JP2020012269A - Mechanical parking device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mechanical parking device capable of reducing equipment cost and increasing safety. SOLUTION: An operation panel 3 which is installed outside a boarding room 2 and has an unmanned confirmation button 18 which is operated after confirming that a monitor 17 and a boarding room are unmanned and input a transport permission signal of a tray. In a mechanical parking device provided with an automatic driving vehicle control unit 20 that performs movement processing to a boarding room for an automatic driving vehicle 9, the automatic driving vehicle 9 recognizes the outside world and the inside of the vehicle. The vehicle-side transmission / reception unit 14 capable of transmitting the recognition data captured by the recognition sensor by wireless communication is provided with the recognition sensor 12, and the automatic driving vehicle control unit 20 is a parking device-side transmission / reception unit 26 capable of receiving the recognition data. The configuration is provided with a display information generation unit 30 that displays information indicating whether or not the boarding room is unmanned on the monitor 17 based on the recognition data. [Selection diagram] FIG. 5

Description

  The present invention relates to a mechanical parking device provided with a transport device that transports a parked vehicle between a passenger compartment and a storage space.

  As a mechanical parking device, a transport device that moves a parked vehicle between a passenger compartment and a storage space, for example, a lift device that connects a parking floor of a parked vehicle with a storage floor and a storage floor is configured, and the lift device is used to load a tray. Some vehicles transport the parked vehicle between different floors. In such a mechanical parking device, in order to ensure safety, the lift device is driven in a state where the passenger compartment is unmanned.

  In order to determine whether or not there is a person in the passenger compartment, a camera is conventionally installed on the ceiling of the passenger compartment, and an image captured by the camera is displayed on a monitor of an operation panel (Japanese Patent Application Laid-Open (JP-A) no. Reference 1).

JP-A-2017-125358

  However, the one described in the above-mentioned patent document has a problem that the cost of equipment as a mechanical parking device increases because a camera needs to be provided in a passenger compartment. Further, if the camera is arranged in the passenger compartment, it is difficult to capture an image of the inside of the parked vehicle, and there is a possibility that the storage process may be performed while overlooking a person left in the vehicle.

  An object of the present invention is to provide a mechanical parking device capable of reducing equipment costs and increasing safety.

  In order to achieve the above object, the present invention has a loading room that communicates with the outside via an entrance / exit door, and into which a parked vehicle can be placed, and a tray on which the parked vehicle can be placed. A transport device for transporting the tray between a room and a storage space, and a monitor installed on the outside of the loading room, operating after confirming that the loading room is unmanned, and inputting a transport permission signal for the tray. A self-driving vehicle, comprising: an operation panel having an unmanned confirmation button to be operated; and an automatic driving vehicle control unit that performs a process of moving the self-driving vehicle to the entry room for the automatic driving vehicle. A recognition sensor for recognizing the outside world and the inside of the vehicle, and a vehicle-side transmission / reception unit capable of transmitting recognition data captured by the recognition sensor by wireless communication. A parking device-side transmission / reception unit that can receive recognition data, and a display information generation unit that displays, on the monitor, information indicating whether the passenger compartment is unmanned based on the recognition data. .

  According to such a configuration, it is provided in the self-driving vehicle, and based on the recognition data captured by the plurality of recognition sensors for recognizing the external and interior states of the vehicle, it is determined whether or not the passenger compartment is unmanned. The displayed information can be displayed on the monitor to grasp the condition in the passenger compartment. Thereby, safety can be confirmed without separately providing a camera in the passenger compartment, and therefore, equipment cost can be reduced while ensuring safety. In addition, since the recognition sensor recognizes the outside world and the state of the inside of the self-driving vehicle, if there is a person left in the parked vehicle, the information can be reliably displayed on the monitor. Thereby, safety can be improved.

  In addition, in addition to the above-described configuration, the present invention includes the recognition sensor having at least one of a camera that captures an image of the outside and the inside of the self-driving vehicle, a millimeter-wave radar, a sonar, and a laser scanner provided in the vehicle. It is characterized by:

  According to such a configuration, it is possible to reliably recognize a person around the self-driving vehicle or a person left in the vehicle by the recognition sensor.

  ADVANTAGE OF THE INVENTION According to the mechanical parking device of this invention, while reducing the equipment cost and increasing safety, it is possible. The problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.

It is a schematic structure figure showing one embodiment of a mechanical parking device of the present invention. It is a top view of the boarding room shown in FIG. It is a front view of the boarding room shown in FIG. It is a side view of the boarding room shown in FIG. FIG. 2 is a block configuration diagram illustrating a control system of the mechanical parking device illustrated in FIG. 1. It is a front view of the operation panel shown in FIG. FIG. 6 is an explanatory diagram illustrating a communication state between the automatic driving vehicle and the automatic driving vehicle control unit illustrated in FIG. 5. 6 is a flowchart showing a storage processing operation by the control system shown in FIG.

  Hereinafter, an embodiment for implementing a mechanical parking device of the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic configuration diagram showing an embodiment of the mechanical parking device of the present invention.

  The mechanical parking device of the present embodiment has an entrance / exit portion 1 and a passenger compartment 2, and an operation panel 3 is disposed on a wall surface near an entrance of the passenger compartment 2. A normal vehicle approach path 4 for guiding a normal vehicle among parked vehicles and an automatic driving vehicle approach path 5 for guiding an automatic driving vehicle among parked vehicles are separated by a partition 6 such as a wall.

  When the normal vehicle 7 gets in from the normal vehicle approach path 4, the driver or the administrator operates the operation panel 3 to open the entrance door 8 of the entry room 2, and the driver gets into the parked vehicle 7 again. While driving, the vehicle is stopped at a predetermined position in the passenger compartment 2. Thereafter, when the driver gets down and operates the operation panel 3 again to close the entrance door 8 of the passenger compartment 2, the normal vehicle 7 is normally driven by the mechanical parking device. It is automatically transported to a predetermined storage space and stored.

  However, when the self-driving vehicle 9 enters the self-driving vehicle approaching path 5 by being prompted by a voice or display, when the vehicle stops at the stop position, wireless communication is performed, and parking is performed by the self-driving on the mechanical parking device side. A confirmation is made as to whether to give permission. When the driver gives permission, the details will be described later, but after the automatic driving in the automatic driving vehicle 9 is enabled, the driver gets off the automatic driving vehicle approach path 5 and moves the automatic driving vehicle 9 to the mechanical parking device side. Will be handed over.

  2 is a top view of the passenger compartment 2 shown in FIG. 1, FIG. 3 is a front view of the passenger compartment 2 shown in FIG. 1, and FIG. 4 is a side view of the passenger compartment 2 shown in FIG. It is.

  In the entry room 2, an entrance door 8 arranged at the entrance and a transport device for moving the parked vehicle between the entry room 2 and the storage space, that is, a tray 10a on which the parked vehicle can be mounted are moved between different floors. And an emergency exit 11 that communicates with the outside and is used in an emergency.

  The entrance door 8 is, for example, a vertical opening and closing type, is disposed at a position facing the tray 10a, has a width dimension that allows a parked vehicle to pass through, and a driver who normally enters and exits the vehicle 7 can It comes in and out from here.

  The lift device 10 raises and lowers a tray 10a on which a parked vehicle can be mounted. When the lift device 10 positions the tray 10a at the elevator of the loading room 3, the upper surface of the tray 10a and the floor of the loading room 2 Are at substantially the same level, and a parked vehicle can enter and exit, and the driver of the normal vehicle 7 can safely get on and off.

  FIG. 5 is a block diagram showing a control system including the self-driving vehicle 9.

  The self-driving vehicle 9 communicates with a self-driving vehicle control unit (to be described later) through an antenna 13 and a plurality of recognition sensors 12 for recognizing the external and interior states of the vehicle. A vehicle-side transmitting / receiving unit 14 capable of transmitting data, a permission signal transmitting unit 15 for permitting parking by automatic driving on the mechanical parking device side, and an automatic driving control unit 16 already mounted on the automatic driving vehicle 9. It has.

  The recognition sensor 12 includes, for example, a camera that captures an image of the outside and the inside of the vehicle, a millimeter-wave radar, a sonar, a laser scanner, and the like arranged around the vehicle body. It is designed to grasp the information around the vehicle and the inside of the vehicle and the position of the own vehicle. That is, recently, the development of the automatic driving system has been further advanced, and the recognition sensor 12 mounted on the automatic driving vehicle 9 can accurately grasp the surroundings and the inside of the vehicle. In view of such a situation, the present invention checks the safety of the passenger compartment 3 based on recognition data captured by the recognition sensor 12 mounted on the self-driving vehicle 9.

  The operation panel 3 is provided with an unmanned confirmation button 18 which is operated after confirming that the monitor 17 and the passenger compartment 2 are unmanned, and inputs a transport permission signal for the tray 10a. A normal configuration processing unit 19 having a normal configuration for performing processing corresponding to a normal button operation and an automatic driving vehicle control unit 20 for performing processing mainly for the automatic driving vehicle 9 are connected.

  The normal configuration processing unit 19 has a configuration known from a normal mechanical parking device, and includes an entrance door closing processing unit 21 that performs closing processing of the entrance door 8 when the unmanned confirmation button 18 is operated, and an entrance door closing processing unit. After completion of the closing operation of the entrance door 8 by the storage unit 21, the storage unit 22 and the like for performing a series of storage processes are configured.

  On the other hand, the self-driving vehicle control unit 20 detects the self-driving vehicle 9 that has entered the self-driving vehicle approach path 5 by a sensor or the like, and the self-driving vehicle detection unit 23 detects the self-driving vehicle 9. An antenna is provided between a permission application signal generation unit 24 that generates an application signal for requesting permission of parking processing by automatic driving on the mechanical parking device side when a vehicle parking lot is detected, and a vehicle-side transmission / reception unit 14 of the automatic driving vehicle 9. After transmitting a permission application signal from a parking device-side transmission / reception unit 26 that transmits and receives signals to the vehicle-side transmission / reception unit 14 of the automatic driving vehicle 9 and a permission application signal from the permission application signal generation unit 24 to the vehicle-side transmission / reception unit 14, A permission signal determination unit 27 that detects a permission signal, and a timing determination unit 2 that determines a congestion state including the normal vehicle approach road 4 to determine the timing of parking processing by automatic driving. An automatic driving movement processing unit 29 for performing a movement process to the passenger compartment 2 by automatic driving when receiving a timing signal from the timing determining unit 28; and a passenger compartment 2 based on the recognition data received by the vehicle side transmitting / receiving unit 14. Has a display information generating unit 30 for displaying information indicating whether or not the person is unmanned on the monitor 17. The information indicating whether or not the passenger compartment 2 is unmanned is character information, an image captured by a camera that is one of the recognition sensors 12, or a combination of character information and an image. Or a combination.

  These control systems are processed by the control unit 32 based on a storage processing program stored in the storage unit 31.

  FIG. 6 is a front view of the operation panel 3 shown in FIG.

  The operation panel 3 is operated by a driver or an administrator, and as described above, the monitor 17 capable of displaying the information sent from the display information generation unit 30 and the passenger compartment 2 being unmanned. And an unmanned confirmation button 18 which is operated after confirming the above, and inputs a transport permission signal for the tray 10a.

  FIG. 7 is an explanatory diagram illustrating a communication state between the automatic driving vehicle 9 and the automatic driving vehicle control unit 20.

  As will be described in detail later, before starting the movement by automatic driving by the guidance of the mechanical parking device side, a permission application is made from the mechanical parking device side, and the permission button is operated on the automatic driving vehicle 9 side. When they agree with each other, the movement by the automatic driving is started by the guidance of the mechanical parking device side. In addition, the external and internal recognition data of the self-driving vehicle 9 fetched from the self-driving vehicle 9 by the recognition sensor 12 is transmitted to the mechanical parking device side, and the self-driving vehicle 9 enters the mechanical parking device side. When the passenger enters the room 2, information indicating whether or not the passenger room 2 is unmanned is generated based on the recognition data received by the display information generating unit 30, and is displayed on the monitor 17.

  FIG. 8 is a flowchart showing the storage processing operation by the control system described above.

  The self-driving vehicle detection unit 23 monitors the entry of the self-driving vehicle 9 in step S1. If the self-driving vehicle 9 is detected as being in stock, the permission application signal generation unit 24 outputs an automatic driving permission application signal in step S2. Occurs. The permission application signal generation unit 24 gives an automatic driving permission application signal to the automatic driving vehicle 9 through the parking device side transmitting / receiving unit 26, and wirelessly connects the automatic driving vehicle 9 and the automatic driving vehicle control unit 20 as shown in FIG. Communication starts.

  The self-driving vehicle 9 receives the self-driving permission application signal at the vehicle-side transmitting / receiving unit 14 and operates a permission button incorporated in the self-driving vehicle 9 when the driver permits the driving. The permission signal is transmitted to the parking device side transmitting / receiving unit 26 through 14.

  Then, in step S3, the permission signal determination unit 27 determines that the automatic driving permission signal has been detected, and in step S4, while maintaining the automatic driving control unit 16 of the automatic driving vehicle 9 in an available state by an announcement, display, or the like, As shown in FIG. 1, the driver is urged to get off the automatic driving vehicle 9, and the automatic driving vehicle 9 is entrusted to the mechanical parking device side.

  Thereafter, in step S4, the automatic driving / moving processing unit 29 performs the appropriate timing between the parking device-side transmitting / receiving unit 26 and the vehicle-side transmitting / receiving unit 14 at the appropriate timing while cooperating with the entrance / exit on the normal vehicle approach road 4 by the timing determining unit 28. The communication control unit controls the automatic driving control unit 16 to move the automatic driving vehicle 9 into the passenger compartment 2. When the movement of the self-driving vehicle 9 starts, the recognition data of the outside and the inside of the self-driving vehicle 9 captured by the recognition sensor 12 is transmitted to the parking device-side transmitting / receiving unit 26 through the vehicle-side transmitting / receiving unit 14.

  When the entry of the self-driving vehicle 9 into the passenger compartment 2 is completed, the display information generating unit 30 generates information indicating the state of the passenger compartment 2 based on the received recognition data in step S5, and To be displayed. The information displayed on the monitor 17 is character information as described above, an image captured by a camera which is one of the recognition sensors 12, or a combination of character information and an image.

  Next, in step S6, when the monitor 17 displays information indicating that the loading room 2 is unmanned, the administrator who confirms the display operates the unmanned confirmation button 18 in step S7, and transmits the transport permission signal of the tray 10a. input. In response to this, the entrance door closing processor 21 closes the entrance door 8 of the entry room 2 in step S8.

  After that, the storage processing unit 22 drives the lift device 10 to convey the tray 10a on which the self-driving vehicle 9 is mounted to the storage room after the closing operation of the entrance door 8 is completed in step S9 as in the normal storage process. Store. Thus, the storing process of the self-driving vehicle 9 as a parked vehicle is completed.

  On the other hand, as shown in FIG. 2 to FIG. 4, when there is a person around the automatic driving vehicle 9 for some reason or a person remains in the vehicle, the recognition sensor 12 recognizes this and determines that there is a person. Is transmitted to the parking device-side transmitting / receiving unit 26 through the vehicle-side transmitting / receiving unit 14. The display information generation unit 30 generates information indicating that there is a person in the passenger compartment 2 based on the received recognition data and displays the information on the monitor 17 in step S5.

  The administrator who sees the display enters the cabin 2 to check the situation, and performs a task of taking a person out of the cabin 2. Then, the monitor 17 is checked again. When the monitor 17 displays information indicating that the passenger compartment 2 is unmanned in step S6, the administrator operates the unmanned confirmation button 18 in step S7 to transfer the tray 10a. Input the permission signal. Thereafter, the storing process is performed in the same procedure as described above.

  As described above, the present invention includes the entry room 2 that communicates with the outside via the entrance door 8 and into which the parked vehicle can enter, and the tray 10a on which the parked vehicle can be placed. And a transport device for transporting the tray 10a between the storage space, that is, the lift device 10, and the monitor 17 and the tray 10a that are operated after confirming that the monitor 17 and the passenger compartment 2 are unmanned. In a mechanical parking device including an operation panel 3 having an unmanned confirmation button 18 for inputting a transfer permission signal and an automatic driving vehicle control unit 20 for performing a process of moving the automatic driving vehicle 9 to the entry room 2. The self-driving vehicle 9 includes a plurality of recognition sensors 12 for recognizing the external and interior states of the vehicle, and a vehicle-side transmitting / receiving unit 14 capable of transmitting recognition data captured by the recognition sensors 12 by wireless communication. The self-driving vehicle control unit 20 includes a parking device-side transmission / reception unit 26 that can receive recognition data and a display that displays information indicating whether or not the entry room 2 is unmanned on the monitor 17 based on the recognition data. An information generation unit 30 is provided.

  According to such a configuration, whether or not the passenger compartment 2 is unmanned based on the recognition data provided in the self-driving vehicle 9 and captured by the plurality of recognition sensors 12 for recognizing the external and interior states of the vehicle. Information indicating whether or not the information is present can be displayed on the monitor 17 so that the state in the passenger compartment 2 can be grasped. Thereby, safety can be confirmed without separately providing a camera in the passenger compartment 2, so that equipment cost can be reduced while ensuring safety. In addition, since the recognition sensor 12 is for recognizing the external world and the state of the inside of the self-driving vehicle 9, when there is a person left in the parked vehicle, it is possible to reliably display the information on the monitor 22. It is possible to improve safety.

  In addition, the present invention, in addition to the above-described configuration, the recognition sensor 12 includes at least one of a camera that captures an image of the outside and the inside of the self-driving vehicle 9, a millimeter-wave radar, a sonar, and a laser scanner provided in the vehicle. It is characterized by the following.

  According to such a configuration, the person around the automatic driving vehicle 9 or the person left in the vehicle can be reliably recognized by the recognition sensor 12.

  As above, the embodiment of the mechanical parking device of the present invention has been described, including its operation and effect. However, the mechanical parking device of the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the invention described in the appended claims.

DESCRIPTION OF SYMBOLS 1 Entrance part 2 Entrance room 3 Operation panel 4 Normal vehicle approach path 5 Automatic driving vehicle approach path 6 Partition 7 Normal vehicle 8 Entrance door 9 Automatic driving vehicle 10 Lift device (transportation device)
12 recognition sensor 14 vehicle side transmission / reception unit 17 monitor 18 unmanned confirmation button 19 normal configuration processing unit 20 automatic driving vehicle control unit 24 permission application signal generation unit 26 parking device side transmission / reception unit 27 permission signal determination unit 28 timing determination unit 29 automatic driving movement Processing unit 30 Display information generation unit

Claims (2)

A transfer room that communicates with the outside via an entrance / exit door and has a loading room in which a parked vehicle can be loaded, and a tray on which the parked vehicle can be placed, and transports the tray between the loading room and a storage space An operation panel installed outside the loading room, having a monitor and an unmanned confirmation button operated after confirming that the loading room is unmanned and inputting a transport permission signal for the tray; and automatic operation. A mechanical parking device comprising an automatic driving vehicle control unit that performs a process of moving to the passenger compartment for the vehicle,
The self-driving vehicle includes a recognition sensor for recognizing the external and interior states of the vehicle, and a vehicle-side transmission / reception unit capable of transmitting recognition data captured by the recognition sensor by wireless communication. The control unit includes a parking device-side transmitting / receiving unit that can receive the recognition data, and a display information generating unit that displays information indicating whether or not the entrance room is unmanned on the monitor based on the recognition data. A mechanical parking device characterized by the following.   The machine according to claim 1, wherein the recognition sensor includes at least one of a camera that captures an image of the outside and the inside of the self-driving vehicle, a millimeter-wave radar, a sonar, and a laser scanner included in the vehicle. Parking device.

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