JP6548467B2 - Mechanical parking apparatus and control method thereof - Google Patents

Description

  The present invention relates to a mechanical parking device that detects interference between a front corner and a vehicle, and a control method thereof.

In the mechanical parking device, a virtual parking space is set as a space for parking. The parking space is set at the entry / exit unit, the hoistway, the storage unit, and their intermediate positions from the time when the vehicle (car) enters or leaves the vehicle.
The shape of the parking space is a rectangular parallelepiped, and the width, length and height thereof are set in accordance with the dimensions of the vehicle (car) to be stored. In addition, since the outer surface of the vehicle is usually inclined inward, on the condition that there is an appropriate clearance for the shape of the vehicle to be stored, both sides of the parking space in the width direction (vehicle front direction) The "corner" can be set.

However, depending on the shape of the vehicle, a part of the vehicle may intrude into the front corner, and the front corner and the vehicle may interfere with each other. In this case, when the mechanical parking device is operated, the vehicle and a part of the device actually interfere with each other, which may cause a property damage accident.
Then, in order to detect that a part of vehicles intruded in a front cornering part, patent documents 1 are indicated, for example.

  In the "vehicle abnormal load detection device" of Patent Document 1, a camera for photographing eight planes around a stopped vehicle is installed on a vehicle loading unit, and the image photographed by each camera is image-processed, and the vehicle is legitimate. It is determined whether or not it is in position.

JP 2001-140494 A

  The apparatus of Patent Document 1 performs image processing on an image captured by a camera, so the image processing is complicated, and there is a possibility of erroneous determination depending on the captured image, which is low in reliability and expensive.

  The present invention has been made to solve the above-mentioned problems. That is, an object of the present invention is to provide a highly reliable mechanical parking apparatus capable of detecting interference between a front corner and a vehicle, and a control method thereof.

According to the present invention, there is provided a photoelectric sensor for emitting a light beam along the inner surface of the front corner section set on both sides in the width direction of the virtual parking space ,
The photoelectric sensor is provided in front of and behind the vehicle in the parking space of the storage unit, and horizontally irradiates a plurality of light beams.
The storage unit is provided with an open / close door that can move up and down,
A mechanical parking device is provided in which a part of the photoelectric sensor is fixed to the inside of the opening and closing door .

  The photoelectric sensor is provided on the upper side and the outer side of the parking space in the storage unit, and obliquely irradiates the plurality of light beams.

  The vehicle includes a control device that emits the light beam to detect interference between the front corner and the vehicle while the vehicle is entering the storage unit.

Further, according to the present invention, there is provided a photoelectric sensor for emitting a light beam along the inner surface of the front corner section set on both sides in the width direction of the virtual parking space,
The photoelectric sensor is provided in a hoistway in which the vehicle moves up and down, and horizontally irradiates a plurality of light beams to the front and back of the vehicle in the parking space.

Further, according to the present invention, there is provided a photoelectric sensor for emitting a light beam along the inner surface of the front corner section set on both sides in the width direction of the virtual parking space,
A plurality of photoelectric sensors are provided corresponding to a plurality of heights of the parking space.

Further, according to the present invention, along the inner surface of the front corner cut portion set on both sides in the width direction of the virtual parking space,
During operation of the vehicle enters the goods receipt unit, detecting an interference between the vehicle and the front corner cut portion by irradiating a plurality of light beams diagonally between the upper and the side outside of the parking space on the virtual A control method of a mechanical parking device is provided.

Further, according to the present invention, along the inner surface of the front corner cut portion set on both sides in the width direction of the virtual parking space,
Interference between the front corner portion and the vehicle by irradiating a plurality of light beams horizontally between the front and back of the vehicle at a plurality of heights of the hoistway corresponding to a plurality of heights of the parking space on a virtual basis To detect

  A photoelectric sensor for irradiating a light beam is provided along the inner surface of the front corner set on both sides in the width direction of the virtual parking space, and the light beam is irradiated to cause interference between the front corner and the vehicle To detect

Therefore, when a part of the vehicle intrudes into the front corner portion and the front corner portion interferes with the vehicle, the light beam is blocked by a part of the intruding vehicle, so the front corner portion and the vehicle Interference can be detected.
In addition, the photoelectric sensor is highly resistant to vibration and the like, and does not require complicated processing (for example, image processing) at the time of detection, so the reliability is high.

It is explanatory drawing of the dimension of parking space. FIG. 1 is a view of a first embodiment of a mechanical parking device according to the present invention; Fig. 2 shows a second embodiment of a mechanical parking device according to the invention; Fig. 3 shows a third embodiment of a mechanical parking device according to the invention;

  A preferred embodiment of the present invention will be described based on the drawings. In addition, the same code | symbol is attached | subjected to the part which is common in each figure, and the duplicate description is abbreviate | omitted.

FIG. 1 is an explanatory view of the dimensions of the parking space 2.
The parking space 2 is used for parking in the storage and retrieval unit (storage and exit units), the hoistway, the storage unit, and their intermediate positions, etc. from the storage of the vehicle 1 (car) until the storage. It is a virtual space provided.
The shape of the parking space 2 is a rectangular parallelepiped, and the width W, the length, and the height H thereof are set in accordance with the dimensions of the vehicle 1 (car) to be stored. For example, in FIG. 1, the width W of the parking space 2 is the width of the vehicle 1 to be stored plus a margin, and the height H of the parking space 2 is the height of the vehicle 1 to be stored plus a margin It is a thing.
The height of the vehicle 1 differs depending on the type of car (for example, an ordinary car, a mini car, a high roof car, a mid roof car, etc.). Therefore, the height H of the parking space 2 needs to be set to one or more depending on the type of the vehicle 1 to be stored. The height H needs to be 1, 2 or 3 among 2050 mm, 1800 mm (or 1750 mm) and 1550 mm, for example. The height H of the parking space 2 is not limited to these, and may be 4 or more.

  In FIG. 1, "front corner portion 3" can be set on both sides in the width direction (vehicle front direction) of parking space 2 on condition that there is an appropriate clearance for the shape of the vehicle to be stored. . The vertical cross-sectional shape of the front corner 3 is a right triangle having a width e and a height f. The width e and the height f are, for example, 300 mm or less.

FIG. 2 is a view of a first embodiment of a mechanical parking device 10 according to the present invention. In this figure, (A) is a front view and (B) is a side view.
The mechanical parking device 10 according to the present invention includes the photoelectric sensor 13 for emitting the light beam 11 along the inner surface of the front corner 3 set on both sides in the width direction of the virtual parking space 2.

  "The inner surface of the front corner 3" means an inclined plane with respect to the horizontal surface of the front corner 3 shown in FIG. Also, “along the inner surface” means that the light beam 11 is close to the inclined plane inside the front corner 3. Therefore, an object (a part of the vehicle 1) that enters the inside of the front corner 3 from the inside of the parking space 2 through the inclined plane of the front corner 3 is arranged to block the light beam 11.

The mechanical parking apparatus 10 of the present invention is a vertical circulation system, an elevator system, a multilayer circulation system, or a horizontal circulation system.
In addition, the mechanical parking apparatus 10 of this invention is not limited to these, What is necessary is just a mechanical parking apparatus which the front corner 3 generate | occur | produces.

  In FIG. 2, the photoelectric sensor 13 is provided in the storage unit 4 in which the vehicle 1 stores. The storage unit 4 is preferably an independent storage room, but may be inside the mechanical parking device 10.

The storage unit 4 is provided with an open / close door 5 capable of moving up and down for storing the vehicle 1. Further, the three-way frame 6 of the open / close door 5 is provided with a vehicle detection sensor 7 for detecting the approach of the vehicle 1.
The vehicle detection sensor 7 is a photoelectric sensor in this example, and includes a light emitting unit 7a and a light receiving unit 7b, and detects the approach of the vehicle 1 by emitting a light beam 7c therebetween.
Further, in the storage unit 4, a vehicle support unit 8 on which the vehicle 1 is mounted is provided at a fixed position at which the vehicle 1 enters and stops. The vehicle support 8 is, for example, a support on a pallet, a comb tooth, or a lifting device.

  In FIG. 2, the photoelectric sensor 13 is provided on the upper side and the side outside of the parking space 2 of the storage unit 4 and obliquely irradiates the plurality of light beams 11. The photoelectric sensor 13 is preferably fixed to the frame of the storage unit 4 using a bracket or the like. Hereinafter, a member for fixing the upper photoelectric sensor 13 is referred to as a photoelectric sensor attachment portion 12.

In this example, a plurality of sets of photoelectric sensors 13 attached to a plurality of photoelectric sensor attachment portions 12 are fixedly provided at predetermined positions corresponding to the heights of a plurality of parking spaces 2 (2 in this example) There is. The height H of the parking space 2 is, for example, two of 2050 mm, 1800 mm (or 1750 mm), and 1550 mm corresponding to the vehicle 1 to be stored. However, the type of height H of the parking space 2 is not limited to this, and may be one or three or more according to the height of the target vehicle 1. Also, the size of the height H of the parking space 2 is not limited to these, and may be other.
In FIG. 2, of the parking spaces 2 corresponding to the two heights, the parking space 2 having a low height H is indicated by a broken line, and the parking space 2 having a high height H is indicated by an alternate long and short dash line.

  With this configuration, by selecting the photoelectric sensor 13 according to the vehicle height of the vehicle 1 to be stored, interference between the front corner portion 3 corresponding to the vehicle 1 and the vehicle 1 can be performed by the photoelectric sensor 13 at the fixed position. It can be detected.

In this example, the photoelectric sensor 13 is composed of the light emitting unit 13a and the light receiving unit 13b, and the light beam 11 emitted from the light emitting unit 13a is changed (presence or absence, strength) according to the detected object (a part of the vehicle 1). The light receiving unit 13 b detects and outputs an electric signal.
A light emitting element (visible light or infrared LED) is incorporated in the light projecting part 13a, and a corresponding light receiving element (phototransistor, photodiode) is incorporated in the light receiving part 13b. Although the transmission type is shown in this figure, it may be a reflection type using a mirror.
In the case of the reflection type, one of the light emitting unit 13a and the light receiving unit 13b in FIG. 2 can be replaced by a reflection mirror. In addition, the positions of the light emitting unit 13a and the light receiving unit 13b may be upside down.

  Further, in FIG. 2, the light projecting unit 13 a of the photoelectric sensor 13 is provided in the vicinity of directly above the parking space 2, but as shown by a broken line in the figure, a distant position above the parking space 2 (for example, It may be provided on the upper shelf below).

  In this example, the light beam 11 is linear and is directed obliquely along the inner surface of the front corner 3. The light beam 11 may be fan-shaped (radially) irradiated along the inner surface of the front corner 3.

In this example, the plurality of photoelectric sensors 13 are provided only in the vicinity of the open / close door 5 (right end in FIG. 2B). However, the present invention is not limited to this configuration, and may be provided at a plurality of locations in the entering direction of the vehicle 1 (for example, three locations before and after the vehicle 1 and an intermediate portion).
Further, the photoelectric sensor 13 may be incorporated into the three-way frame 6 described above.

In FIG. 2, the mechanical parking device 10 of the present invention further includes a control device 14.
The control device 14 is, for example, a computer, controls the photoelectric sensor 13 in conjunction with the operation of the mechanical parking device 10, and detects the interference between the front corner 3 and the vehicle 1 by the photoelectric sensor 13. In addition, this detection stops the operation of the mechanical parking device 10 and issues an alarm.
The control device 14 may be integrated with a device that controls the operation of the mechanical parking device 10.

  In FIG. 2, the control device 14 irradiates the light beam 11 and detects the interference between the front corner 3 and the vehicle 1 during the operation of the vehicle 1 entering the storage unit 4.

  In the control method of the present invention, using the photoelectric sensor 13 described above, the light beam 11 is transmitted by the photoelectric sensor 13 along the inner surface of the front corner section 3 set on both sides in the width direction of the virtual parking space 2. Irradiation is performed to detect interference between the front corner 3 and the vehicle 1.

In the example of FIG. 2, during the operation of the vehicle 1 entering the storage unit 4, the plurality of light beams 11 are obliquely irradiated between the upper side of the parking space 2 and the side outer side.
Further, in this example, while the open / close door 5 is opened by the control device 14 or when the vehicle detection sensor 7 detects the entry of the vehicle 1, the detection of the vehicle 1 by the photoelectric sensor 13 described above is performed. Start. Then, while the vehicle 1 is in the warehousing unit 4 (during entering operation), this detection is continued, and when the vehicle 1 is stopped (parked) at the fixed position of the vehicle support unit 8, the detection may be ended. .

  With the configuration described above, when a part of the vehicle 1 enters the front corner 3 and the front corner 3 and the vehicle 1 interfere with each other, the light beam 11 is blocked by the part of the vehicle 1 that has entered. The interference between the front corner 3 and the vehicle 1 can be detected.

  Further, in this example, since the photoelectric sensor 13 is provided above the parking space 2 and outside the side portion, the photoelectric sensor 13 can be fixed at a fixed position, and at the time of entry of the vehicle 1 and passing of the user. The passage height can be secured.

Furthermore, in this example, it is possible to detect the presence or absence of interference between the front corner section 3 and the vehicle 1 while the vehicle 1 enters the storage section 4. Therefore, since the presence or absence of interference can be detected during entering into the storage (in the middle of the warehousing), it is possible to quickly notify the user of the vehicle 1 of alarm transmission in the case of interference. As a result, it is possible to prevent the leaving of the vehicle 1 in advance, and the next user is not inconvenienced such as an increase in waiting time.
Moreover, in this example, since the vehicle 1 detects while entering the storage unit 4, the above detection can be performed only at one place in the entering direction, for example, in the vicinity of the open / close door 5 (right end in FIG. 2B).

  FIG. 3 is a view of a second embodiment of a mechanical parking device 10 according to the present invention. In this figure, (A) is a front view and (B) is a side view.

In this example, similarly to FIG. 2, the photoelectric sensor 13 is provided in the storage unit 4 in which the vehicle 1 stores.
In FIG. 3, the photoelectric sensor 13 includes a light emitting unit 13 a and a light receiving unit 13 b, which are respectively provided in front of and behind the vehicle in the parking space 2 of the storage unit 4 and horizontally irradiate a plurality of light beams 11.

In this example, a part of the photoelectric sensor 13 (in this example, the light receiving unit 13 b) is fixed to the inside of the open / close door 5 via the connector 15. The light projecting unit 13 a is fixed at a fixed position on the front of the vehicle 1 of the storage unit 4. Note that one of the light emitting unit 13a and the light receiving unit 13b can be replaced by a reflection mirror. Further, the positions of the light emitting unit 13a and the light receiving unit 13b may be reversed.
With this configuration, when the door 5 is opened, a part of the photoelectric sensor 13 (in this example, the light receiving portion 13b) is retracted upward, so the passage height at the time of entry of the vehicle 1 and at the time of passage by the user. Can be secured.

In this example, a plurality of photoelectric sensors 13 are fixedly provided corresponding to the heights of a plurality of parking spaces 2 (2 in this example).
With this configuration, by selecting the photoelectric sensor 13 according to the vehicle height of the vehicle 1 to be stored, interference between the front corner portion 3 corresponding to the vehicle 1 and the vehicle 1 can be performed by the photoelectric sensor 13 at the fixed position. It can be detected.
In FIG. 3, among the parking spaces 2 corresponding to the two heights, the parking space 2 having a low height H is indicated by a broken line, and the parking space 2 having a high height H is indicated by an alternate long and short dash line.

Further, in this example, it is preferable that the detection by the photoelectric sensor 13 described above is started by the control device 14 immediately after the vehicle detection sensor 7 detects the entry completion of the vehicle 1 and the open / close door 5 is fully closed.
The other configuration is the same as that of the first embodiment.

  With the configuration described above, immediately after the entry of the vehicle 1 is completed and the open / close door 5 is fully closed, the presence or absence of interference between the front corner 3 and the vehicle 1 can be detected. Therefore, since the presence or absence of interference can be detected immediately after the open / close door 5 is fully closed, it is possible to promptly notify the user of the vehicle 1 of the alarm transmission in the case of interference. As a result, it is possible to prevent the leaving of the vehicle 1 in advance, and the next user is not inconvenienced such as an increase in waiting time.

  FIG. 4 is a view of a third embodiment of a mechanical parking device 10 according to the present invention. In this figure, (A) is a front view and (B) is a side view.

In FIG. 4, the photoelectric sensor 13 is provided in a hoistway 9 in which the vehicle 1 moves up and down.
In this case, the vehicle support 8 is a pallet, comb teeth or support on a lifting device (e.g. cage, lift, elevator etc).
In this example, the photoelectric sensor 13 is fixed at a fixed position on the inner wall of the hoistway 9. Further, at the home position, the photoelectric sensor 13 is provided at the front and back of the vehicle in the parking space 2 and horizontally irradiates the plurality of light beams 11. The photoelectric sensor 13 includes a light emitting unit 13a and a light receiving unit 13b.

Further, in this example, the control device 14 horizontally irradiates the plurality of light beams 11 between the front and rear of the vehicle at the plurality of heights of the hoistway 9 corresponding to the plurality of heights H of the parking space 2.
The position at which the light beam 11 is horizontally irradiated may be in the middle of the hoistway 9, for example, at a position elevated by a fixed height from the storage portion 4 or at a fixed height from the lowermost end of the hoistway 9.
The other configuration is the same as that of the second embodiment.

With the above-described configuration, the passage height of the storage unit 4 can be secured.
Further, since the vehicles 1 of the front corner 3 are detected at a plurality of heights of the hoistway 9 corresponding to a plurality of heights H of the parking space 2, the number of photoelectric sensors 13 can be significantly reduced.

  According to the first to third embodiments described above, the photoelectric sensor 13 emits the light beam 11 along the inner surface of the front corner section 3 set on both sides in the width direction of the virtual parking space 2. Equipped with Further, the light beam 11 is irradiated along the inner surface of the front corner 3 to detect the interference between the front corner 3 and the vehicle 1.

Therefore, when a part of the vehicle 1 enters the front corner 3 and the front corner 3 and the vehicle 1 interfere with each other, the light beam 11 is blocked by the part of the vehicle 1 which has entered the front corner. Interference between the cutting unit 3 and the vehicle 1 can be detected.
In addition, the photoelectric sensor 13 is highly resistant to vibration and the like, and does not require complicated processing (for example, image processing) at the time of detection, so the reliability is high.

  Furthermore, according to the first to third embodiments, the photoelectric sensor 13 can be fixedly provided at a fixed position, and the passage height at the time of entry of the vehicle 1 and at the time of passage of the user can be secured. it can.

  Further, according to the vehicle height of the vehicle 1 to be stored, the photoelectric sensor 13 at the fixed position can detect the interference between the front corner 3 corresponding to the vehicle 1 and the vehicle 1.

  The present invention is not limited to the above-described embodiment, and it goes without saying that various modifications can be made without departing from the scope of the present invention.

H Parking Space Height, W Parking Space Width,
1 vehicle (car), 2 parking space, 3 front corner,
4 warehousing department (warehousing room), 5 opening and closing doors, 6 three-way frame,
7 vehicle detection sensor (photoelectric sensor), 7a light projector, 7b light receiver, 7c light beam,
8 Vehicle supports, 9 hoistways, 10 mechanical parking devices, 11 light beams,
12 photoelectric sensor mounting portion, 13 photoelectric sensor, 13a light projecting portion, 13b light receiving portion,
14 control unit, 15 coupler

Claims (7)

It has a photoelectric sensor that emits a light beam along the inner surface of the front corner set on both sides in the width direction of the virtual parking space ,
The photoelectric sensor is provided in front of and behind the vehicle in the parking space of the storage unit, and horizontally irradiates a plurality of light beams.
The storage unit is provided with an open / close door that can move up and down,
A mechanical parking device , wherein a part of the photoelectric sensor is fixed to the inside of the opening and closing door .   The mechanical parking device according to claim 1, wherein the photoelectric sensor is provided on the upper side and the side outer side of the parking space in the storage unit and obliquely irradiates the plurality of light beams.   The mechanical parking apparatus according to claim 2, further comprising: a control device that irradiates the light beam to detect interference between the front corner and the vehicle while the vehicle is moving into the storage. It has a photoelectric sensor that emits a light beam along the inner surface of the front corner set on both sides in the width direction of the virtual parking space ,
The photoelectric sensor is provided in a hoistway in which a vehicle moves up and down, and horizontally irradiates a plurality of light beams to the front and back of the vehicle in the parking space . It has a photoelectric sensor that emits a light beam along the inner surface of the front corner set on both sides in the width direction of the virtual parking space ,
The mechanical parking device is provided with a plurality of photoelectric sensors corresponding to a plurality of heights of the parking space . Along the inner surface of the front corner, which is set on both sides in the width direction of the virtual parking space,
During operation of the vehicle enters the goods receipt unit, detecting an interference between the vehicle and the front corner cut portion by irradiating a plurality of light beams diagonally between the upper and the side outside of the parking space on the virtual How to control a mechanical parking device. Along the inner surface of the front corner, which is set on both sides in the width direction of the virtual parking space,
Interference between the front corner portion and the vehicle by irradiating a plurality of light beams horizontally between the front and back of the vehicle at a plurality of heights of the hoistway corresponding to a plurality of heights of the parking space on a virtual basis The control method of the mechanical parking device which detects.

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