JPH05272255A - Automatic correction method and device for direction of garaging - Google Patents

Abstract

PURPOSE:To correct the direction of garaging automatically without handle operation, and to forward an automobile rectilinearly by emitting ultrasonic waves to the automobile garaged and controlling and driving a conveyor, on which the automobile is loaded, from distance measuring information. CONSTITUTION:An automobile 17 to be garaged is moved forward into a parking apparatus 23, and ultrasonic waves are emitted to the left and right side sections of a car body front section 19 from a pair of displacement sensors 7 and a distance is measured from reflected waves. A control signal is transmitted over driving motors 39, 43 for car-body front and rear sections respectively from a CPU unit on the basis of the detecting information and the driving motors 39, 43 are rotated and operated, and a loading conveyor mechanism is operated and traversing force is applied. When the distances of the displacement sensors 7 and the left and right sections of the car-body front section 19 coincide, the traversing driving of the loading conveyor mechanism is stopped, and the automobile 17 is forwarded and garaged into the parking apparatus 23. When the swing of the car-body front section 19 is detected at the stage, the swing is removed by such correction and control.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention automatically puts a vehicle desiring to enter into an entry / exit passage leading to an entry / exit exit provided in a multi-level parking device in the same direction as the opening direction of the entry / exit exit. The present invention relates to a storage direction automatic correction method and a storage direction automatic correction device used for implementing the storage direction automatic correction method.

[0002]

2. Description of the Related Art Conventionally, a large number of vehicles are parked in a small site as much as possible, so that most of the site constitutes a multi-story parking system and should be used for standing a building part in which a parked vehicle is housed. Has been. For this reason, the remaining entrance / exit road site located in front of the multi-level parking device has a frontage approximately equal to that of the building, but the depth is equal to the length of the vehicle for one vehicle desired to enter. Only a little additional length is added so that the traveling direction can be slightly changed by slightly operating the steering wheel. On the remaining site, move the desired vehicle from the road side to the multi-level parking device, and slightly move the handle to face the entry / exit port, and then move it forward to enter the multi-level parking device. It is a thing.

[0003]

On the other hand, in the above-mentioned conventional site allocation for the entrance / exit passage, which is the above-mentioned conventional site allocation, it is possible to perform a sufficient entrance direction correction handle by repeating forward movement and backward movement while changing the traveling direction. I can't operate.
For this reason, an automobile desiring to enter the entrance / exit road site is required to move forward from the road side at least at the entrance / exit gate in a state of being almost straight. However, depending on the location conditions of the multi-level parking device, road conditions, skill level of the driver, weather conditions, etc., the direction of travel of vehicles entering the parking standby site is the entrance / exit opening provided in the multi-level parking device. There is often a large deviation from the direction.
As a result, a vehicle entering the entry / exit site that wishes to enter the vehicle should operate the handle for adjusting the entry direction in an unreasonable state while risking contact with other vehicles and components of the multilevel parking system. Therefore, it was impossible to smoothly enter and leave the multilevel parking system.

The present invention has been made in view of the above-mentioned circumstances, and even if a vehicle desiring to enter enters the site for entry / exit in any direction, the vehicle desiring to enter can be operated without operating the steering wheel. An automatic storage direction correcting method for automatically moving the traveling direction of the vehicle to a straight entrance / exit opening provided in the multi-level parking device, and an automatic storage direction correcting device used for implementing the automatic storage direction correcting method. The purpose is to provide.

[0005]

[Means for Solving the Problems] In order to achieve the above-mentioned object, the solution means taken by the inventions of claims (1) and (2) are as follows. The front and rear of the vehicle body, including the front wheels of the vehicle, on each of a pair of transportation means that independently traverses in one direction or in the other direction perpendicular to the entry / exit path leading to the entry / exit passage provided in the multi-level parking device. The rear part of the car body including wheels is mounted. Further, the distance between the front and rear positions of the vehicle body of the automobile is measured on the entry / exit road, the difference in distance between the left and right positions is detected, and the direction in which the vehicle body is swung is detected based on the distance difference. Provide means. Then, on the basis of the information concerning the swinging direction of the vehicle body, the pair of conveying means are individually and independently traversed in a predetermined direction for a predetermined time to eliminate the swinging of the vehicle body, and the vehicle body of the vehicle desired to be stored. Is to be face-to-face with the entrance / exit opening.

[0006] Specifically, in the invention of claim (1), the respective distances and distances between the right and left parts of the front part of the vehicle body of the automobile entering the entrance / exit passage from an appropriate position near the entrance / exit entrance, and Step 1 to detect the direction in which the front of the vehicle is swinging
While detecting the distance difference, the front part of the vehicle body including the front wheels is made to traverse in a direction opposite to the direction in which the front part of the vehicle body is swung, while the rear part of the vehicle body including rear wheels is swung in the direction in which the front part of the vehicle body is swung. Step 2 in which the vehicle body is shaken to correct the shake of the vehicle body to execute the pointing operation in the warehousing direction, and step 3 in which the directional operation in the warehousing direction is stopped when the distance difference is detected to disappear.
This is a method of automatically correcting the warehousing direction consisting of

Further, in the invention of claim (2), at least a pair of distance comparison and detection means arranged at the entrance / exit path and at a position substantially symmetrical to the center of the entrance / exit path, and a pair of the distances. A conveyance means facing the comparison detection means and arranged in a horizontal line across the entrance / exit path, and linked with the conveyance means, and responds to the distance comparison detection information of the pair of distance comparison detection means. The vehicle body front transverse movement action drive device which appropriately changes the operating side to change the conveyance direction of the conveyance means, and the vehicle body front transverse conveyance means and the adjacent vehicle body transverse traverse transportation means. And a transport means arranged laterally in a straight line at a position and interlockingly coupled with the transport means, in response to the distance comparison detection information of the pair of distance comparison detection means, independently of the vehicle body front side behavior action drive device. The transporting means by appropriately changing the operating side Is obtained by the vehicle body rear transverse actuating drive occupying made convertible in the conveying direction, the vehicle body and a rear transverse conveying means, and receiving direction automatic correction apparatus for use in the practice of Receipt direction auto-correction method consists consisting.

[0008]

With the structure of the inventions of claims (1) and (2), a vehicle desiring to enter will enter the entry / exit path located in front of the entry / exit opening provided in the multi-level parking device. Then, a pair of distance comparison detection means is operated to detect the distance between an appropriate position near the entrance / exit opening and each of the left and right parts of the front part of the vehicle body of the automobile. If it is detected by this distance detection that there is a difference in distance and the front part of the vehicle body is swinging to either side, the transverse transport means for carrying the front wheel of the automobile is laterally moved in the direction opposite to the swinging direction. On the other hand, the rear transverse transportation means for carrying the rear wheels of the automobile is laterally moved in the swinging direction. Then, the front portion of the vehicle body gradually reduces the deflection, and in response to this, the distance difference between the appropriate position near the entrance / exit opening and each of the left and right portions of the front portion of the vehicle body is reduced, and finally the distance difference is reduced. Disappears. At this time, when the transverse movement of the vehicle body front traverse means and the vehicle body rear traverse means in the predetermined directions is stopped by a signal from the distance comparison detection means, the vehicle body of the vehicle desiring to enter the entrance / exit path is moved forward. It will be in a state that matches the opening direction of the entry / delivery port.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, preferred embodiments of the inventions of claims (1) and (2) will be described with reference to the drawings. FIG. 1 shows a case where an example of the storage direction automatic correction device is viewed from above, FIG. 2 shows a case where the storage direction automatic correction device is partially cut and viewed from the side, and FIG. 3 shows a distance comparison detection means. Fig. 4 shows an example of the configuration, Fig. 4 shows the configuration of the vehicle body rear mounting conveyor mechanism as seen from above, and Fig. 5 shows the interlocking connection of the drive drum and the vehicle body rear portion driving motor that constitute the vehicle body rear mounting conveyor mechanism. FIG. 6 shows a procedure for automatically correcting the warehousing direction.

As shown in FIGS. 1 and 3, reference numeral 1 denotes an ultrasonic distance comparison / detection means, which is an example of distance comparison / detection means, and includes a pair of ultrasonic wave transmitters 3 and code connection terminals 5. An ultrasonic displacement sensor 7, an amplifier unit 9 having a sensor head connection terminal connected to the code connection terminal 5 via a code, and an amplifier unit 9 connected to the amplifier unit 9 via a code. And a CPU unit 11. Reference numeral 12 is a control box that houses the CPU unit 11 and the amplifier unit 9. And
As shown in FIG. 1, each of the pair of ultrasonic type displacement sensors 7 is arranged at a position symmetrical with respect to the center line 15 of the entry / exit passage 13 and enters the entry / exit passage 13. An ultrasonic wave is emitted to the front part 19 of the vehicle body of the coming automobile 17, and the time until the sound wave returns as a reflected wave from the front part 19 of the vehicle is measured. The distance between the vehicle body 7 and the front portion 19 of the vehicle body is measured, and the distance difference is also detected. As shown in FIG. 1, FIG. 2, FIG. 4, and FIG. 5 for reference, reference numeral 21 denotes a vehicle body front-mounting conveyor mechanism which is an example of a vehicle body front transverse transport means, and which faces a pair of ultrasonic displacement sensors 7. In addition, the conveyor belt 27 disposed along the front surface of the building 25 of the multilevel parking device 23 across the entry / exit passage 13 and the building 2 by applying an appropriate tension.
5, an end drum 31 pressed against the inside of the right end of the conveyor belt 27 and rotatably supported by an end drum support leg 29 erected on the upper ground 28, and the conveyor belt. A driving drum 33 that is pressed against the inside of the left end of 27 and is rotatably supported by a driving drum support leg 30 that is erected on the subordinate ground 32, and a position below the driving drum 33. , Is mounted on the inverted L-shaped support base 35 attached to the inner side surface 30a of the drive drum support leg 30,
And a drive motor 39 for the front portion of the vehicle body which is connected to the drive drum 33 via the. Further, as shown in FIGS. 1, 2, 4 and 5, reference numeral 41 denotes the vehicle body front portion mounting conveyor mechanism 2 which is an example of a vehicle body rear transverse transportation means.
1 is a vehicle-body rear-mounted conveyor mechanism arranged at an adjacent position along the line 1, and is the same conveyor belt 2 as described above.
7 and the drive drum 3 which is pressed against the inside of the right end of the conveyor belt 27 toward the building portion 25 in the opposite direction to the above and is rotatably supported in the same manner as described above.
3, the end drum 31 pressed against the inside of the left end of the conveyor belt 27 and rotatably supported in the same manner as described above, and provided below the drive drum 33 in the same manner as described above. Rear vehicle drive motor 43
It consists of and. As shown in FIG. 1, the above-mentioned conveyor belt 2 in which the front wheels 45 and the rear wheels 47 are in direct contact with each other
As shown in FIG. 2, the upper surface 27a of the vehicle 7 is at the same height level as that on the entrance / exit path 13 so that the vehicle 17 can smoothly move. As shown in FIG. 3, the vehicle body front drive motor 39 which constitutes the vehicle body front mounting conveyor mechanism 21 and the vehicle body rear drive motor 43 which constitutes the vehicle body rear part mounting conveyor mechanism 41 are respectively arranged. It is electrically connected to the CPU unit 11 via a code. Then, by the pair of ultrasonic displacement sensors 7, the distance between the pair of ultrasonic displacement sensors 7 and the left and right parts of the front part of the vehicle body, which are symmetrical with respect to the center line 15 of the entry / exit passage, and the mutual distance difference. Based on the detection information, a signal output from the CPU unit 11 controls 0N-0FF of the vehicle body front drive motor 39 and the vehicle body rear drive motor 43 so that they are opposite to each other for a predetermined time. It has a structure that does not rotate in any direction. The ultrasonic distance comparison and detection means 1 described in detail above,
The vehicle body front portion mounting conveyor mechanism 21 and the vehicle body rear portion mounting conveyor mechanism 41 constitute an automatic storage direction correcting device 44 according to the present embodiment.

Next, the operation of this embodiment will be described. First, the vehicle 17 desiring to enter the car is moved forward from the road side to the multi-level parking device 23, and as shown in FIG. 1, the vehicle body front portion 19 including the front wheels 45 is mounted on the vehicle body front portion mounting conveyor mechanism 21 and the rear wheels 47 are mounted. Step 1 shown in FIG. 6 in which the vehicle body rear portion 49 including the vehicle body rear portion 49 is mounted on the vehicle body rear portion mounting conveyor mechanism 41, respectively.
To execute. Then, the pair of ultrasonic displacement sensors 7 are operated, and ultrasonic waves are emitted from the ultrasonic transmitter 3 to the left and right parts of the vehicle body front portion 19 facing the respective ultrasonic displacement sensors 7. Then, the time until the reflected wave returns to the pair of ultrasonic displacement sensors 7 from each of the left and right parts is measured to measure the distance. Next, step 2 is executed to determine whether or not there is a difference in the measured distances, in other words, whether the vehicle 17 is stopped in an oblique state. As a result of such a determination, as shown in FIG. 1, it is detected that the distance from the ultrasonic displacement sensor 7 is longer than the right side portion and the left side portion is longer, and the vehicle body front portion 19 is swung clockwise. When step 3 is executed, this detection information is transmitted to the CPU unit 11 via the amplifier unit 9. Then, the 0N-0FF control signal is transmitted from the CPU unit 11 to the vehicle body front drive motor 39 and the vehicle body rear drive motor 43, respectively, and as a result, the vehicle body front drive motor 39 is transmitted. Is rotated counterclockwise, and the vehicle rear drive motor 43 is rotated clockwise. By such a rotating operation, the conveyor belt 27 that constitutes the vehicle body front portion mounting conveyor mechanism 21 in the leftward direction toward the building portion 25.
Conveys toward the building portion 25 to the right while the conveyor belt 27 constituting the vehicle body rear mounting conveyor mechanism 41
Is executed, step 4 shown in FIG. 6 is executed. Therefore, the front part 45 of the vehicle body is given the transverse force acting in the left direction through the front wheels 45, while the rear wheel 47 is provided with the transverse force of the rear part 49 acting in the right direction through the rear wheels 47. It Then, the automobile 17 as a whole is rotated counterclockwise, and the front portion 19 of the vehicle body faces the entrance / exit opening 51 provided in the building portion 25 while gradually eliminating the shake in the clockwise direction. Eggplant When the distance between each of the pair of ultrasonic displacement sensors 7 and the left and right parts of the vehicle body front portion 19 becomes equal due to the operation of the automobile 17, the C
From the PU unit 11 to the vehicle front drive motor 39,
A turning operation stop signal in a predetermined direction is issued to each of the vehicle body rear drive motors 43. Then, the drive motor 39 for the front part of the vehicle body and the drive motor 43 for the rear part of the vehicle body stop rotating, and at the same time, the conveyor belt 27 and the rear part-equipped conveyor body constituting the vehicle body front-mounted conveyor mechanism 21. The conveyor belt 27 forming the mechanism 41 stops the lateral movement. Then, when the vehicle 17 is moved forward, the vehicle 17 is stored in the multilevel parking device 23. Step 5
Is executed. When step 6 in which it is determined that the vehicle body front portion 19 is swung counterclockwise is executed, the CP
From the U unit 11, a 0N-0FF control signal for rotating the vehicle front portion drive motor 39 and the vehicle body rear portion drive motor 43 in the opposite directions to the above is transmitted.
As a result, the conveyor belt 27 constituting the vehicle body front mounting conveyor mechanism 21 and the conveyor belt 27 constituting the vehicle body rear mounting conveyor mechanism 41 are respectively traversed in the opposite direction to the above-described step 7 to execute the automobile 17 The shake of the front part 19 of the vehicle body is eliminated.

Next, another embodiment of the inventions of claims (1) and (2) will be described with reference to the drawings. FIG. 7 shows a case where the four-group parallel connection type multi-story parking apparatus incorporating the above-mentioned automatic storage direction correcting apparatus is viewed from above.

As shown in FIG. 7, reference numeral 53 denotes a four-group parallel connection type three-dimensional parking apparatus which is connected in parallel on the back side of a rectangular installation ground 55 and is provided with an entrance / exit opening 51. Base multi-level parking device unit 57 (571 to 57)
4) and the above-described automatic storage direction correcting device installed on the remaining rectangular installation ground 55 located in front of the four multi-story parking device units 57 and in front of the leftmost multi-story parking device unit 571. 44 and the other three multi-story parking device units 572 to 574, and the loading front automatic conveyor 44 constituting the storage direction automatic correcting device 44 in such a manner that the loaded object can be smoothly delivered. It is composed of a mechanism 21 and an automobile transverse conveyor mechanism 59 provided at an adjacent position on the right side of the vehicle body rear mounting conveyor mechanism 41. The vehicle transverse conveyor mechanism 59 includes a transverse conveyor belt 60 and a transverse conveyor belt 60.
Of the traverse end drum 61, which is arranged in pressure contact with the conveyor belt at one end of the inside, and is arranged in the state of being in pressure contact with the traverse conveyor belt 60 at the other end of the inside of the traverse conveyor belt 60. It comprises a traverse drive drum 63 provided and a traverse drive motor 64 disposed below the traverse drive drum 63 in the same manner as described above. In order to support the traverse conveyor belt 60, a plurality of 65 are arranged at regular intervals in contact with the lower surface of the traverse conveyor belt 60. Further, 66 is an entrance provided at a position facing the leftmost three-dimensional parking device unit 571, 67 is an exit provided at a position facing the rightmost three-dimensional parking device unit 574, and 69 is the exit 67.
Is a partition wall that partitions the road provided between the entrance 65 and the four-group parallel connection type multi-level parking device 53.

Next, the operation of this embodiment will be described.
When a vehicle 71 desiring to be stored in the four-group parallel parking system 53 according to the present embodiment is moved forward from the road for an appropriate period of time, the vehicle 71 passes through the entrance 66 and then the front wheels 45.
Are stopped on the vehicle body front mounting conveyor mechanism 21 and the rear wheels 47 are stopped on the vehicle body rear mounting conveyor mechanism 41, respectively. Next, when the storage direction automatic correction device 44 is operated in the same manner as described above, the automobile 71
The vehicle body is in a state of facing the entry / exit port 51 provided in the multi-level parking device unit 571 at the left end. Then, when the vehicle 71 is to be stored in the leftmost multi-level parking apparatus unit 571, the vehicle 71 is moved forward as it is and the vehicle 71 is stored in the leftmost multi-level parking apparatus unit 571. When the vehicle is to be stored in another multi-level parking device unit, both the vehicle front drive motor 39 and the vehicle rear drive motor 43 are moved to the side where the conveyor belt 27 is laterally moved to the right. Let Then, the car 7
1 moves the vehicle body to the right where the vehicle transverse conveyor mechanism 59 is arranged while maintaining the face-to-face relationship with the leftmost multi-level parking device unit 571. When the right side of the vehicle body of the automobile 71 faces the left end of the transverse conveyor belt 60 that constitutes the automobile transverse conveyor mechanism 59, the transverse drive motor 64 is moved to one side. Then, since the traverse conveyor belt 60 starts to laterally move to the right, the automobile 71 has the conveyor belt 27 constituting the vehicle body front mounting conveyor mechanism 21 and the conveyor belt 27 constituting the vehicle body rear mounting conveyor mechanism 41. From the sheet to the traverse conveyor belt 60. After that, if the traverse drive motor 64 is continuously operated to one side for a predetermined time,
The automobile 71 is conveyed in the traversing state by the traverse conveyor belt 60 to the front position of the third parking device unit 573 which is the third from the left and is ready to store, and then stops at that position. When the vehicle 71 is moved forward, the vehicle 71 is smoothly stored in the third multi-level parking device unit 573 from the left. Incidentally, 7
2 turn 180 degrees by turntable 73,
It is an automobile desiring to be unloaded from the rightmost multi-level parking device unit 574, and is forwarded to pass through the traverse conveyor belt 60 and is unloaded to the road side from the exit 67. Further, reference numeral 74 denotes an automobile stored in the second-order multi-level parking device unit 572 from the left. When the vehicle is to be unloaded, it is turned 180 degrees by the turntable 73 and then moved slightly forward to move the vehicle 74 on the traverse conveyor belt 60 located in front of the entry / exit port 51. To move. Next, when the traverse drive motor 64 is operated to one side for a predetermined time, the automobile 74 is conveyed by the traverse conveyor belt 60 in a traverse state to the front position of the exit 67. Then,
When the vehicle 74 is moved forward, the vehicle 74 is discharged from the exit 67 to the road side.

[0015]

Since the present invention is constructed as described in detail above, it exhibits the following excellent effects. It is possible to automatically orient a vehicle desiring to enter the vehicle in the entering and exiting route in any direction without requiring the driver to operate the steering wheel. Therefore, even if the multi-storey parking device is in an installed state with a narrow entrance / exit path, the vehicle can be smoothly stored. Further, from such an advantage, when installing a multi-story parking system on a small site, even if a large amount of it is directed to the building part of the multi-story parking system for storing cars in the site, smooth entry / exit is possible. However, securing a parking lot for business is an urgent issue, and the place where a multi-storey parking system can be located in the center of the city where many buildings are built will be greatly expanded.

[Brief description of drawings]

FIG. 1 is a plan view showing an example of a warehousing direction automatic correction device with a part cut away.

FIG. 2 is a side view showing the automatic storage direction correcting device with a part cut away.

FIG. 3 is an explanatory diagram showing an example of the configuration of distance comparison detection means.

FIG. 4 is a plan view showing an example of the configuration of a vehicle body rear mounting conveyor mechanism.

FIG. 5 is a partially omitted side view showing a state of interlocking connection between a drive drum and a vehicle rear drive motor.

FIG. 6 is a flow chart showing a procedure for automatically correcting the warehousing direction.

FIG. 7 is a plan view showing an example of the configuration of a four-group parallel connection type parking device incorporating an automatic warehousing direction correcting device.

[Explanation of symbols]

 1 Ultrasonic-based distance comparison detection means 7 Ultrasonic displacement sensor 13 Entry / exit path 17 Car 21 Front vehicle body mounted conveyor mechanism 39 Front vehicle body drive motor 41 Rear vehicle body mounted conveyor mechanism 43 Rear vehicle body drive motor -Ta 44 Automatic warehousing direction correction device 45 Front wheel 47 Rear wheel 51 Entry / exit port 59 Car transverse conveyor mechanism

Claims (2)

[Claims] 1. A step of detecting a distance from a proper position near an entrance / exit opening to a left and right part of a front part of a vehicle of an automobile entering the entry / exit road, a distance difference, and a direction in which the front part of the vehicle is swinging. 1, while detecting the distance difference, the front portion of the vehicle body including the front wheels is made to traverse in a direction opposite to the direction in which the front portion of the vehicle body is swinging,
Step 2 of traversing the rear part of the vehicle body including the rear wheels in the direction in which the front part of the vehicle body is swung to correct the shake of the vehicle body to match a predetermined storage direction, and detecting that the distance difference has disappeared Then, the storage direction automatic correction method comprising the step 3 of stopping the correction operation. 2. At least a pair of distance comparison and detection means arranged on the entrance / exit path and at a position substantially symmetrical with respect to the center of the entrance / exit path, and facing and paired with the pair of distance comparison and detection means. .Conveyance means arranged in a straight line across the exit path and the side that is interlocked with the conveyance means and operates in response to the distance comparison detection information of the pair of distance comparison detection means. A vehicle body front transverse transport means, which comprises a vehicle body front transverse action drive device for changing the transport direction of the transport means, and a lateral straight line disposed at an adjacent position along the vehicle body front transverse transport means. The conveying means is operatively connected to the conveying means, and in response to the distance comparison detection information of the pair of distance comparison detecting means, the side that operates independently of the vehicle body front transverse movement drive device is appropriately changed. A car that changes the transport direction of the transport means Rear transverse the operation drive unit, Receipt direction automatic correction device comprising a vehicle body rear transverse conveying means, that is composed of consisting of.