JP6548468B2 - 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, the vertically movable detection frame is provided in the storage unit for storing the vehicle, extends horizontally on the upper part of the virtual parking space and extends downward along the width direction outer surface of the parking space. ,
A first photoelectric sensor that is attached to the detection frame and irradiates a first light beam along the inner surface of a front corner section set on both sides in the width direction of the parking space;
A lift device for moving the detection frame up and down;
A mechanical parking device is provided , comprising: a second photoelectric sensor attached to the detection frame and irradiating the second light beam horizontally along the upper surface of the parking space .

  The detection frame is raised or lowered to a corresponding height according to the vehicle height of the vehicle to be stored, and the first light beam and the second light beam are irradiated during the operation of the vehicle entering the storage unit. And a control device for detecting interference between the front corner and the parking space and the vehicle.

  The first photoelectric sensor is attached to the detection frame, and obliquely irradiates and receives the first light beam.

  A portion of the first photoelectric sensor is attached to the detection frame, and the remaining portion of the first photoelectric sensor is attached to the outside of the parking space, and obliquely irradiates and receives the first light beam therebetween.

Further, according to the present invention, it is provided in the warehousing unit where the vehicle warehousing, and can move up and down horizontally extending the upper part of the virtual parking space and extending downward along the width direction outer surface of the parking space. With the frame
A first photoelectric sensor that is attached to the detection frame and irradiates a first light beam along the inner surface of a front corner section set on both sides in the width direction of the parking space;
Provided in the warehousing unit, comprising: a vertically movable height restrictions plate, and
The height restricting plate has a center restricting plate located along the upper surface of the parking space and an end restricting plate located at the front corner.

Further, according to the present invention, it is provided in the warehousing unit where the vehicle warehousing, and can move up and down horizontally extending the upper part of the virtual parking space and extending downward along the width direction outer surface of the parking space. With the frame
Preparing a first photoelectric sensor attached to the detection frame;
A first light beam is emitted by the first photoelectric sensor along the inner surface of the front corner section set on both upper ends in the width direction of the parking space to cause interference between the front corner section and the vehicle. detected,
Raising or lowering the detection frame to a corresponding height according to the height of the vehicle to be stored;
A control method of a mechanical parking device, wherein a second light beam is irradiated along an upper surface of the parking space by a second photoelectric sensor attached to the detection frame to detect an interference between the parking space and the vehicle Is provided.

Raising or lowering the detection frame to a corresponding height according to the height of the vehicle to be stored;
The plurality of first light beams are obliquely irradiated between the upper side of the parking space and the outer side of the parking space while the vehicle is moving into the storage unit.

  A first photoelectric sensor is mounted on the detection frame which can move up and down, and emits a first light beam along the inner surface of the front corner cut portion set on both sides in the width direction of the virtual parking space. Further, the first light beam is irradiated along the inner surface of the front corner portion to detect the interference between the front corner portion and the vehicle.

Therefore, when a part of the vehicle intrudes into the front corner and the front corner and the vehicle interfere with each other, the first light beam is blocked by the part of the intruding vehicle, so the front corner and the vehicle Interference with can be detected.
In addition, the photoelectric sensor (first 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; It is an AA arrow line view of FIG. 2 (B).

  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. Further, among the vehicles 1, an ordinary car 1A is shown by a solid line, and a high roof car 1B is shown by a broken line. Hereinafter, the ordinary car 1A and the high-roof car 1B will be referred to as the "vehicle 1" unless a distinction is necessary.
The mechanical parking device 10 of the present invention includes a detection frame 16 and a first photoelectric sensor 12A.

The detection frame 16 is movable up and down, is provided in the storage unit 4 in which the vehicle 1 receives, extends horizontally on the upper part of the virtual parking space 2 and has both ends downward along the width direction outer surface of the parking space 2 Extend. The storage unit 4 is preferably an independent storage room, but may be inside the mechanical parking device 10.
In this example, the detection frame 16 has a horizontal frame 16 a extending horizontally at the top of the parking space 2 and a vertical frame 16 b extending downward along the widthwise outer surface of the parking space 2. The horizontal frame 16 a and the vertical frame 16 b extend along the upper portion of the parking space 2 and the outer surface in the width direction, and do not enter the inside of the parking space 2.
Further, the distance inside the pair of vertical frames 16b is set to the maximum value of the width W of the parking space 2 corresponding to the target vehicle 1 (for example, the ordinary vehicle 1A and the high roof vehicle 1B).

  The first photoelectric sensor 12A is attached to the detection frame 16 and irradiates the first light beam 11A along the inner surface of the front corner 3 set on both sides in the width direction of the 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 first light beam 11 </ b> A approaches 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 section 3 from the inside of the parking space 2 through the inclined plane of the front corner section 3 is arranged to block the first light beam 11A There is.

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.

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 mechanical parking device 10 of the present invention further includes a lift device 18 that moves the detection frame 16 up and down, and a second photoelectric sensor 12B.

  The lift device 18 has, in this example, a plurality of suspension members 18a whose lower ends are attached to the upper portion of the detection frame 16, and a hoisting device 18b for synchronously moving up and down the plurality of suspension members 18a. The hanging material 18a is, for example, a chain or a wire. In addition, the hoisting device 18b includes, for example, a sprocket or a pulley, and a drive device for the suspension material 18a.

  The second photoelectric sensor 12B is attached to the detection frame 16, and horizontally irradiates the second light beam 11B along the upper surface of the parking space 2.

  In this example, the elevation position of the detection frame 16 by the lift device 18 is set in advance corresponding to the heights of a plurality of parking spaces 2 (2 in this example). The height H of the parking space 2 is, for example, two of 2050 mm, 1800 mm (or 1750 mm), and 1550 mm, which correspond to the vehicle 1 to be stored (for example, the ordinary car 1A and the high roof car 1B). 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.

With this configuration, the first photoelectric sensor 12A responds to the vehicle 1 by selecting the elevation position of the detection frame 16 according to the height of the vehicle 1 (for example, the ordinary vehicle 1A and the high roof vehicle 1B) to be stored Interference between the front corner 3 and the vehicle 1 can be detected. At the same time, the vehicle 1 exceeding the height H of the parking space 2 can be detected by the second photoelectric sensor 12B.
Hereinafter, the first photoelectric sensor 12A and the second photoelectric sensor 12B will be referred to as “photoelectric sensor 12” unless distinction is necessary. Similarly, the first light beam 11A and the second light beam 11B will be referred to as "light beam 11" except where distinction is necessary.

In this example, the photoelectric sensor 12 is composed of a light emitting unit 13a and a 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.

  In FIG. 2, the first photoelectric sensor 12A is attached to the detection frame 16, and obliquely irradiates and receives the first light beam 11A. That is, in this example, both the light emitting unit 13 a and the light receiving unit 13 b of the first photoelectric sensor 12 A are attached to the detection frame 16. The same applies to the case where one of the light emitting unit 13a and the light receiving unit 13b is replaced with a reflection mirror.

  In this example, the first light beam 11 </ b> A is linear, and is obliquely irradiated along the inner surface of the front corner 3. The first light beam 11 </ b> A may be fan-shaped along the inner surface of the front corner 3.

  In this example, the plurality of detection frames 16 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).

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 and controls the photoelectric sensor 12, the detection frame 16, and the lift device 18 in conjunction with the operation of the mechanical parking device 10, and the photoelectric sensor 12 controls the front corner 3 and the vehicle 1. Detect interference with Also, according to this detection, the operation of the mechanical parking device 10 is stopped and an alarm (for example, an alarm or the like) is issued.
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 raises and lowers the detection frame 16 to a corresponding height according to the height of the vehicle 1 to be stored, and during the operation of the vehicle 1 entering the storage unit 4, the first light beam 11A And the second light beam 11B to detect interference between the front corner 3 and the parking space 2 and the vehicle 1.

  According to the control method of the present invention, the detection frame 16 and the first photoelectric sensor 12A described above are prepared, and along the inner surface of the front corner 3 set on both sides in the width direction of the virtual parking space 2, The light beam 11A is emitted to detect the interference between the front corner 3 and the vehicle 1.

Further, in this example, according to the height of the vehicle 1 to be stored, the detection frame 16 is raised and lowered to the corresponding height, and during the operation of the vehicle 1 entering the storage unit 4, the upper part and the side part of the parking space 2 The plurality of first light beams 11A are obliquely irradiated to the outside.
Further, the second light beam 11B is emitted along the upper surface of the parking space 2 by the second photoelectric sensor 12B attached to the detection frame 16, and the vehicle 1 in the upper part of the parking space 2 is detected.

  The control device 14 lowers the detection frame 16 to the height H of the corresponding parking space 2 according to the height of the vehicle 1 to be stored while the open / close door 5 is open, and the first photoelectric sensor described above Detection of the vehicle 1 by 12A and the second photoelectric sensor 12B is started. Then, it is preferable to continue this detection while the vehicle 1 enters the storage unit 4 and to end the detection when the vehicle 1 is stopped (parked) at the fixed position of the vehicle support unit 8.

  According to the configuration described above, the elevation position of the detection frame 16 is selected according to the height of the vehicle 1 to be stored, so that the first photoelectric sensor 12A allows the front corner portion 3 corresponding to the vehicle 1 and the vehicle 1 to be selected. Interference can be detected. At the same time, the vehicle 1 exceeding the height H of the parking space 2 can be detected by the second photoelectric sensor 12B.

  Further, in this example, since the detection frame 16 can be raised to the retracted position at the time of passage of the user, the passage height at the time of passage of the user can be secured.

  Furthermore, in this example, during the operation of the vehicle 1 entering the storage unit 4, it is possible to detect the presence or absence of the interference between the height H of the front corner 3 and the parking space 2 and the vehicle 1. 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.

  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, a part of the first photoelectric sensor 12A (in this example, the light projecting part 13a) is attached to the detection frame 16, and the remaining part of the first photoelectric sensor 12A (in this example, the light receiving part 13b) is outside the parking space 2. , And obliquely irradiate and receive the first light beam 11A between them.
Note that one of the light emitting unit 13a and the light receiving unit 13b may be replaced by a reflection mirror.

In this example, a plurality of light receiving units 13b attached to the outside of the parking space 2 are required to correspond to the height of the detection frame 16 at the time of detection. The plurality of light receiving portions 13b are fixed at predetermined positions in the vertical direction at intervals in this example, but may be fixed at intervals in the width direction.
The other configuration is the same as that of the first embodiment.

  In this example, since the light receiving unit 13b is provided outside the parking space 2 compared to the first embodiment, the length of the vertical frame 16b can be shortened.

FIG. 4 is a view on arrow AA of FIG. 2 (B).
As shown in this figure, the mechanical parking device 10 of the present invention further includes a height restricting plate 20 provided in the storage unit 4.
The height limiting plate 20 is configured to be vertically movable according to the height of the vehicle 1 to be stored by a lifting mechanism (not shown). This lifting mechanism is similar to, for example, the above-described lift device 18.

The height limiting plate 20 has a central limiting plate 20 a located along the upper surface of the parking space 2 and a pair of end limiting plates 20 b located inside the front corner 3.
The central limiting plate 20a and the end limiting plate 20b are configured to freely swing back and forth around the horizontal axis at the upper end portions, respectively. Also, they are preferably lightweight plastic plates or foam plates so as not to damage the vehicle 1 even if they interfere with the vehicle 1.

With this configuration, by selecting the elevation position of the height limiting plate 20 according to the vehicle height of the vehicle 1 to be stored, the interference between the front corner 3 corresponding to the vehicle 1 and the vehicle 1 is limited at the end It can be detected by the swing of the plate 20b. At the same time, the vehicle 1 exceeding the height H of the parking space 2 can be detected by the swing of the central limiting plate 20a.
Alternatively, the swing of the height limiting plate 20 may be detected by a sensor (limit switch or the like), the operation of the mechanical parking device 10 may be stopped, and an alarm may be issued.
The height limit plate 20 is not essential, and may be omitted.

  According to the first and second embodiments described above, along the inner surface of the front corner 3 which is attached to the vertically movable detection frame 16 and is set on both sides in the width direction of the virtual parking space 2. The first photoelectric sensor 12A emits the first light beam 11A. Further, the first light beam 11A is emitted 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 intrudes into the front corner 3 and the front corner 3 interferes with the vehicle 1, the part of the vehicle 1 into which the first light beam 11A has entered is blocked. Interference between the front corner 3 and the vehicle 1 can be detected.
In addition, the photoelectric sensor 12 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 and second embodiments, the detection device 16 includes the lift device 18 and the second photoelectric sensor 12B and raises and lowers the detection frame 16 to a corresponding height according to the height of the vehicle 1 to be stored. It can respond to the mixed type mechanical parking apparatus which accommodates vehicles 1 from which vehicle height differs. Further, by raising the detection frame 16 to the retracted position when the user passes, it is possible to secure the passage height when the user passes.

  Further, by selecting the elevation position of the detection frame 16 in accordance with 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 is performed by the first photoelectric sensor 12A. It can be detected.

  Furthermore, since it is possible to detect the presence or absence of interference during entry into the warehouse (in the middle of storage), 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.

  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), 1A ordinary car, 1B high roof car, 2 parking space,
3 front corner section, 4 storage section (storage room), 5 opening / closing door, 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,
11A first light beam, 11B second light beam, 12 photoelectric sensor,
12A first photoelectric sensor, 12B second photoelectric sensor, 13a light projecting unit, 13b light receiving unit,
14 control unit, 16 detection frames, 16a horizontal frame, 16b vertical frame,
18 lift device, 18a lifting material, 18b hoisting device,
20 height limit plate, 20a center limit plate, 20b end limit plate

Claims (7)

A vertically movable detection frame which is provided in a storage section for receiving a vehicle, extends horizontally above the virtual parking space, and extends downward along the widthwise outer surface of the parking space;
A first photoelectric sensor that is attached to the detection frame and irradiates a first light beam along the inner surface of a front corner section set on both sides in the width direction of the parking space;
A lift device for moving the detection frame up and down;
A second photoelectric sensor mounted on the detection frame and emitting a second light beam horizontally along the upper surface of the parking space . The detection frame is raised or lowered to a corresponding height according to the vehicle height of the vehicle to be stored, and the first light beam and the second light beam are irradiated during the operation of the vehicle entering the storage unit. The mechanical parking apparatus according to claim 1 , further comprising: a control device that detects interference between the front corner and the parking space and the vehicle.   The mechanical parking device according to claim 1, wherein the first photoelectric sensor is attached to the detection frame and obliquely irradiates and receives the first light beam.   A part of the first photoelectric sensor is attached to the detection frame, and the remaining part of the first photoelectric sensor is attached to the outside of the parking space, and obliquely irradiates and receives the first light beam therebetween. The mechanical parking device according to 1. A vertically movable detection frame which is provided in a storage section for receiving a vehicle, extends horizontally above the virtual parking space, and extends downward along the widthwise outer surface of the parking space;
A first photoelectric sensor that is attached to the detection frame and irradiates a first light beam along the inner surface of a front corner section set on both sides in the width direction of the parking space;
A height limiting plate provided in the storage section and capable of moving up and down;
The mechanical parking device , wherein the height restricting plate includes a central restricting plate located along the upper surface of the parking space, and an end restricting plate located at the front corner . A vertically movable detection frame which is provided in a storage section for receiving a vehicle, extends horizontally above the virtual parking space, and extends downward along the widthwise outer surface of the parking space;
Preparing a first photoelectric sensor attached to the detection frame;
A first light beam is emitted by the first photoelectric sensor along the inner surface of the front corner section set on both upper ends in the width direction of the parking space to cause interference between the front corner section and the vehicle. detected,
Raising or lowering the detection frame to a corresponding height according to the height of the vehicle to be stored;
A control method of a mechanical parking device, wherein a second light beam is irradiated along an upper surface of the parking space by a second photoelectric sensor attached to the detection frame to detect an interference between the parking space and the vehicle . The mechanical parking device according to claim 6 , wherein the plurality of first light beams are obliquely irradiated between the upper side and the outer side of the parking space while the vehicle is moving into the storage unit. Control method.

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