JPH0133629B2 - - Google Patents

Description

[Detailed Description of the Invention] The present invention relates to a method for controlling a multi-story parking lot, in which cars are parked in a multi-story parking lot and cars are taken out from the parking lot, and it is possible to automatically enter and exit cars. The purpose is to

Next, this invention will be described in FIGS.
FIG. 3 showing a partial plan view, FIG. 4 a to c showing a partially enlarged plan view, a front view, and a cutaway left side view of a different part of FIG. 3, and a block diagram of the attitude control device. This will be explained with reference to FIG.

In those drawings, 1 is a multi-story parking building having first to fifth parking floors 2 to 6 and a loading/unloading work space extending through the center of each floor 2 to 6;
Reference numeral 7 denotes an elevator, which is a lifting device disposed in a recess 8 formed in the first floor 2. The elevator is driven by a control device, which will be described later, and a lifting table 10 for placing pallets, which will be described later, is moved to the first floor by a hydraulic jack 9. The vehicle is raised and lowered from the floor 2 to the fifth floor 6, and the automobiles on the pallet are transported to a predetermined floor. 11
12 is a safety fence provided vertically movably at the car entrance 1' of the building 1; 14 is a transport device that travels along traveling rails 15 provided on each floor 3 to 6 and transfers pallets 12 to and from a predetermined parking section 13 by a control device to be described later. 16 is a safety fence provided on each truck 14, and 17 is an attitude control device disposed at the upper end of the recess 8 of the first floor 2. Next, the configuration of the attitude control device 17 will be explained. do.

Reference numerals 18 and 18' are front slide frames disposed in front of the pallet 12, 19 and 19' are rear slide frames respectively disposed in the rear of the pallet 12, and 20 and 21 each have one end at the front;
The first frame consists of two frame members 22 fixed to the rear slide frames 18 and 19, and is placed on the front and rear left ends of the pallet 12 on the table 10.
The second base floor frames 23 and 24 are made up of three frame members 22' with one end fixed to the front and rear slide frames 18' and 19', respectively, and the front and rear right ends on the pallet 12 on the table 10. The third and fourth base floor frames are placed on the base floor frames 20, 21, 23, and 24, and each frame 20, 21, 23, and 24 is provided so as to be movable in the front-back direction.

25 is each base floor frame 20, 21, 2
A plurality of rollers are provided on the base floor frames 2 and 3, on which the wheels 26' of the automobile 26 are mounted, respectively, and are provided with the left and right directions as rotation axes.
0, 21, 23, 24 and each roller 25 constitute first to fourth base floors 27a to 27d.

28 is a pedestal formed by combining a plurality of base materials having a U-shaped cross section into a rectangular shape; 29 and 30 are pedestals 2;
Rails 32, 32' are provided at the center of the frame 28 and serve as running guides for the wheels 31 provided on the lower surface of each slide frame 18, 18', 19, 19'. Linear way bearings are provided at the right end to serve as auxiliary travel guides, 33 is a front-rear rack provided in the center of the pedestal 28, 34 to 37
are first to fourth hydraulic cylinders provided on the front and rear base materials of the pedestal 28, and the tips of piston rods are respectively attached to the respective base floor frames 20, 21, 23, 24, and each hydraulic cylinder 34 to 37, each base floor frame 20, 21, 23, 24 is moved in the front-rear direction.

Ultrasonic waves 38 to 41 are arranged at the front and rear of the left and right sides of the table 10 in the entrance/exit section 1', respectively, and detect the distance to the automobile 26 placed on each roller 25 and output a detection signal. The first to fourth detection units each consisting of a sensor, 42 to 45 are each detection unit 3
1st to 4th control panels equipped with display units that display the respective distances based on detection signals from 8 to 41, 46 to 4;
Reference numeral 9 indicates first to fourth current-voltage converters that convert the detection signals, which are current signals, into voltage signals and output the converted signals; 50 to 53 indicate current-voltage converters 46;
The first to convert the conversion signals from ~49 into analog-to-digital and output digital detection signals.
The fourth A/D converter 54 receives the digital detection signals from the first and second A/D converters 50 and 51 to
a first calculation unit 55 that detects a difference in distance between the second detection units 38, 39 and the vehicle 26 and outputs a control signal;
are detected by the third and fourth detection sections 40 and 41 by the digital detection signals from the third and fourth A/D converters 52 and 53.
A second calculation unit 56 and 57 calculates the difference in distance between the vehicle 26 and the vehicle 26 and outputs a control signal.
4 and 55, first and second display signal output sections 58 and 59 output display signals for displaying the differences in the respective distances calculated by the respective output sections 56 and 57; A conversion control unit 60 is configured by each A/D converter 50 to 53, each calculation unit 54, 55, each output unit 56, 57, and each display unit 58, 59. At the same time, each detection section 38 to 41, each control panel 4
2 to 45, each current-voltage converter 46 to 49, and a conversion control unit 60 constitute a detection control unit 61.

62, 62' are the first base floor frame 20
A rotating shaft 63 provided at the front end between the frame members of
first and second drive wheels pivoted at both ends of the
Reference numerals 4 and 64' indicate third and fourth drive wheels rotatably attached to both ends of the shaft of the rearmost roller 25 provided on the first base floor frame 20, and reference numerals 65 and 66 indicate the first and third drive wheels 62, respectively. , 64 and second,
These are first and second connecting rods that connect the peripheral edges of the fourth drive wheels 62', 64' and rotatably connect the shafts of each roller 25, and each rod 65, 66 is provided in the front-rear direction. Similarly to the first base floor 27a, the second to fourth base floors 27b to 27d also have a rotating shaft 67,
Drive wheels 68, 68', 69, 69' and connecting rods 70, 71 are provided.

72 is a mounting table fixed to the lower side between the front slide frames 18 and 18' located at the front end of the first base floor 27a; 73 is a mounting plate installed upright on the mounting table 72; 74 is the mounting table 72 75 is a first gear pivotally attached to the center of the rotating shaft 63, 76 is a second gear that meshes with the first gear 75, and 77 is a second gear. A third gear is pivotally attached to the rotating shaft of the gear 76, 78 is a fourth gear that meshes with the third gear 77, 79 is a large-diameter fifth gear that is pivotally attached to the rotating shaft of the fourth gear 78, and 80 is a Hydraulic motor 8
A sixth gear 82 is connected to the left end of the first transmission rod 83 and meshes with the first gear 75, and a seventh gear 82 is connected to the left end of the first transmission rod 83 and meshes with the first gear 75. A first rotation mechanism section 84 is constituted by the hydraulic motor 81, and the hydraulic motor 81 is actuated by a control signal from the first calculation section 54 of the conversion control section 60 to rotate the first to sixth gears 75 to 8.
0 rotates, the rotating shaft 63 rotates, the first and second drive wheels 62, 62' rotate, and the third,
Fourth drive wheel 64, 64' and each roller 25
is designed to rotate with the left and right direction as the rotation axis, and similarly to the first rotation mechanism section 84, the second to fourth rotation mechanism sections 86 to 88 are rotated by the mounting table, a plurality of gears, and a hydraulic motor 85. It is provided for each of the second to fourth base floors 27b to 27d.

89 is a second transmission rod whose left end is connected to the right end of the first transmission rod 83 via the first coupling part 90;
91 is a fourth transmission rod whose right end is connected to the gear of the third rotation mechanism section 87 via the second coupling section 92 and the third transmission rod 93; A mounting plate provided,
Reference numeral 95 indicates four support plates respectively erected on the mounting plate 94; reference numerals 96 and 97 indicate eighth and ninth gears pivotally attached to the other ends of the second and fourth transmission rods 89 and 91, respectively; 99 is the 10th and 11th gears 100 and 101 that mesh with the 8th and 9th gears 96 and 97, respectively.
are 12th and 13th gears that rotate in synchronization with the rotation of the 10th and 11th gears 98 and 99 and are detachably provided;
102 and 103 are the 12th and 13th gears 10, respectively
0,101 and the 14th and 14th meshes meshing with the rack 33.
15 gears, 104, 105 are the first and second electromagnetic clutches, 10th and 11th gears 98, 99 and 12th and 12th gears.
13 gears 100 and 101 are synchronized and disconnected, and the first to fifth gears 96 to 103 and both electromagnetic clutches 104 and 105 perform attitude control.
First synchronization mechanism section 1 that synchronizes the moving speed of the third base floors 27a, 27c and the rotational speed of each roller 25 of the first and third base floors 27a, 27c
06 is configured, and the first tuning mechanism section 10
6, it consists of a plurality of gears and electromagnetic clutches, and the second and fourth base floors 27b, 27d
movement speed and the second and fourth base floors 27b, 2
A second synchronization mechanism section 107 is configured to synchronize the rotational speed of each roller 25 of 7d.

Next, in FIG. 6 showing the control device, 10
Reference numeral 8 denotes a control device main body housing a plurality of circuit boards 109, 110 a status display section consisting of a plurality of pilot lamps arranged on the left end of the top surface of the main body 108, and 111 a status display section on the right end of the top surface of the main body 108. Each parking section 1 of the second to fifth parking floors 3 to 6 arranged
A plurality of parking section designation push buttons 112a to 11 equipped with pilot lamps that display the presence or absence of a vehicle.
2c is a first push button for individual automatic switching, a second push button for starting a function, and a third push button for return, which are arranged on the left front end of the top surface of the main body 108; 113a and 113b are the third push buttons 112c on the top surface of the main body 108; A fourth push button for instructing parking and a fifth push button for instructing exit located on the right side, 114a to 114d, are for instructing the second to fifth parking floors 3 to 6 arranged at the center of the upper surface of the main body 108. The 6th to 9th push buttons 115a and 115b are the 10th push button for lamp test and the 11th push button for alarm stop, which are arranged on the right front end of the top surface of the main body 108.
Reference numeral 6 denotes a 12th emergency stop push button disposed on the right rear end of the top surface of the main body 108, which includes the main body 108, the circuit board 109, each display section 110, and the parking section designation push button 111.
and 1st to 12th push buttons 112a to 112c, 11
3a, 113b, 114a-114d, 115
A, 115b, and 116 constitute a control device 117, and the elevator 7 and the trolley 14 are operated according to the operation of the control device 117.

In addition, 118 is each base floor frame 20,
These are auxiliary rollers provided at the inner ends of the pallets 21, 23, and 24, and only each of the auxiliary rollers 118 comes into contact with the pallet 12 and holds each roller 25 in a floating state from the pallet 12. Furthermore, 119,1
Reference numeral 20 indicates a vehicle length detector and a vehicle width detector, which are vehicle dimension detection devices that detect the vehicle length and vehicle width of the automobile 26 using ultrasonic waves, and 121 indicates a pallet 12.
This is a stop plate that is provided at the front end of the vehicle 26 and comes into contact with the front wheels 26' of the automobile 26. During attitude control operation, the contact state with the wheels 26' is released by a contact release tool (not shown), and each The resistance to movement of the wheels 26' due to the rotation of the rollers 25 is eliminated.

Next, the operation of the embodiment will be explained with reference to the flowchart shown in FIG. 7 and subsequent figures.

First, when the automobile 26 is to be stored, as shown in FIG.
The parking available information lamp and temporary standby information lamp provided near the parking area are turned on and off to notify the driver of the parking situation, and when the vehicle 26 enters the entrance/exit portion 1', the vehicle height of the vehicle 26 is restricted. The control device 117 determines whether the vehicle height is within the limit, and if the vehicle height is not within the limit, the control device 11
7, a caution lamp installed in the vicinity of the entrance/exit portion 1' is lit, and a flashing lamp is flashed to notify the driver that the vehicle 26 is too large to enter the garage. By exiting the vehicle and pressing the eleventh push button 115b of the control device 117, the caution lamp and the blinking lamp are turned off, and the control device 117 turns on the parking available guide lamp to enter a standby state.

On the other hand, if the vehicle height is within the limit, the control device 1
17, the forward guide lamp provided in the vicinity of the entrance/exit portion 1' is turned on, and each hydraulic cylinder 34-37 is activated to move each base floor 27a--
Pallet 12 with 27d placed on table 10
When the vehicle 26 moves on the pallet 12 and stops at a predetermined position with each wheel 26' placed on each roller 25 of each base floor 27a to 27d, When the control device 117 turns on the stop guide lamp and stops the movement of each base floor 27a to 27d, and presses the fourth push button 113a for warehousing instruction, the sixth to ninth push buttons 114a to 114d and the parking section designation push button are pressed. When a predetermined push button 111 is pressed to specify a floor or a parking area, the attitude control device 17 controls the attitude of the automobile 26.

At this time, the center line of the car 26 and the pallet 12
To explain attitude control of the front wheel 26' side of the vehicle 26 when the center line of the vehicle 26 is shifted and stopped as shown in FIG. 5, as shown in FIG. , 39, each detection unit 3
The distances l ₁ and l ₂ between the vehicle 26 and the vehicle 26 are detected, and the distances l ₁ and l ₂ are displayed on the display sections of the first and second control panels 42 and 43, respectively. , each distance l ₁ from the second control panel 42, 43,
The detection signal based on l ₂ is converted into a conversion signal that is a voltage signal by the first and second current-voltage converters 46 and 47, respectively, and each of the conversion signals is converted into a conversion signal that is a voltage signal.
The 2A/D converters 50 and 51 convert it into a digital detection signal and output it to the first calculation section 54, and the first calculation section 54 compares and determines the distances l ₁ and l ₂ based on the digital detection signals. , l ₁ <l ₂ , the first calculation unit 54 determines that the vehicle 2
The deviation between the center line of 6 and the center line of pallet 12, that is, the deviation x (=(l ₁ - l ₂ )/2), is calculated, and the deviation x is displayed on the first display 58, and a predetermined When the deviation calculation time t becomes zero, the first
From the calculation unit 54 to the first and second rotation mechanism units 84 and 86
A control signal is output to each hydraulic motor 81, 85 to operate the hydraulic motor 81, 85, each gear of each rotation mechanism section 84, 86 operates, and each drive wheel 62, 62', 64, 64 '68,6
8', 69, 69' and each roller 25 rotate in a counterclockwise direction when viewed from the solid line arrow side in FIGS. 3 and 5, respectively, and the front wheel 26' of the automobile 26 is moved in the counterclockwise direction. , when the distance l ₁ becomes equal to the distance l ₂ or when the distance l ₁ becomes slightly larger than the distance l ₂ , the output of the control signal from the first calculation unit 54 to each hydraulic motor 81, 85 is stopped. Then, the operation of the hydraulic motors 81 and 85 is stopped, and the attitude control of the front wheels 26' is completed.

Next, the first calculation unit 54 calculates the distances l ₁ and l ₂ as l ₁
When it is determined that <l ₂ , the deviation x is calculated and displayed by the same operation as in the case of l ₁ >l ₂ described above, and after a predetermined deviation calculation time t has elapsed, the deviation x is calculated from the first calculation unit 54. A control signal is output to each hydraulic motor 81, 85 of the first and second rotation mechanism parts 84, 86, and each hydraulic motor 81, 85 operates, and each drive wheel 62, 62'64, 64', 68, 68'
69, 69' and each roller 25 rotate in the opposite direction to the above-mentioned case l ₁ > l ₂ , and the motor vehicle 26
When the front wheel 26' of the front wheel 26' is moved and the distance _l1 becomes equal to the distance _l2 , or the distance _l1 becomes slightly smaller than the distance _l2 , the hydraulic motors 81, 85 are stopped and the front wheel 26' is moved. ’ attitude control ends.

Note that the first calculation unit 54 calculates the distances l ₁ and l ₂ as l ₁ = l ₂
If it is determined that
The hydraulic motors 81 and 85 of No. 6 are not operated, and the posture control immediately ends.

Moreover, the attitude control of the rear wheels 26' of the automobile 26 is as follows:
This is carried out in the same manner as the attitude control of the front wheels 26',
The distance l ₁ ′ between each of the detection units 40, 41 and the automobile 26 detected by the third and fourth detection units 40, 41,
Based on l ₂ ', the attitude control of the rear wheel 26' is carried out in a procedure similar to the flowchart shown in FIG.

Then, the front wheel 26' and the rear wheel 2
6' is performed at the same time, and when the center line of the vehicle 26 and the center line of the pallet 12 are aligned and the attitude control is completed, as shown in FIG. The return operation of each base floor 27a to 27d is started, each hydraulic cylinder 34 to 37 is operated, and the first and third hydraulic cylinders 34 and 36 are activated to
7a, 27c are front slide frames 18, 18'
At the same time, the second and fourth base floors 27b and 27d are moved forward by the second and fourth hydraulic cylinders 36 and 37.
9 and 19' are moved rearward.

At this time, the first and third base floors 27a, 2
The hydraulic motors 81 and 85 of 7c operate to rotate each roller 25 clockwise when viewed from the solid line arrow direction in FIG.
, the second and fourth transmission rods 89 and 91 rotate in the opposite direction to the respective rollers 25, and the first and second electromagnetic clutches 104 and 105 operate to rotate the fourteenth and fourth transmission rods.
The 15th gears 102 and 103 rotate in the same direction as the rotation direction of the second and fourth transmission rods 89 and 91, and the 14th and 15th gears 102 and 103 move forward while meshing with the rack 33. for, first
14. The rotational speed of each roller 25 of the first and third base floors 27a, 27c is synchronized with the forward movement speed of each base floor 27a, 27c by the 15th gear 102, 103, and the same as above. 2nd and 4th base floors 27b, 27d
The rotational speed of each roller 25 in the counterclockwise direction when viewed from the direction of the solid line arrow in FIG. 3 is synchronized with the backward movement speed of each base floor 27b, 27d, and wheel 2
6' is relatively moved in the opposite direction to the movement direction of each base floor 27a to 27d at the same speed as the movement speed of each base floor 27a to 27d, and each base floor 27a to 27d is moved to each hydraulic cylinder 34 to 27d. 37, the car 26 does not shift in the front-rear direction, and the center line of the car 26 and the center line of the pallet 12 remain aligned.
Each of the base floors 27a to 27d is pulled out from between the pallet 12 and the wheels 26', the return operation of each of the base floors 27a to 27d is completed, and the automobile 2
6 is placed on the pallet 12 without shifting.

Next, when the return operation of each base floor 27a to 27d is completed, as shown in FIG. 119, the length of the vehicle 26 is detected,
The control device 117 determines whether each of the vehicle dimensions, such as the fender mirror extension, vehicle width, and vehicle length, is within the limits, and if any one of the vehicle dimensions exceeds the limit, The warehousing operation is reset and returns to the starting point of the flowchart in FIG.
After the vehicle 26 exits from the entrance/exit portion 1' and the exit of the vehicle 26 is completed, by pressing the eleventh push button 115b, the caution lamp and the blinking lamp are turned off, and the control device 117 turns off the parking The guide lamp is lit and the machine is in standby mode.

On the other hand, if all of the above dimensions of each vehicle are within the limits,
The elevator 7 and the trolley 14 operate in response to the presses of the sixth to ninth push buttons 114a to 114d and the parking section designation push button 111, and the pallet 12 on which the car 26 is placed is moved by the elevator 7 to the second to fifth floors 3. After the pallet 12 is lifted up to a designated predetermined floor among the floors 1 to 6 and transferred to the cart 14 on the predetermined floor, the cart 14 travels to a specified parking section 13 and is removed from the cart 14. A pallet 12 is placed in the predetermined parking area 13.
is transferred and the automobile 26 is carried into the predetermined parking section 13, and the automobile 26 is transferred to the predetermined parking section 1 into which the automobile 26 has been carried.
The pilot lamp for indicating full parking of the parking section designation push button 111 corresponding to 3 is lit, indicating that the automobile 26 has entered the parking lot, and the parking of the automobile 26 is completed.

After the parking is completed, the empty pallets 12 in the empty parking section 13 are carried out to the first floor 2 by the trolley 14 and the elevator 7, and are placed on standby.

In addition, the automobile 26 is parked in each parking section 1 on the first floor 2.
3, when the vehicle is put into the warehouse, the attitude is controlled by the attitude control device 17, and then the vehicle is put into the warehouse by self-propulsion.

Next, when leaving the car 26, the fourth push button 113a of the control device 117 is pressed as shown in FIG.
By pressing , each base floor 27a~ is removed from the empty pallet 12 placed on the table 10.
27d is restored, and each base floor 27a to 27
When the return of step d is completed, the empty pallet 12 on the table 10 is carried into the empty parking section 13 by the elevator 7 and the trolley 14, and after the empty pallet 12 has been carried in, the fourth push button 113b is pressed. In addition, the sixth to ninth push buttons 114a to 1
14d and the parking section designation push button 111 to specify the parking floors 3 to 6 and the parking section 13 where the car 26 to be exited is parked, the trolley 14 of the specified floor 3 to 6 will be moved. The car 26 is moved to the designated parking area 13, the pallet 12 and the car 26 are transferred to the cart 14, and the car 26 is transferred to the cart 14.
4. The elevator 7 transports the car 26 along with the pallet 12 to the first parking floor 2, and the driver leaves the car 26 through the entrance 1'.

Furthermore, after the automobile 26 leaves, the caution lamp and flashing lamp turn on and off, and by pressing the third push button 112c, each of the base floors 27a to 27d is moved inward on the pallet 12, and the posture control operation is performed. Preparations are made, and the caution lamp and flashing lamp are turned off.
When the parking guide lamp lights up and the exit of the vehicle 26 is completed, these operations are repeated to automatically enter and exit the vehicle.

Therefore, according to the embodiment, the control device 1
Since the elevator 7, the trolley 14, etc. are operated in response to the operation of each of the push buttons 17, it is possible to automatically enter and exit cars, and it is possible to provide a highly practical multi-story parking lot.

As described above, the present invention provides a control method for a multi-story parking lot in which a car is parked at an empty parking position in a multi-story parking structure consisting of a plurality of parking floors, and a car is taken out from a predetermined parking position. A car entering from the side is placed on a pallet provided at the entrance of the multi-story parking lot, and an attitude control device controls the attitude of the car on the pallet to align the center line of the car with the pallet. At the same time, each dimension of the vehicle is detected by a vehicle dimension detection device, and if any of the detected dimensions exceeds a limit value, a control device causes a lamp near the entrance/exit portion to be turned off. The light is turned on to instruct exit, and if all of the dimensions are within the limit values, the control device drives the lifting device and the transportation device to transport the automobile along with the pallet to the storage position on the designated floor. The multi-level parking lot is characterized in that when entering the parking lot and leaving the parking lot, the control device drives the transporting device and the lifting device to transport a pallet of automobiles at the parking position on a designated floor to the entrance and exit portion. This is a control method.

Therefore, according to the control method for a multi-story parking lot of the present invention, the control device controls the lifting device and the transport device, and the cars are moved up and down and transported in pallets to enter and exit the garage. This makes it possible to provide a multi-level parking lot with excellent practicality.

[Brief explanation of drawings]

The drawing shows 1 of the control method for a multi-story parking lot of the present invention.
An example is shown in which Fig. 1 is a cutaway right side view of a multi-story parking lot, Fig. 2 is a plan view of the multi-story parking lot in Fig. 1, and Fig.
The figure is a plan view of a part, Figure 4a is an enlarged view of a part of Figure 3, Figure b is a front view of Figure a, and Figure C is a cutaway left side view of a different part of Figure 3. , FIG. 5 is a block diagram of the attitude control device, FIG. 6 a is a front view of the control device, FIG. 6 b is a plan view of FIG.
Each figure is a flowchart for explaining the operation. 1'...Entrance/exit section, 2-6...1st to 5th parking floors, 7...Elevator, 12...Pallet, 14...Dolly, 17...Posture control device, 26...Car, 117
...control device, 119, 120...vehicle length detector, vehicle width detector.

Claims (1)

[Scope of Claims] 1. A control method for a multi-story parking lot in which a car is parked in an empty parking position in a multi-story parking structure consisting of a plurality of parking floors, and a car is taken out of a predetermined parking position, comprising: A car is placed on a pallet provided at the entrance of a multi-story parking lot, and an attitude control device controls the attitude of the car on the pallet to align the center line of the car with the center line of the pallet. , the vehicle dimension detection device detects each dimension of the automobile, and if any of the detected dimensions exceeds a limit value, the control device lights up a lamp near the entrance and exit to instruct the vehicle to exit. If all of the dimensions are within the limit values, the control device drives the lifting device and the transport device to transport the automobile together with the pallet to the storage position on the designated floor, and at the time of exit, A control method for a multi-story parking lot, characterized in that the control device drives the transport device and the lifting device to transport automobiles at a parking position on a designated floor to the entrance/exit portion along with their pallets and leave the parking lot.