JP7612563B2 - Mechanical parking device and its control method and program - Google Patents

Description

This disclosure relates to a mechanical parking device and its control method and program.

Various methods have been proposed to ensure safety in mechanical parking devices. For example, Patent Document 1 describes, as an example of a door-closing process, that if the authentication information of the user who performed the first authentication operation matches the authentication information of the user who performed the second authentication operation, a safety check is performed, and then when the door-closing button is pressed, the entrance/exit door closes.

JP 2014-139401 A

In conventional mechanical parking systems, a control panel is provided outside the boarding/disembarking area, and users operate this control panel to input authentication information for closing the doors and to close the doors. However, in recent years, there has been a growing need to simplify the door-closing process and improve convenience.

This disclosure was made in light of these circumstances, and aims to provide a mechanical parking device that ensures safety and improves convenience when closing the doors, as well as a control method and program for the same.

A mechanical parking device according to a first aspect of the present disclosure is a mechanical parking device comprising: a boarding/de-boarding room for at least one of entering and exiting a vehicle; an entrance/exit door provided at the entrance/exit of the boarding/de-boarding room; an internal reception means provided within the boarding/de-boarding room for receiving input information for closing the entrance/exit door; and a control means for performing a door-closing process to close the entrance/exit door after the input information is received by the internal reception means and it is confirmed that no one is present within the boarding/de-boarding room, wherein the input information is information input by a user performing a predetermined operation on an input unit, and the input information includes door-closing instruction information that instructs the entrance/exit door to be closed .
A mechanical parking device according to a second aspect of the present disclosure comprises a boarding/de-boarding room for at least one of entering and exiting a vehicle, an entrance/exit door provided at the entrance/exit of the boarding/de-boarding room, an internal reception means provided within the boarding/de-boarding room for receiving input information for closing the entrance/exit door, and a control means for performing a door closing process to close the entrance/exit door after the input information is received by the internal reception means and it is confirmed that no one is in the boarding/de-boarding room, wherein the input information is information input by a user performing a predetermined operation on an input unit, the input information is authentication information of the user, and the control means is a mechanical parking device in which the authentication information matches or has a predetermined correspondence with the authentication information of the user input before the entrance/exit door is opened, and after it is confirmed that no one is in the boarding/de-boarding room, it performs the door closing process.
A mechanical parking device according to a third aspect of the present disclosure includes a boarding/deboarding room where at least one of vehicles enters and leaves the room, an entrance/exit door provided at the entrance/exit of the boarding/deboarding room, an internal reception means provided within the boarding/deboarding room and receiving input information for closing the entrance/exit door, a control means that performs a door closing process for closing the entrance/exit door after the input information is received by the internal reception means and it is confirmed that no one is present within the boarding/deboarding room, an external reception means provided outside the boarding/deboarding room and receiving information for closing the opened entrance/exit door, and a control means that is provided outside the boarding/deboarding room and receiving information for closing the opened entrance/exit door. and an external detection means for detecting a person or vehicle in a specified monitoring area provided near the entrance/exit door, the input information being information input by a user performing a specified operation on an input unit, and the control means, when a person or vehicle is detected by the external detection means during the door closing process, stops the closing operation of the entrance/exit door or drives the entrance/exit door in reverse, thereby making the monitoring area different between when the input information is accepted by the internal acceptance means and when the input information is accepted by the external acceptance means.

A control method for a mechanical parking device according to a fourth aspect of the present disclosure is a control method for a mechanical parking device that includes a boarding/de-boarding room for at least one of entering and exiting a vehicle, an entrance/exit door provided at the entrance/exit of the boarding/de-boarding room, and an internal reception means provided within the boarding/ de -boarding room, wherein a computer executes the following steps: receiving input information for closing the entrance/exit door via the internal reception means; and performing a door closing process to close the entrance/exit door after the input information is received and it is confirmed that no one is in the boarding/de-boarding room, wherein the input information is information input by a user performing a predetermined operation on an input unit, and the input information includes door closing instruction information that instructs the user to close the entrance/exit door .
A control method for a mechanical parking device according to a fifth aspect of the present disclosure is a control method for a mechanical parking device that includes a boarding/de-boarding room for at least one of entering and exiting a vehicle, an entrance/exit door provided at the entrance/exit of the boarding/de-boarding room, and an internal reception means provided within the boarding/de-boarding room, wherein a computer executes the following steps: a step of receiving input information for closing the entrance/exit door via the internal reception means; and a step of performing a door closing process to close the entrance/exit door after the input information is received and it is confirmed that no one is in the boarding/de-boarding room, wherein the input information is information input by a user performing a predetermined operation on an input unit, the input information is authentication information of the user, and the authentication information matches or has a predetermined correspondence with the authentication information of the user input before the entrance/exit door is opened, and the door closing process is performed after it is confirmed that no one is in the boarding/de-boarding room.
A control method for a mechanical parking device according to a sixth aspect of the present disclosure is a control method for a mechanical parking device including a boarding/de-boarding room for at least one of entering and exiting a vehicle, an entrance/exit door provided at the entrance/exit of the boarding/de-boarding room, an internal reception means provided within the boarding/de-boarding room, and an external reception means provided outside the boarding/de-boarding room, the control method including the steps of: receiving input information for closing the entrance/exit door via the internal reception means or the external reception means; and performing a door closing process for closing the entrance/exit door after the input information is received and it is confirmed that no one is present within the boarding/de-boarding room. A method for controlling a mechanical parking device in which a computer executes a process of detecting a presence or absence of a person or vehicle in a predetermined monitoring area near the entrance door during the door closing process, and a process of stopping the closing operation of the entrance door or reversing the entrance door when a person or vehicle is detected in a predetermined monitoring area near the entrance door, wherein the input information is information input by a user performing a predetermined operation on an input unit, and the monitoring area is set to a different area when the input information is accepted by the internal accepting means and when the input information is accepted by the external accepting means.

A control program for a mechanical parking device according to a seventh aspect of the present disclosure is a control program for a computer to execute the above-mentioned control method for a mechanical parking device.

This disclosure has the effect of ensuring safety and improving convenience when closing the door.

A longitudinal cross-sectional view of a mechanical parking device according to one embodiment of the present disclosure. FIG. 1 is a schematic perspective view showing a boarding/deboarding compartment according to an embodiment of the present disclosure. 1 is a diagram showing an example of an installation position and detection range of a range sensor in a boarding/deboarding compartment according to an embodiment of the present disclosure, and an example of a monitoring area outside the boarding/deboarding compartment. FIG. FIG. 2 is a diagram illustrating an example of a configuration of an internal control panel according to an embodiment of the present disclosure. FIG. 2 is a diagram illustrating an example of a configuration of an external operation panel according to an embodiment of the present disclosure. A functional block diagram showing an example of the functions of a control system of a mechanical parking device according to one embodiment of the present disclosure. 13 is a flowchart showing an example of a processing procedure for warehousing processing according to an embodiment of the present disclosure. 13 is a flowchart showing an example of a processing procedure for warehousing processing according to an embodiment of the present disclosure. 13 is a flowchart showing an example of a processing procedure for warehousing processing according to an embodiment of the present disclosure. 13 is a flowchart showing an example of a processing procedure for warehousing processing according to an embodiment of the present disclosure. 13 is a flowchart showing an example of a processing procedure for warehousing processing according to an embodiment of the present disclosure. 13 is a flowchart showing an example of a processing procedure for warehousing processing according to an embodiment of the present disclosure. 13 is a flowchart showing an example of a processing procedure for warehousing processing according to an embodiment of the present disclosure. 13 is a flowchart showing an example of a processing procedure for a shipping process according to an embodiment of the present disclosure. 13 is a flowchart showing an example of a processing procedure for a shipping process according to an embodiment of the present disclosure. 13 is a flowchart showing an example of a processing procedure for shipping processing according to an embodiment of the present disclosure.

Below, the mechanical parking device and its control method and program according to each embodiment of the present disclosure will be described with reference to the drawings. In the embodiments described below, an elevator-type tower-type mechanical parking device will be described as an example of the mechanical parking device of the present disclosure, but is not limited to this example. The mechanical parking device of the present disclosure may be a vertical circulation type, a flat reciprocating type, a horizontal circulation type, a two-tiered type, etc. Also, it may be a conveyor-type or fork-type mechanical parking device that does not use pallets.

1 is a vertical cross-sectional view of a mechanical parking device 1 according to an embodiment of the present disclosure. As shown in FIG. 1, the mechanical parking device 1 is an elevator-type tower-type multi-story parking facility capable of accommodating a plurality of vehicles 2, and includes a parking tower 5 provided with an entrance/exit gate 3 and an entrance/exit door 4. The ground floor of the parking tower 5 is a boarding/disembarking room 7 for entering and exiting the vehicle 2, and a turntable 8 for changing the direction of the vehicle 2 is installed on the floor of the parking tower 5. The turntable 8 is configured such that a rotating plate 10 and a rotating drive unit 11 are provided in a concave pit 9 formed on the floor of the boarding/disembarking room 7. Note that, in this embodiment, the boarding/disembarking room 7 is used for both entering and exiting the parking lot, but is not limited thereto. For example, the boarding/disembarking room may be different for entering and exiting the parking lot, and a boarding/disembarking room dedicated to entering the parking lot and a boarding/disembarking room dedicated to exiting the parking lot may be provided. Also, in this embodiment, one boarding/disembarking room is shown, but multiple boarding/disembarking rooms may be provided.

A vertical elevator passage 13 is formed in the center of the parking tower 5, and a lift 14 (elevator-like transport vehicle) is provided within this passage so that it can move up and down. The lift 14 is suspended at its four corners by multiple wire ropes 15 that extend downward from a winch (not shown) provided at the top of the parking tower 5, for example, and can move up and down within the elevator passage 13 when the winch is activated.

On the other hand, vehicle storage shelves 17 (parking spaces) are provided on both sides of the elevator passage 13. These vehicle storage shelves 17 are arranged in multiple levels, one above the other, on either side of the elevator passage 13, and each vehicle storage shelf 17 holds one pallet 18 for loading vehicles. Note that the pillars and other components of the vehicle storage shelves 17 are not shown in the figure.

A transfer mechanism (not shown) is provided on the floor surfaces of the lift 14 and the vehicle storage shelf 17, which allows an empty pallet 18 or a pallet 18 loaded with a vehicle 2 to be smoothly transferred from the lift 14 to the vehicle storage shelf 17, or from the vehicle storage shelf 17 to the lift 14, when the heights of the two floor surfaces are the same.

Figure 2 is a schematic perspective view showing the boarding/disembarking room 7. Inside the boarding/disembarking room 7, there is a space in the center where the pallet 18 is placed, and on the wall in front of the entrance door 4, there is a mirror 24 that allows the driver (user) to check the position of the vehicle 2, and an electronic parking position indicator light 25 that provides guidance on "going forward," "stopping," and "backing up."

Four cameras 35A-35D are installed in the boarding/alighting compartment 7 to capture the interior conditions. In this embodiment, the cameras 35A-35D are, for example, video cameras, and are each attached to a different wall surface (four sides) of the boarding/alighting compartment 7. For example, camera 35A is positioned to capture the front of the vehicle 2 parked in the boarding/alighting compartment 7, camera 35B is positioned to capture the rear of the vehicle 2, camera 35C is positioned to capture the left side of the vehicle 2, and camera 35D is positioned to capture the right side of the vehicle 2. Note that the number of cameras installed is not limited to the above, and it is sufficient that at least one camera is installed.

An internal detection sensor (internal detection means) 30 (see FIG. 6) is provided within the boarding/alighting compartment 7 to detect people within the compartment. The internal detection sensor 30 may include sensors for detecting people in the front area, right side area, left side area, and rear area of the boarding/alighting compartment 7, for example. The internal detection sensor 30 may also include a sensor for detecting the stopping position of the vehicle. The internal detection sensor 30 may also include two range sensors 30A and 30B provided at diagonal positions within the boarding/alighting compartment 7.

Figure 3 shows an example of the installation position and detection range of the range measurement sensors 30A and 30B in the boarding/alighting compartment 7. The range measurement sensors 30A and 30B output a search wave W, such as a laser beam or ultrasonic wave, which has the property of hitting a target and reflecting, and while receiving the reflected wave, scan a predetermined angle range in the horizontal direction, and can calculate the position, size, and shape of the detected object based on the obtained angle information and distance information. Based on the sensor data detected by the range measurement sensors 30A and 30B, the position, size, and shape of the vehicle 2 placed at a specified position on the pallet 18 of the boarding/alighting compartment 7 can be detected, and vehicle contour data of the vehicle 2 can be obtained. Here, the vehicle contour data may be two-dimensional data of the vehicle, that is, a planar contour shape, or may be three-dimensional data. In addition, the range measurement sensor can detect not only the contour of the vehicle, but also people and the like in the boarding/alighting compartment.

The interior detection sensor 30 is a sensor used to check whether there is anyone inside the boarding/deboarding compartment, and is not limited to the above example, and any known sensor can be used as appropriate. The above-mentioned camera can also be used as the interior detection sensor 30, and in this case, whether there is anyone inside the boarding/deboarding compartment can be confirmed based on image data acquired by the camera.
A sensor signal from the internal detection sensor 30 is transmitted to a sensor control unit 57 (see FIG. 6) which will be described later.

At the entrance/exit gate 3 of the boarding/disembarking room, an entrance/exit detection sensor (exit detection means) 32 is provided to detect the entrance or exit of a person or vehicle from the boarding/disembarking room 7. The entrance/exit detection sensor 32 has, for example, a pair of sensors 32A provided inside the entrance/exit gate 3 and a pair of sensors 32B provided outside the entrance/exit gate 3. The sensors 32A and 32B are, for example, a type of sensor that receives a beam transmitted from a transmitter at a receiver. When this beam is blocked by a vehicle 2, a person, etc., the sensor turns on, and the sensor signal is transmitted to a sensor control unit 57 (see FIG. 6) described later.

The sensor control unit 57 determines that a person or vehicle has left the boarding/alighting compartment 7 when, for example, an ON signal is input from sensor 32A to sensor 32B in that order. The sensor control unit 57 also determines that a person or vehicle has entered the boarding/alighting compartment 7 when, for example, an ON signal is input from sensor 32B to sensor 32A in that order.

The method of detecting the exit of a person or vehicle from the boarding/alighting compartment 7 is not limited to the above example. For example, a sensor for detecting a person in the rear area of the boarding/alighting compartment 7 may be used instead of the sensor 32A. In addition, in FIG. 2, the sensors 32A and 32B are provided on the inside and outside of the boarding/alighting compartment 7, respectively, with the entrance door 4 in between, but this is not limited to the example. For example, the sensors 32A and 32B may both be provided inside the boarding/alighting compartment, or may both be provided outside the boarding/alighting compartment.

The sensor control unit 57 can also determine whether a person or a vehicle is entering or exiting based on the sensor signal from the entry/exit detection sensor 32. For example, when a person is entering or exiting, the on signals are not output from sensors 32A and 32B at the same time. In contrast, when a vehicle 2 is entering or exiting, because the vehicle has a certain length, there is a temporal overlap between the on signals of sensors 32A and 32B. In this way, it is possible to determine whether a person is entering or exiting or a vehicle 2 is entering or exiting depending on the degree of temporal overlap between the on signals of sensors 32A and 32B.

In this embodiment, the entry/exit detection sensor 32 is configured as described above to be able to detect entry and exit, but is not limited to this example. For example, it is sufficient if the sensor is configured to at least detect exit from the boarding/de-boarding room 7. One example is a camera 35.

In addition, an internal reception unit that receives input information for closing the entrance door 4 is provided inside the boarding/alighting compartment 7. This internal reception unit is mainly operated by the user (e.g., the driver). In this embodiment, an internal operation panel 26 is provided as an example of the internal reception unit. As shown in FIG. 2, the internal operation panel 26 may be provided on each of the right and left sides of the boarding/alighting compartment 7. This allows the user to input input information by operating the internal operation panel 26 closest to the driver's seat, regardless of whether the vehicle is a right-hand drive vehicle or a left-hand drive vehicle. This makes it possible to increase convenience.

Figure 4 is a diagram showing an example of the configuration of the internal operation panel 26. As shown in Figure 4, the internal operation panel 26 has an input unit 260 for a user to perform input operations. The input unit 260 has, for example, an authentication information input unit for accepting authentication information of the user. In this embodiment, an IC card reader 261 is provided as an example of the authentication information input unit, but is not limited to this example. The authentication information input unit may be configured, for example, by a biometric information reading unit that reads so-called biometric authentication information such as a numeric keypad, fingerprint, iris, vein information, face image, etc., a wireless communication unit that receives authentication information via wireless communication (e.g., 3G, 4G, 5G, 6G, wireless LAN, Wifi, LTE, etc.), etc.

The input unit 260 may also include a close door button 263, a re-enter button 264, etc. The input unit 260 may also include a touch panel 262. The display of the touch panel 262 is controlled by the control device 40 described below, and authentication information read by the IC card reader 261 and information input by operating the close door button 263 and the re-enter button 264 by an operator or the like are output to the control device 40. Note that instead of the touch panel 262, a display without an input function may also be provided.

In addition, various input screens and guidance may be displayed on the touch panel 262, and various input information may be input from the touch panel 262 according to the displayed guidance. In this case, the IC card reader 261, the close door button 263, and the re-enter button 264 are substituted by buttons displayed on the touch panel. In this way, the method of inputting various information is not limited to the above example, and any known technology may be adopted as appropriate.

In addition, a notification unit (notification means: not shown) may be provided in the boarding/de-boarding compartment to notify users of information by voice (guidance information for entering and leaving the parking lot, information on the occurrence of an error, etc.). Examples of the notification unit include a speaker and a warning light.

Outside the boarding/disembarking room 7, an external reception unit (external reception means) is provided that receives input information for closing the entrance door 4. This external reception unit is operated, for example, by a user, an administrator, a maintenance worker, etc. In this embodiment, an external operation panel 22 is provided as an example of the external reception unit.

Figure 5 is a diagram showing an example of the configuration of the external operation panel 22. As shown in Figure 5, the external operation panel 22 is housed in a metal housing 43 to protect it from wind and rain and to prevent tampering, and this housing 43 is provided with a lockable lid 44. When an operator operates the external operation panel 22, the operator unlocks the housing 43, opens the lid 44, and accesses the external operation panel 22.

The external operation panel 22 includes, for example, an authentication information input unit for receiving authentication information of a user. In this embodiment, an IC card reader 46 is provided as an example of the authentication information input unit, but is not limited to this example. The authentication information input unit may be configured, for example, by a biometric information reading unit that reads so-called biometric authentication information such as a numeric keypad, fingerprint, iris, vein information, face image, etc., or a wireless communication unit that receives authentication information via wireless communication (for example, 3G, 4G, 5G, 6G, wireless LAN, Wi-Fi, LTE, etc.).

The external operation panel 22 also includes a touch panel 45, a speaker 47 for providing audio guidance to the operator (e.g., the user) on how to operate the device, an emergency stop button 48 for emergency stopping the operation of the mechanical parking device 1, a microphone, etc.

The touch panel 45 has both a display function and an input function. For example, various kinds of guidance information for performing operations for entering and leaving the warehouse are displayed on the touch panel 45, as well as operation buttons and the like for allowing the operator to perform operations for entering and leaving the warehouse. The display on the touch panel 45 is controlled by the control device 40, which will be described later, and information input by the operator or the like operating the touch panel 45 is output to the control device 40.
A monitor 28 is provided near the external operation panel 22 for displaying real-time images captured by cameras 35A to 35D, which will be described later.

Furthermore, outside the boarding/disembarking compartment 7, a warehousing control light 21 equipped with blue and red lamps is provided above the entrance/exit door 4.
In addition, outside the boarding/disembarking compartment 7, an external detection sensor (external detection means) 30C that detects people or vehicles in a predetermined monitoring area provided near the entrance/exit door 4 is provided.
An example of the monitoring area is shown in Fig. 3. Different monitoring areas are set for the internal door closing mode in which the door closing operation is performed by the internal operation panel 26 and the external door closing mode in which the door closing operation is performed by the external operation panel 22. For example, the monitoring area for the internal door closing mode is set to the area K1+K2 in Fig. 3, and the monitoring area for the external door closing mode is set to the area K1 in Fig. 3. In the external door closing mode, the door closing operation is performed by operating the external operation panel 22, so a certain area in front of the external operation panel 22 is excluded from the monitoring range.

Examples of the external detection sensor 30C include a camera and a range sensor. Examples of the range sensor include a laser scan sensor, for example. Here, in FIG. 2, the external detection sensor 30C is provided at the lower left side of the entrance door 4 when viewed from the front, but the installation position is not limited to this. In other words, the external detection sensor 30C only needs to be placed in a position where it can detect people or vehicles in a specified monitoring area, and multiple external detection sensors may be provided. Furthermore, if one sensor is provided, it should be provided on the opposite side of the entrance door to the external operation panel 22.

A control device 40 that controls the entire mechanical parking device 1 is installed inside or outside the boarding/disembarking area 7.

Figure 6 is a functional block diagram of the control system of the mechanical parking device 1 according to this embodiment. The control device 40 is, for example, an information processing device, and includes a CPU, an auxiliary storage device for storing programs executed by the CPU, a main memory that functions as a work area when each program is executed, and a communication interface for connecting to a network. The control device 40 also includes a comprehensive database 52 in which various data required for controlling the mechanical parking device 1 is stored. The comprehensive database 52 stores vehicle presence status, pallet shape type, vehicle storage shelf shape type, identification information of people authorized to use the mechanical parking device 1, and contact information of users (e.g., registered email addresses, etc.). People authorized to use the mechanical parking device 1 include users, administrators, maintenance personnel, etc.

The control device 40 also includes a memory unit 41 for storing necessary data in association with the execution of the loading and unloading processes described below. For example, the memory unit 41 stores the user ID (first authentication information) of the user who was successfully authenticated in the first user authentication process, the state of the error flag, the results of the scan by the range sensor, information on various modes, etc.

The auxiliary storage device of the control device 40 stores control programs and the like for controlling each mechanism of the mechanical parking device 1, and the CPU reads the various programs stored in the auxiliary storage device into the main memory and executes them to realize the functions of each part described below. In addition, when executing the programs, the CPU refers to and uses various data stored in the general database 52.

The control programs may be pre-stored in an auxiliary storage device such as a ROM when the control device 40 is manufactured, or may be downloaded and installed from a server that distributes control programs, etc., after construction, etc. Alternatively, they may be installed via an external storage device. In this way, there are no particular limitations on the method of installing the various programs.

The control device 40 is equipped with a main control unit 50. In addition to the above-mentioned general database 52, the main control unit 50 is connected to an entrance/exit door control unit 55, a conveyor control unit 56, a sensor control unit 57, a camera control unit 58, an image database 59, a vehicle measurement control unit 61, a turning drive control unit 62, etc. Furthermore, the main control unit 50 is connected to an internal operation panel 26 and an external operation panel 22, and is configured to enable two-way communication.

The entrance door control unit 55 receives an operation command from the main control unit 50 to open and close the entrance door 4, and receives a position signal of the entrance door 4 from the entrance door sensor 67 and feeds that information back to the main control unit 50. The entrance door sensor 67 may detect whether the entrance door 4 is fully open or fully closed, and output a sensor signal indicating this to the entrance door control unit 55.

The conveyor control unit 56 receives operational commands from the main control unit 50 to raise and lower the lift 14 and load and unload the pallet 18, and receives a position signal for the lift 14 from the conveyor position sensor 68 and feeds that information back to the main control unit 50.

The sensor control unit 57 receives sensor signals from the internal detection sensor 30 and the external detection sensor 30C, and outputs the information to the main control unit 50. The sensor control unit 57 also determines whether a person or vehicle has entered or exited based on the sensor signal from the entry/exit detection sensor 32, and outputs the determination result to the main control unit 50.

The camera control unit 58 receives an operation command from the main control unit 50 and causes the cameras 35 (35A to 35D) installed inside the boarding/disembarking compartment 7 to capture images, and outputs the image information to the main control unit 50. This image information is stored in the image database 59 for a predetermined period of time. The image database 59 may be provided inside the general database 52 or on the cloud.

The vehicle measurement control unit 61 receives an operation command from the main control unit 50, measures the weight of the vehicle mounted on the lift 14 using the vehicle measuring device 69, and feeds back the information to the main control unit 50 via the vehicle weight sensor 73. This vehicle weight information is used for controlling the lift 14, etc.

The swivel drive control unit 62 receives an operation command from the main control unit 50 to operate the swivel drive unit 11 (turntable 8), receives a swivel position signal of the turntable 8 from the turntable position sensor 71, and feeds that information back to the main control unit 50.

The main control unit 50 operates the mechanical parking device 1 based on feedback from each control unit 55, 56, 57, 58, 61, 62 and input information from the internal operation panel 26 or external operation panel 22. The main control unit 50 also executes a control program for the entry process and a control program for the exit process based on various information exchanged with the internal operation panel 26 and external operation panel 22. Note that the sensor signals from the internal detection sensor 30, external detection sensor 30C, and entry/exit detection sensor 32 may be input directly to the main control unit 50 instead of being input to the main control unit 50 via the sensor control unit 57 described above. This makes it possible to implement more rapid control in response to the sensor signals.

[Warehousing process]
Next, the warehousing process executed by the control device 40 at the time of warehousing will be described with reference to the drawings. Figures 7 to 13 are flow charts showing an example of the procedure of the warehousing process executed by the control device 40.

When entering the vehicle, the user first moves the vehicle 2 to the entrance/exit gate 3, gets off, and heads to the external operation panel 22. The user then uses a special key to unlock the vehicle and open the lid 44 of the housing 43. When the control device 40 detects that the lid 44 has been opened (SA1 in FIG. 7), it causes the touch panel 45 of the external operation panel 22 to display a first user authentication screen (SA2).

When a user touches an IC card to the IC card reader 46, the user ID (first authentication information) registered on the IC card is read and transmitted to the control device 40. When the user ID is input (SA3), the control device 40 performs a first user authentication (first authentication) to determine whether the person attempting to enter the vehicle is a pre-registered user (SA4). Specifically, the control device 40 accesses the general database 52 and determines whether the input user ID is registered. As a result, if the first user authentication is unsuccessful (SA5: NO), a message indicating that the user authentication has failed is displayed on the touch panel 45 to notify the user that authentication has failed, and then the first user authentication screen is displayed (SA2).

On the other hand, if the first user authentication is successful (SA5: YES), i.e., if the user ID is registered in the general database 52, the system is set to an operation permission state in which input operations are possible from the touch panel 45 of the external operation panel 22 (SA6), the user ID for which the first user authentication was successful is stored in the memory unit 41 (SA7), and a storage startup confirmation screen is displayed on the touch panel 45 of the external operation panel 22 (SA8).

When the start button is pressed on the warehousing start confirmation screen (SA9), the control device 40 sets the vehicle transport mechanism such as the lift 14 and the mechanical mechanisms such as the entrance/exit door 4 to an operation permission state in which they can be operated (SA10), and retrieves an empty pallet from the vehicle storage shelf 17. At this time, a warehousing waiting confirmation screen indicating the warehousing waiting state may also be displayed on the touch panel 45.

Next, when the empty pallet arrives at the boarding/exit room 7, the control device 40 displays a door open screen on the touch panel 45 indicating that the entrance door 4 will open (SA11), and opens the entrance door 4. Then, when the entrance door 4 is completely open (SA12), the control device 40 sets the operation lock state to lock the operation of the mechanical mechanisms (vehicle transport means such as the lift 14 and the entrance door 4) (SA13 in FIG. 8).

Next, the control device 40 displays an entrance guide screen on the touch panel 45 that prompts the user to enter the storeroom (SA14), and further sets the touch panel 45 of the external operation panel 22 to an operation-locked state in which no input is accepted from the touch panel 45 (SA15). This makes it possible to prevent a third party from entering input from the touch panel 45 while the user is away from the external operation panel 22.

After checking the entrance guide screen, the user gets into vehicle 2, moves vehicle 2 into the boarding/disembarking compartment, and places vehicle 2 on an empty pallet that has been transported into the compartment. When a sensor signal from internal detection sensor 30 detects that the vehicle has been placed at the designated parking position on the empty pallet (SA16), control device 40 activates range sensors 30A and 30B. This scans the outline of vehicle 2 placed on the pallet. Control device 40 sets the area other than the outline of the vehicle as a monitoring area and stores it in memory unit 41 (SA17).

Next, the control device 40 announces to the user to exit the vehicle and displays a second user authentication screen on the touch panel of the internal operation panel 26 to prompt the user to enter authentication information (SA18). Here, the control device 40 may, for example, issue guidance via a speaker in the form of audio to prompt the user to enter authentication information, or, if communication with the onboard device installed in the vehicle is possible, may notify the onboard device via a wireless communication unit.

The control device 40 then determines whether or not exit has been detected by the entrance/exit detection sensor 32 (SA19). As a result, if exit has not been detected (SA19: NO), it determines whether or not a user ID has been input from the internal operation panel 26 (SA20). As a result, if a user ID has not been input (SA20: NO), the process returns to step SA19. In this manner, the determination process of steps SA19 and SA20 is repeated until exit is detected by the entrance/exit detection sensor 32 or a user ID is input from the internal operation panel 26.

As a result, if the user inputs a user ID into the internal operation panel 26 (SA20: YES), the system transitions to an internal close door mode in which the door is closed from the internal operation panel 26 (SA21). On the other hand, if the user ID is not input into the internal operation panel 26 and the entry/exit detection sensor 32 detects the exit of a person (SA19: YES), the system transitions to an external close door mode in which the door is closed from the external operation panel 22 (SA22).

Next, the inner closing door mode will be described with reference to FIG.
In the internal closed door mode, the control device 40 performs second user authentication (SB1) using the user ID input from the internal operation panel 26 in step SA20 of Fig. 8. In the second user authentication (second authentication), it is determined whether the received user ID (second authentication information) is a user ID that has been registered in advance.
As a result, if the second user authentication is successful (SB2: YES), a matching process is then performed to determine whether the user ID (first authentication information) input in the first user authentication is the same as the user ID (second authentication information) input in the second user authentication (SB3). In the matching process, it is determined whether the person who opens the entrance door 4 is the same as the person who closes it. Note that the determination of whether they are the same person is not limited to this example. For example, if the authentication information input in the first user authentication and the authentication information input in the second user authentication have a "predetermined correspondence relationship", it may be determined that they are the same person. For example, authentication information linked to a user ID that has been successfully authenticated in the first user authentication is stored, and if authentication information identical to this authentication information is input in the second user authentication, it may be determined that they are the same person. Examples of authentication information linked to a user ID include a password that is temporarily issued when the first user authentication is successful, and authentication information (e.g., biometric authentication information) that the user further inputs after the first user authentication is successful. In this way, the matching process can be carried out by appropriately using known techniques. If the matching process is successful (SB4: YES), the process proceeds to step SB5.

On the other hand, if the second user authentication is not successful (SB2: NO) or if the matching process is not successful (SB4: NO), the process returns to step SB1 and the second user authentication screen is displayed. At this time, a notification that the authentication or matching has failed may be displayed.

In step SB5, the control device 40 sets the internal operation panel 26 to an operation permitted state (SB5) and is in a standby state until the close door button 263 is pressed. Then, when the close door button 263 is pressed by the user (SB6), the control device 40 judges whether or not the entry/exit detection sensor 32 detects the intrusion of a person into the boarding/alighting compartment 7 (SB7). As a result, if the intrusion of a person is detected (SB7: YES), the control device 40 returns to step SB1 and performs the subsequent processing again. On the other hand, if the intrusion of a person is not detected (SB7: NO), the control device 40 judges whether or not the entry/exit detection sensor 32 detects the exit of a person (SB8). That is, it judges whether or not the driver has exited the boarding/alighting compartment 7. As a result, if the exit of a person is detected (SB8: YES), the control device 40 performs the door closing processing (SB9), erases the user ID stored in the storage unit 41 (SB10), and ends the processing.
In addition, when the close door button 263 is pressed, guidance to promptly exit the boarding/disembarking room 7 may be played over the speaker.

Next, the door closing process executed in step SB9 will be described with reference to Fig. 10. Fig. 10 is a flow chart showing an example of the procedure of the door closing process.
In the door closing process, the control device 40 starts a timer (SC1). Then, it is determined whether a predetermined period of time has elapsed since the timer was started (SC2). If the period has not elapsed (SC2: NO), it is determined whether there is anyone in the boarding/deboarding compartment based on a sensor signal from the interior detection sensor 30 (SC3). Specifically, it is determined whether there is anyone detected in the monitoring area set in step SA17 of FIG. 8. At this time, the control device 40 may issue a guidance message encouraging people to evacuate from the boarding/deboarding compartment from an alarm unit such as a speaker.

If it is determined that no one is present inside the boarding/deboarding compartment (SC3: YES), the external detection sensor 30C checks whether there is any occupant in a specified monitoring area set outside the boarding/deboarding compartment 7 (SC4). Since the internal closed door mode is set here, the monitoring area is set to area K1+K2 in FIG. 3. At this time, the control device 40 may issue guidance to encourage the occupant to evacuate from the monitoring area from an alarm unit such as the speaker 47.

As a result, if it is confirmed that no one is present in the monitored area (SC4: YES), it is determined that safety is ensured within the boarding/deboarding compartment and in the vicinity of the entrance/exit door outside the boarding/deboarding compartment, and the door closing process begins. Specifically, the control device 40 resets the timer (SC5) and starts closing the door (SC6).

Then, until the entrance door 4 is completely closed, the control device 40 continuously checks whether there is anyone inside or outside the boarding/deboarding room based on the sensor signals from the internal detection sensor 30 and the external detection sensor 30C (SC7: YES). At this time, the control device 40 may issue guidance prohibiting entry into the boarding/deboarding room and guidance encouraging people to leave the monitored area from an alarm unit such as the speaker 47.

When the internal detection sensor 30 and the external detection sensor 30C detect no human beings and the entrance/exit door 4 is detected to be completely closed (SC8: YES), the control device 40 starts the storage process to store the vehicle 2 in the storage shelf, and sends a message indicating that the door has been closed to the information distribution destination of the user registered in advance (SC9), and ends the door closing process.

On the other hand, if it is determined in step SC2 that the predetermined period has elapsed (SC2: YES), that is, if no occupant is confirmed to be present in the boarding/alighting compartment or in the specified monitoring area outside the compartment even after the predetermined period has elapsed since the timer was started, error processing is performed (SC10).
Furthermore, if a person is detected by the internal detection sensor 30 or the external detection sensor 30C between the time when the entrance door 4 starts to close and when it is completely closed (SC7: NO), the entrance door 4 is reversed and opened (SC11), and error processing is performed (SC12).

Next, the error processing executed in steps SC10 and SC12 will be described with reference to Fig. 11. Fig. 11 is a flow chart showing an example of the procedure of the error processing.
In the error processing, the control device 40 turns on the error flag (SD1) and notifies the user identified from the user ID stored in the storage unit 41 and various related parties (e.g., the parking lot manager, maintenance personnel) of the error (SD2). In this way, when an error occurs, by notifying not only the user but also the manager and maintenance personnel, it becomes possible to quickly carry out recovery operations.

Then, the control device 40 invalidates the input operation from the internal operation panel 26 and switches to the external door close mode in which the door close operation is performed from the external operation panel 22 (SD3). In other words, if an error occurs, the door close operation cannot be performed via the internal operation panel 26, and the door close operation can only be performed from the external operation panel 22.

[External door closed mode]
Next, the exterior door closing mode executed in step SA22 in Fig. 8 and step SD3 in Fig. 11 will be described with reference to Fig. 12. Fig. 12 is a flow chart showing an example of a processing procedure of the exterior door closing mode.
As described above, the external door closing mode is executed when a user who has entered the parking lot exits the parking lot 7 without performing the door closing operation inside the parking lot (step SA22 in FIG. 8), or when an error occurs when the door closing operation is performed from the internal operation panel 26 (step SD3 in FIG. 11). Furthermore, when an error occurs, not only the user who operated the door opening, but also the manager or maintenance personnel have the operating authority to perform the door closing operation.
The exterior door closing mode will be described below with reference to Figs.

In the external door closed mode, the control device 40 provides guidance to prompt the user to input authentication information on the touch panel 45 of the external operation panel 22. For example, it causes the touch panel 45 to display a second user authentication screen (SF1).

As a result, when a user or the like touches an IC card to the IC card reader 46 and inputs authentication information (second authentication information) (SF2), the control device 40 performs second user authentication (SF3). This second user authentication is the same as the second authentication process (SB1 in FIG. 9) in the internal closed door mode. As a result, if the second user authentication fails (SF4: NO), the process returns to step SF1 and the second user authentication screen is displayed again. At this time, a notification that the authentication has failed may be displayed.

On the other hand, if the second authentication process is successful (SF4: YES), the control device 40 determines whether the error flag is on or not (SF5). As a result, if the error flag is off (SF5: NO), a matching process is performed (SF6). That is, it determines whether the user ID (first authentication information) entered in the first user authentication and the user ID (second authentication information) entered in the second user authentication are the same or have a predetermined relationship. As a result, if the matching process is successful (SF7: YES), the process proceeds to step SF9.

On the other hand, if the matching process is not successful (SF7: NO), the process returns to step SF1 and the second user authentication screen is displayed. At this time, a notification that matching has failed may also be displayed.

On the other hand, in step SF5, if the error flag is on (SF5: YES), it is determined whether the operator has operation authority, such as an administrator or maintenance person, based on the authentication information entered in step SF2 (SF8). As a result, if the operator does not have administrator authority (SF8: NO), the process returns to step SF1 and the second user authentication screen is displayed. On the other hand, if the operator has operation authority (SF8: YES), the process proceeds to step SF9.

In step SF9, the control device 40 sets the external operation panel 22 to an operation permitted state and enters a standby state until the close door button is pressed. Then, when the close door button is pressed by a user or the like (SF10), it then determines whether or not a person has been detected entering the boarding/alighting compartment 7 (SF11). As a result, if a person has been detected entering (SF11: YES), the process returns to step SF1 and the second user authentication screen is displayed again.

On the other hand, if no human intrusion is detected (SF11: NO), the door closing process is performed (SF12), the user ID stored in the memory unit 41 is erased, the error flag is reset (OFF) (SF13), and the storage process is terminated. Note that the door closing process executed in step SF12 differs in that the monitoring area set outside the boarding/disembarking compartment 7 is area K1, and the other processes are the same as those shown in FIG. 10.

[Shipping process]
Next, the retrieval process executed by the control device 40 according to this embodiment will be described with reference to Figures 14 to 16. Figures 14 to 16 are flow charts showing an example of the procedure of the retrieval process executed by the control device 40.

The process up to the door opening in the unloading process is the same as SA1 to SA12 in the loading process described above, except that a pallet with a vehicle on it is called to the boarding/exiting room 7, rather than an empty pallet, so a detailed explanation will be omitted here. In step SA12, when the entrance/exit door 4 is fully opened, the control device 40 sets the operation lock state to lock the operation of the mechanical mechanisms (vehicle transport means such as the lift 14 and the entrance/exit door 4) (SG13 in FIG. 14).

Then, the control device 40 activates the range measurement sensors 30A and 30B. This scans the contour of the vehicle 2 placed on the pallet (SG14). The control device 40 stores the vehicle contour data in the memory unit 41.

Next, an exit guidance screen that prompts the user to exit the vehicle is displayed on the touch panel 45 (SG15), and further, an operation lock state is established in which no input is accepted from the touch panel 45 of the external operation panel 22 (SG16). This makes it possible to prevent a third party from inputting information from the touch panel 45 while the user is away from the external operation panel 22. After checking the exit guidance screen, the user enters the boarding/de-boarding room 7.

Next, the control device 40 displays a second user authentication screen on the touch panel 262 of the internal operation panel 26, and prompts the user to input authentication information (SG17). Here, the control device 40 may, for example, issue guidance prompting the user to input authentication information by voice via a speaker.

The control device 40 then determines whether or not exit has been detected by the entry/exit detection sensor 32 (SG18). As a result, if exit has not been detected (SG18: NO), it determines whether or not a user ID has been input from the internal operation panel 26 (SG19). As a result, if a user ID has not been input (SG19: NO), the process returns to step SG18. In this way, the determination process of steps SG18 and SG19 is repeated until exit is detected by the entry/exit detection sensor 32 or a user ID is input from the internal operation panel 26.

As a result, if the user inputs the user ID into the internal operation panel 26 (SG19: YES), the system goes into internal close door mode (SG20) where the door is closed from the internal operation panel 26. On the other hand, if the user ID is not input into the internal operation panel 26 and the exit of a vehicle (in the case of leaving the facility) or person (in the case of re-entering the facility) is detected by the entry/exit detection sensor 32 (SG18: YES), the system goes into external close door mode (SG21) where the door is closed from the external operation panel 22.

Next, the internal door closing mode will be described with reference to FIG. 15. FIG. 15 is a flowchart showing an example of the processing procedure in the internal door closing mode.

In the internal closed door mode, the control device 40 performs second user authentication (SH1) using the user ID input from the internal operation panel 26. In the second user authentication (second authentication), it is determined whether the received user ID (second authentication information) is a user ID that has been registered in advance.
If the second user authentication is successful (SH2: YES), a comparison process is then performed to determine whether the user ID (first authentication information) entered in the first user authentication and the user ID (second authentication information) entered in the second user authentication are the same or have a predetermined relationship (SH3).If the comparison process is successful (SH4: YES), the process proceeds to step SH5.

On the other hand, if the second user authentication is not successful (SH2: NO) or if the matching process is not successful (SH4: NO), the process returns to step SH1 and the second user authentication screen is displayed. At this time, a notification that the authentication or matching has failed may be displayed.

In step SH5, the control device 40 sets the internal operation panel 26 to an operation permitted state and waits until the close door button 263 or the re-enter button 264 is pressed (SH6, SH7: NO). Then, when the close door button 263 is pressed by the user (SH6: YES), the control device 40 sets the entire interior of the boarding/de-boarding compartment as the monitoring area (SH8) and proceeds to step SH10.

On the other hand, when the re-enter button 264 is pressed by the user (SH7: YES), the control device 40 sets the entire area of the boarding/alighting compartment excluding the outline of the vehicle scanned in step SG14 of FIG. 14 as the monitoring area (SH9), and proceeds to step SH10.

Next, the control device 40 determines whether or not a person has been detected entering the boarding/deboarding compartment 7 (SH10). As a result, if a person has been detected entering the boarding/deboarding compartment 7 (SH10: YES), the process returns to step SH1 and causes the second user authentication screen to be displayed again on the touch panel.
On the other hand, if the entry of a person is not detected (SH10: NO), the control device 40 judges whether the exit of a person is detected (SH11 in FIG. 16). At this time, if the close door button 263 is pressed, the control device 40 judges whether the exit of a vehicle is detected, and if the re-enter button 264 is pressed, the control device 40 judges whether the exit of a person is detected. As a result, if the exit of a person or vehicle is detected (SH11: YES), the control device 40 performs the door closing process (SH12), erases the user ID stored in the memory unit 41 (SH13), and ends the leaving process.

The door closing process executed in the exit process differs in that the monitoring area for checking whether there is anyone in the boarding/departing compartment is the monitoring area set in step SH8 or SH9. The rest of the process is the same as the door closing process executed in the entry process described above, so a detailed explanation is omitted.

In addition, the external door closed mode (SG21 in FIG. 14) executed in the unloading process is similar to the processing procedure of the external door closed mode executed in the unloading process described above (FIGS. 12 to 13), so a detailed explanation is omitted here.

As described above, the mechanical parking device and the control method and program thereof according to this embodiment allow the user to perform the door closing operation from within the boarding/deboarding room 7. This allows the entrance/exit door 4 to be automatically closed after the user leaves the boarding/deboarding room 7, thereby improving convenience.
In addition, the door closing process is performed while checking whether there is anyone inside the boarding/deboarding compartment and whether there is anyone in a monitoring area outside the boarding/deboarding compartment, so safety can be ensured.

Although the present disclosure has been described above using the above embodiment, the technical scope of the present disclosure is not limited to the scope described in the above embodiment. Various modifications or improvements can be made to the above embodiment without departing from the gist of the disclosure, and the forms with such modifications or improvements are also included in the technical scope of the present disclosure.
As an example, the following modification is given.

Although an upward-opening door has been described as the entrance door 4, this is not limited thereto. For example, the entrance door 4 may be a door that opens horizontally or a door that opens downward (a type that is stored in the ground).

In addition, although the internal operation panel 26 has been described as an example of the internal reception unit (internal reception means), the present invention is not limited to this example. For example, the internal reception unit may be realized as a wireless communication unit, and may be configured such that the authentication information and the door close instruction are input by receiving information such as authentication information and a door close instruction input from a mobile terminal carried by the user in the wireless communication unit. Also, an in-vehicle device may be used instead of the mobile terminal.
Examples of the mobile terminal include a smartphone, a tablet terminal, and a remote controller.

In addition, in each of the above-mentioned embodiments, the case where the external operation panel 22 and the internal operation panel 26 are controlled by the control device 40 has been exemplified, but this is not limited to this example. For example, an operation panel control device may be provided for each of the external operation panel 22 and the internal operation panel 26, and the above-mentioned processing may be realized by the exchange of information between the operation panel control device and the control device 40. In this case, for example, the storage processing and collation processing of authentication information (user ID) performed by the control device 40 may be executed by the operation panel control device provided for each of the external operation panel 22 and the internal operation panel 26. In other words, the device configuration related to the specific control system for realizing the above-mentioned storage processing and shipping processing is not limited to the above-mentioned configuration, and various configurations may be realized by taking into account known technologies.

Furthermore, in the above embodiment, when an error occurs, the user, the administrator, or the maintenance personnel is notified. However, instead of or in addition to this, the following aspects may be provided.
For example, an external gate may be provided in the passage through which vehicles exiting the boarding/disembarking room 7 pass, and the control device 40 may permit the opening of the external gate after the entrance/exit door 4 is fully closed. By adopting such an embodiment, users can be made to stay near the mechanical parking device 1 until the entrance/exit door 4 is fully closed. The configuration of the external gate is not particularly limited, and known technology may be adopted. Examples include a fence-like structure and a rod-like structure. It is sufficient that the external gate is configured so that vehicles cannot pass through unless it is opened.

In addition, a notification unit (notification means) that notifies an error may be provided near the external gate or in a passage through which a vehicle passes after exiting the boarding/disembarking compartment 7. Examples of the notification unit include a warning light, a speaker, and a display.
According to the above embodiment, if an error occurs, such as forgetting to close the door, it is possible to have the user quickly return to the boarding/disembarking room 7 and perform recovery work.

In addition, the flow of the inventory processing and shipping processing described in the above embodiment is just an example, and it is possible to delete unnecessary steps, add new steps, or rearrange the processing order within the scope that does not deviate from the gist of this disclosure.
As an example, the following modified example is given.

For example, publicly known technology can be applied to the process leading up to opening the entrance door 4.

The second user authentication process in FIG. 9 (e.g., SB1 to SB2) can be omitted. This is because if the matching process is successful, the current operator is automatically registered as a user.

Steps SB5 and SB6 in FIG. 9 can be omitted. In this way, pressing the door close button can be omitted, and the system can be configured to transition to door close processing through matching processing or authentication processing.

In addition, an unmanned confirmation button may be further provided on the internal operation panel 26, and a process may be added in which the user himself/herself performs a check to see if there is anyone in the boarding/departing compartment and presses the unmanned confirmation button between the time of the matching process in FIG. 9 and the time of pressing the close door button.

In step SB8 of FIG. 9, if exit is not detected within a predetermined period of time after the matching process is successful or after the close door button is pressed, the process may return to step SB1 and perform user authentication, etc. again.

The processes of steps SC1 to SC5 in FIG. 10 can be omitted. In place of these processes, the door closing may be started only after it is confirmed that no one is present in a specified monitoring area inside and outside the boarding/deboarding compartment.

In addition, in step SC7 of FIG. 10, different responses may be taken depending on whether a person is detected inside the boarding/deboarding compartment or in a monitoring area outside the boarding/deboarding compartment. For example, if a person is detected in a monitoring area outside the boarding/deboarding compartment, the closing operation of the entrance/exit door 4 may be temporarily stopped, and if it is later confirmed that no one is in the monitoring area, the closing operation of the entrance/exit door 4 may be resumed. In this way, if a person is detected in a monitoring area outside the boarding/deboarding compartment, no person will be trapped inside the compartment, so smooth operation of the mechanical parking device 1 may be prioritized over ensuring safety.

The vehicle contour scan performed in step SG14 in FIG. 14 can be performed at any time from when the pallet carrying the vehicle arrives inside the boarding/deboarding compartment until the entrance door 4 is fully opened.

In step SH11 of FIG. 16, if exit is not detected within a predetermined period of time after the matching process is successful or after the close door button or reenter button is pressed, the process may return to step SH1 and user authentication, etc. may be performed again.

The mechanical parking device and the control method and program described in each of the above-described embodiments can be understood, for example, as follows.

The mechanical parking device (1) according to the present disclosure includes a boarding/deboarding room (7) for entering and/or exiting a vehicle (2), an entrance/exit door (4) provided at the entrance/exit of the boarding/deboarding room, an internal reception means (26) provided within the boarding/deboarding room and receiving input information for closing the entrance/exit door, and a control means (40) for performing a door-closing process to close the entrance/exit door after the input information is received by the internal reception means and it is confirmed that no one is present within the boarding/deboarding room. The input information is information input by a user performing a specified operation on the input unit (260).

According to the mechanical parking device of the present disclosure, the boarding/deboarding compartment is provided with an internal reception means for receiving input information for closing the entrance/exit door. Here, the input information is information input by the user performing a predetermined operation on the input unit, so the user can indicate his/her intention to close the door. Then, after the input information is received by this internal reception means and it is confirmed that there is no one in the boarding/deboarding compartment, the control means performs a door closing process to close the entrance/exit door. This allows the user to perform the operation to close the door from within the boarding/deboarding compartment. As a result, the entrance/exit door is automatically closed after the user exits the boarding/deboarding compartment, thereby improving convenience.
In addition, the entrance door is closed only after it is confirmed that there is no one in the boarding/deboarding compartment, so safety can be ensured.

The mechanical parking device (1) disclosed herein includes an exit detection means (32) that detects the exit of a person or vehicle from the boarding/alighting area, and the control means may perform the door closing process after the input information is accepted by the internal acceptance means and the exit of a person or vehicle is detected by the exit detection means.

The door closing process is performed after the exit detection means detects the exit of a person or vehicle, ensuring greater safety.

In the mechanical parking device (1) disclosed herein, the internal reception means may further receive re-entry instruction information instructing re-entry or exit instruction information instructing exit from the input unit (260) during the exit process, and the control means may start the door closing process when the re-entry instruction information is input, when the internal reception means receives the input information and detects that a person has exited the boarding/de-boarding space, and may start the door closing process when the internal reception means receives the input information and detects that a vehicle has exited the boarding/de-boarding space, when the exit instruction information is input.

When leaving the facility, the user can instruct whether to leave or re-enter the facility. When leaving the facility, the user gets into the vehicle in the boarding/alighting compartment and drives the vehicle to exit the compartment. On the other hand, when re-entering the facility, the user exits the parking space without getting into the vehicle in the boarding/alighting compartment. In this way, since the method of exiting the parking space differs between leaving and re-entering, it is possible to determine the consistency between the instructions entered by the user and the exit state by determining whether a person or a vehicle has exited between leaving and re-entering.

The mechanical parking device (1) according to the present disclosure includes an internal detection means (30) for detecting a person inside the boarding/exiting compartment, and the control means may stop the closing operation of the entrance door or reverse the operation of the entrance door when a person is detected by the internal detection means during the door closing process.

The doors are closed while checking to see if there is anyone in the boarding/disembarking compartment, ensuring safety.

The mechanical parking device (1) according to the present disclosure may include an internal detection means (30) for detecting a person inside the boarding/de-boarding compartment, and the control means may perform the door closing process when the input information is received by the internal reception means and no person is detected by the internal detection means.

The entrance doors will only begin closing once it has been confirmed that there is no one in the boarding/disembarking compartment, ensuring safety.

In the mechanical parking device (1) disclosed herein, the input unit may be provided on an internal operation panel provided in the boarding/disembarking compartment.

According to this aspect, input information for closing the entrance door is input from an input unit provided on an internal operation panel installed inside the boarding/deboarding compartment.

In the mechanical parking device (1) disclosed herein, the input unit may be provided in a mobile terminal carried by the user or in an on-board device installed in the vehicle.

According to this aspect, input information for closing the entrance door is input from an input unit provided on a mobile terminal carried by the user or on the vehicle-mounted device. The input information is received by an internal reception means provided in the boarding/deboarding compartment via a wireless communication line. In this case, the internal reception means is realized by the wireless communication unit.

In the mechanical parking device (1) disclosed herein, the input information is user authentication information, and the control means may perform the door closing process after the authentication information matches or has a predetermined correspondence with the user authentication information input before the entrance door is opened and after it is confirmed that no one is present in the boarding/exiting compartment.

According to this aspect, it is possible to allow the door to close only if the authentication information entered is that of the same person who opened the entrance door.

In the mechanical parking device (1) disclosed herein, the input information is, for example, door-closing instruction information.

According to this aspect, the door closing process is performed after the door closing instruction information is received and it is confirmed that there is no one in the boarding/deboarding compartment.

The mechanical parking device (1) according to the present disclosure may be equipped with a notification means for providing a guidance message encouraging a person to evacuate from the boarding/alighting area before the entrance/exit door is closed.

According to this aspect, it is possible for passengers in the boarding/deboarding compartment to quickly exit the compartment.

The mechanical parking device (1) according to the present disclosure may also include an external reception means (22) that is provided outside the boarding/disembarking room and receives input information for closing the entrance/exit door.

According to this aspect, users can input information from inside or outside the boarding/alighting room.

The mechanical parking device (1) according to the present disclosure includes an external detection means (30C) that detects a person or vehicle in a predetermined monitoring area outside the boarding/disembarking room and located near the entrance door, and the control means may stop the closing operation of the entrance door or reverse the entrance door when a person or vehicle is detected by the external detection means during the door closing process.

According to this aspect, the door is closed while checking whether there is anyone in a specified monitoring area outside the boarding/disembarking compartment, so safety can be ensured.

The mechanical parking device (1) according to the present disclosure may be equipped with a notification means for providing a guidance message encouraging a person to leave the monitored area before the entrance door is closed.

This aspect makes it possible to quickly evacuate passengers who are in a specified monitoring area outside the boarding and disembarking compartment.

The mechanical parking device (1) according to the present disclosure includes an external reception means (22) that is provided outside the boarding/alighting room and receives information for closing the opened entrance/exit door, and an external detection means (30C) that detects a person or vehicle in a predetermined monitoring area provided outside the boarding/alighting room and near the entrance/exit door, and the control means may stop the closing operation of the entrance/exit door or reverse the entrance/exit door when a person or vehicle is detected by the external detection means during the door closing process, and may make the monitoring area different between when the input information is received by the internal reception means and when the input information is received by the external reception means.

According to this aspect, it is possible to set an appropriate monitoring area when input information is received by an internal receiving means and when input information is received by an external receiving means.

The mechanical parking device (1) according to the present disclosure may be equipped with a notification means for notifying a user of the result of the door closing process performed by the control means.

According to this aspect, the user can know the result of the door closing process.

In the mechanical parking device (1) disclosed herein, if an error occurs in the door closing process, the control means may refuse to accept the input information by the internal acceptance means.

According to this embodiment, if an error occurs during the door closing process, input information is only accepted by the external accepting means.

The mechanical parking device (1) according to the present disclosure may include an external gate provided in an exit path through which vehicles exiting the boarding/alighting compartment pass, and the control means may allow the external gate to be opened after the entrance/exit door is fully closed.

According to this aspect, the user can be made to stay near the mechanical parking device until the entrance door is fully closed. This makes it possible, for example, for the user to quickly return to the boarding/exit area and perform recovery work if the user forgets to close the entrance door.

The mechanical parking device (1) according to the present disclosure includes a notification means provided in an exit path through which a vehicle exiting the boarding/alighting compartment passes, and the notification means may be configured to notify of an abnormality if an error occurs during the door closing process.

According to this aspect, the user can be promptly notified that an error has occurred during the door closing process.

The control method for a mechanical parking device (1) according to the present disclosure is a control method for a mechanical parking device (1) that includes a boarding/deboarding room (7) for entering and/or exiting a vehicle, and an entrance/exit door (4) provided at the entrance/exit of the boarding/deboarding room, in which a computer executes a process of receiving input information for closing the entrance/exit door provided in the boarding/deboarding room, and a process of performing a door closing process for closing the entrance/exit door after the input information is received and it is confirmed that no one is present in the boarding/deboarding room, and the input information is information that is input by a user performing a specified operation on an input unit.

The control program for the mechanical parking device (1) disclosed herein is a control program for the mechanical parking device that causes a computer to execute the control method for the mechanical parking device.

1: Mechanical parking device 2: Vehicle 3: Entrance/exit gate 4: Entrance/exit door 5: Parking tower 7: Boarding/disembarking room 18: Pallet 22: External operation panel (external reception means)
26: Internal operation panel (internal reception means)
30: Internal detection sensor (internal detection means)
30A: Range sensor 30B: Range sensor 30C: External detection sensor (external detection means)
32: Entry/exit detection sensor (exit detection means)
32A: Sensor 32B: Sensor 40: Control device (control means)
41: Memory unit 45: Touch panel 46: IC card reader 47: Speaker 48: Emergency stop button 50: Main control unit 52: General database 55: Entrance door control unit 56: Conveyor control unit 57: Sensor control unit 67: Entrance door sensor 260: Input unit (input means)
261: IC card reader 262: Touch panel 263: Door close button 264: Re-enter button

Claims (22)

A boarding and disembarking room for at least one of entering and leaving the vehicle;
An entrance door provided at the entrance of the boarding/deboarding room;
an internal reception means provided in the boarding/deboarding compartment and configured to receive input information for closing the entrance door;
a control means for performing a door closing process for closing the entrance door after the input information is received by the internal receiving means and after it is confirmed that no one is present in the boarding/deboarding compartment,
the input information is information input by a user performing a predetermined operation on an input unit,
A mechanical parking device in which the input information includes door closing instruction information that instructs the entrance/exit door to be closed . An exit detection means for detecting that a person or a vehicle has exited from the boarding/alighting compartment is provided,
A mechanical parking device as described in claim 1, wherein the control means performs the door closing processing after the input information is accepted by the internal receiving means and the exit of a person or vehicle is detected by the exit detection means. The internal reception means further receives, during the retrieval process, re-entry instruction information instructing re-entry or retrieval instruction information instructing retrieval from the input unit,
The mechanical parking device of claim 2, wherein the control means starts a door closing process when the re-entry instruction information is input, when the input information is accepted by the internal reception means and when it is detected that a person has exited the boarding/de-boarding space, and starts a door closing process when the exit instruction information is input, when the input information is accepted by the internal reception means and when it is detected that a vehicle has exited the boarding/de-boarding space. An internal detection means for detecting a person in the boarding/deboarding compartment is provided,
A mechanical parking device as described in any one of claims 1 to 3, wherein the control means stops the closing operation of the entrance/exit door or drives the entrance/exit door in a reverse direction when a person is detected by the internal detection means during the door closing process. An internal detection means for detecting a person in the boarding/deboarding compartment is provided,
A mechanical parking device as described in any one of claims 1 to 3, wherein the control means performs the door closing process when the input information is accepted by the internal receiving means and no person is detected by the internal detection means. The mechanical parking device according to claim 5, wherein the control means stops the closing operation of the entrance door or drives the entrance door in a reverse direction when a person is detected by the internal detection means during the door closing process. A mechanical parking device according to any one of claims 1 to 6, wherein the input unit is provided on an internal operation panel provided in the boarding/disembarking compartment. The mechanical parking device according to any one of claims 1 to 7, wherein the input unit is provided in a mobile terminal carried by a user or an on-board device installed in the vehicle. A boarding and disembarking room for at least one of entering and leaving the vehicle;
An entrance door provided at the entrance of the boarding/deboarding room;
an internal reception means provided in the boarding/deboarding compartment and configured to receive input information for closing the entrance door;
a control means for performing a door closing process for closing the entrance door after the input information is received by the internal reception means and after it is confirmed that no one is present in the boarding/deboarding compartment;
Equipped with
the input information is information input by a user performing a predetermined operation on an input unit,
The input information is user authentication information,
The control means of this mechanical parking device performs the door closing process after the authentication information matches or has a predetermined correspondence with the user's authentication information entered before the entrance/exit door was opened and after it has been confirmed that there is no one in the boarding/exit area. The mechanical parking device according to any one of claims 1 to 9 , further comprising an alarm means for issuing a guidance message encouraging a person to evacuate from the boarding/alighting area before the entrance/exit door is closed. The mechanical parking device according to claim 1 , further comprising an external reception means provided outside the boarding/disembarking room for receiving input information for closing the entrance/exit door. An external detection means for detecting a person or a vehicle in a predetermined monitoring area provided outside the boarding/disembarking room and near the entrance/exit door is provided,
A mechanical parking device as described in any one of claims 1 to 11 , wherein the control means stops the closing operation of the entrance/exit door or drives the entrance/exit door in a reverse direction when a person or vehicle is detected by the external detection means during the door closing process. A mechanical parking device as described in any one of claims 1 to 12 , further comprising an informing means for informing a user of the result of the door closing process performed by the control means. A boarding and disembarking room for at least one of entering and leaving the vehicle;
An entrance door provided at the entrance of the boarding/deboarding room;
an internal reception means provided in the boarding/deboarding compartment and configured to receive input information for closing the entrance door;
a control means for performing a door closing process for closing the entrance door after the input information is received by the internal receiving means and after it is confirmed that no one is present in the boarding/deboarding compartment;
An external reception means is provided outside the boarding/deboarding room and receives information for closing the opened entrance door;
an external detection means for detecting a person or a vehicle in a predetermined monitoring area provided outside the boarding/disembarking room and in the vicinity of the entrance/exit door;
the input information is information input by a user performing a predetermined operation on an input unit,
The control means stops the closing operation of the entrance door or drives the entrance door in a reverse direction when a person or a vehicle is detected by the external detection means during the door closing process,
A mechanical parking device in which the monitoring area is different when the input information is received by the internal receiving means and when the input information is received by the external receiving means. The mechanical parking device according to claim 14 , further comprising an informing means for informing a user of the result of the door closing process performed by the control means. A mechanical parking device according to any one of claims 1 to 15 , wherein if an error occurs in the door closing process, the control means refuses to accept the input information by the internal acceptance means. An external gate is provided in an exit path through which a vehicle exiting the boarding/alighting room passes,
The mechanical parking device according to any one of claims 1 to 16 , wherein the control means permits the opening of the external gate after the entrance/exit door is fully closed. A notification means is provided in an exit path through which a vehicle exiting the boarding/alighting room passes,
The mechanical parking device according to claim 1 , wherein the notification means notifies of an abnormality when an error occurs during the door closing process. A control method for a mechanical parking device including a boarding/de-boarding room for entering and exiting at least one of a vehicle, an entrance/exit door provided at an entrance/exit of the boarding /de-boarding room, and an internal reception means provided within the boarding/de-boarding room ,
receiving input information for closing the entrance door via the internal receiving means ;
a step of performing a door closing process of closing the entrance door after the input information is received and after it is confirmed that no one is present in the boarding/deboarding compartment,
the input information is information input by a user performing a predetermined operation on an input unit,
A method for controlling a mechanical parking device , wherein the input information includes door closing instruction information that instructs closing the entrance/exit door . A control method for a mechanical parking device including a boarding/de-boarding room for entering and exiting at least one of a vehicle, an entrance/exit door provided at an entrance/exit of the boarding/de-boarding room, and an internal reception means provided within the boarding/de-boarding room,
receiving input information for closing the entrance door via the internal receiving means;
performing a door closing process for closing the entrance door after the input information is received and after it is confirmed that no one is present in the boarding/deboarding compartment;
The computer executes
the input information is information input by a user performing a predetermined operation on an input unit,
The input information is user authentication information,
A control method for a mechanical parking device that performs the door closing process after the authentication information matches or has a predetermined correspondence with the user's authentication information entered before the entrance/exit door is opened and after it is confirmed that no one is in the boarding/exit area. A control method for a mechanical parking device including a boarding/de-boarding room for entering and exiting at least one of a vehicle, an entrance/exit door provided at an entrance/exit of the boarding/de-boarding room, an internal reception means provided in the boarding/de-boarding room, and an external reception means provided outside the boarding/de-boarding room,
receiving input information for closing the entrance door via the internal receiving means or the external receiving means;
performing a door closing process for closing the entrance door after the input information is received and after it is confirmed that no one is present in the boarding/deboarding compartment;
a step of stopping the closing operation of the entrance door or driving the entrance door in a reverse direction when a person or a vehicle is detected in a predetermined monitoring area provided near the entrance door during a door closing process;
The computer executes
the input information is information input by a user performing a predetermined operation on an input unit,
A control method for a mechanical parking device, in which the monitoring area is set to a different area when the input information is received by the internal receiving means and when the input information is received by the external receiving means. A control program for a mechanical parking device for causing a computer to execute the control method for a mechanical parking device according to any one of claims 19 to 21 .