that levitates and supports a vehicle wheel at two front and rear positions corresponding to the front and rear wheels of the vehicle. A support roller member provided with a caster at a pair of tip portions arranged in parallel can be driven to be separated and connected in a horizontal direction perpendicular to the axial direction by the levitating drive means, and the support roller member is positioned on both front and rear sides of the wheel. Since the wheel is supported by levitating by being moved close by the levitating drive means, the vehicle can be levitated and supported easily without directly damaging the vehicle by directly supporting the vehicle body. is there.
Further, the cart device is composed of left and right cart components that can travel independently, and the cart components are independently moved to be located on both sides of the vehicle and cooperate to support the vehicle. Thus, each transport carriage can freely move to support and transport the vehicle regardless of the ground height of the vehicle, and the transport target vehicle has a high degree of freedom. is there.
[0048]
Further, the carriage device includes an imaging device, and the control device is configured to recognize and move the vehicle based on imaging information obtained by the imaging device, thereby automatically loading and unloading the vehicle. Unloading is possible.
[Brief description of the drawings]
FIG. 1 is an external perspective view of a vehicle transport device that is a configuration example of an entry / exit device in a parking facility according to the present invention.
FIG. 2 is a conceptual plan view of a left transport cart as viewed from above.
FIG. 3 is a partial cross-sectional side view of a left transport cart.
FIG. 4 is a block diagram of a control system of the left transport cart.
FIG. 5 is a cross-sectional view of the left transport cart.
FIG. 6 is an explanatory diagram of wheel suspension support.
FIG. 7A is a plan view for explaining vehicle support by the vehicle transport device, and FIG. 7B is a perspective side view.
FIG. 8 is a front view for explaining vehicle support by the vehicle conveyance device.
FIG. 9 is an explanatory diagram of a process of moving the vehicle to a predetermined position in the parking facility by the vehicle transport device.
FIG. 10 is an explanatory diagram of a process of moving the vehicle to a predetermined position in the parking facility by the vehicle transport device.
[Explanation of symbols]
1 Vehicle transport device (trolley device)
2 Vehicle 2H Wheel 3 Parking facility (parking facility)
3P pallet (predetermined position)
10L Left side transport cart (cart structure)
10R Right-hand conveyance cart (cart configuration)
20 Traveling mechanism (traveling device)
30 Vehicle support mechanism (floating support means)
31 Wheel suspension support device (wheel support suspension mechanism)
32 Support roller (support roller member)
34 Support hydraulic cylinder (levitation drive means)
40 recognition mechanism 41 imaging camera (imaging device)
50 Wireless communication device 60 Hydraulic pressure generator 70 Control device

Claims (2)

Entering or leaving a vehicle at a predetermined position in a parking facility,
A carriage device comprising a levitating support means for lifting and supporting the vehicle and a steerable travel device, and a control device for driving and controlling the levitating support means and the travel device,
The cart device is composed of left and right cart components that can run independently and are located on both sides of the vehicle,
The levitation support means includes a wheel levitation support device as a wheel support levitation mechanism that levitates and supports the wheels of the vehicle at two front and rear positions corresponding to the front and rear wheels of the vehicle, which are provided on the left and right cart components, respectively.
The wheel support levitation mechanism is configured such that a support roller member provided with a caster at a pair of tip portions arranged horizontally and in parallel can be driven to be separated from and driven in a horizontal direction perpendicular to the axial direction by a levitation driving means. An entry / exit in a parking facility characterized in that a member is positioned on both front and rear sides of the wheel via the caster and moved close to the vehicle by the levitation driving means so as to support the wheel and transport it to a predetermined position. Car equipment.   The said cart apparatus is provided with the imaging device, The said control apparatus is comprised so that it may recognize and move the said vehicle based on the imaging information by the said imaging device, The structure of Claim 1 characterized by the above-mentioned. Entry / exit equipment at parking facilities.

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