JP2021111071A - Mechanical parking lot management system, mechanical parking lot management device, and mechanical parking lot management method - Google Patents

Abstract

To provide a mechanical parking lot management system, mechanical parking lot management device, and mechanical parking lot management method capable of detecting a protruding portion of a vehicle stopped on an entrance pallet with a simple configuration.SOLUTION: A mechanical parking lot management system includes a first sensor 10-1, a second sensor 10-2, a protrusion detection section 51, and an output control section 52. The first sensor 10-1 and the second sensor 10-2 respectively measure a 3D shape of a vehicle that has entered onto an entrance pallet P of a mechanical parking lot X. The protrusion detection section 51 detects a protruding portion of a vehicle Y which is to be inconvenient when the vehicle Y enters the mechanical parking lot X by the entrance pallet P based on a 3D shape of the vehicle Y measured by the first sensor 10-1 and the second sensor 10-2. The output control section 52 outputs notification information for notifying a person of a protruding portion detected by the protrusion detection section 51.SELECTED DRAWING: Figure 3

Description

The present invention relates to a mechanical parking lot management system, a mechanical parking lot management device, and a mechanical parking lot management method.

Conventionally, a mechanical parking lot has been widely used in order to efficiently park many vehicles in a limited space. In the mechanical parking lot, a warehousing pallet for automatically transporting a vehicle from the entrance area to a predetermined parking space is installed. When a user using the parking lot stops the vehicle on the warehousing pallet at the entrance of the parking lot, the warehousing pallet moves and the vehicle is transported to an empty parking space in the parking lot. As a result, the vehicle can be efficiently transported in an unmanned state in the limited internal space of the parking lot.

Japanese Unexamined Patent Publication No. 2019-106076 Japanese Unexamined Patent Publication No. 2010-61463

In a mechanical parking system as described above, when a vehicle stops on the warehousing pallet at the entrance, for example, parking the vehicle in a non-conforming position, parking a non-conforming size vehicle, forgetting to close the hatchback or door, Alternatively, if there are parts of the vehicle that protrude from the warehousing pallet due to loads on the vehicle, these protruding parts will come into contact with the structures in the parking lot when the warehousing pallet is moved, and the vehicle will be damaged. There is a risk of

In order to avoid this, when the vehicle stops on the warehousing pallet, there is a system that detects a portion protruding from the warehousing pallet with an infrared sensor and notifies information about the detected portion.

However, in order for this system to detect all the protruding parts of various cases as described above, it is necessary to install a large number of infrared sensors on the warehousing pallet, which causes a problem that it is troublesome and costly. ..

The present invention has been made in view of the above circumstances, and is a mechanical parking lot management system, a mechanical parking lot management device, and a mechanical parking lot management device capable of detecting a protruding portion of a vehicle stopped on a warehousing pallet with a simple configuration. The purpose is to provide a mechanical parking management method.

The mechanical parking lot management system of the present invention for achieving the above object is measured by a 3D sensor that measures the 3D shape of a vehicle that has entered the warehousing pallet in the entrance area of the mechanical parking lot, and the 3D sensor. Based on the 3D shape of the vehicle, the protrusion detection unit detects the protrusion of the vehicle, which is inconvenient when the vehicle is stored in the mechanical parking lot by the storage pallet, and the protrusion detection unit detects the protrusion. It is characterized by including an output control unit that outputs notification information for notifying the protruding portion.

Further, the mechanical parking lot management device of the present invention is connected to a 3D sensor that photographs a vehicle that has entered the warehousing pallet in the entrance area of the mechanical parking lot, and the 3D shape of the vehicle measured by the 3D sensor. Based on the above, the protrusion detection unit for detecting the protrusion of the vehicle, which is inconvenient when the vehicle is stored in the mechanical parking lot by the storage pallet, and the protrusion detection unit for detecting the protrusion are notified. It is characterized by including an output control unit for outputting notification information for the purpose.

Further, in the mechanical parking lot management method of the present invention, the mechanical parking lot management device connected to a 3D sensor that measures the 3D shape of the vehicle entered on the warehousing pallet in the entrance area of the mechanical parking lot is described above. Based on the 3D shape of the vehicle measured by the 3D sensor, the warehousing pallet detects the protruding portion of the vehicle, which is inconvenient when the vehicle is stored in the mechanical parking lot, and notifies the detected protruding portion. It is characterized in that the notification information for the operation is output.

According to the mechanical parking lot management system, the mechanical parking lot management device, and the mechanical parking lot management method of the present invention, it is possible to detect a protruding portion of a vehicle stopped on a warehousing pallet with a simple configuration.

It is an overall view which shows the structure of the mechanical parking lot management system by 1st and 2nd Embodiment. It is explanatory drawing which shows the position of the 1st sensor and the 2nd sensor installed in the entrance area in the mechanical parking lot managed by the mechanical parking lot management system by 1st and 2nd Embodiment. It is a block diagram which shows the structure of the mechanical parking lot management system by 1st and 2nd Embodiment. It is a flowchart which shows the operation of the mechanical parking lot management apparatus used in the mechanical parking lot management system by 1st Embodiment. In the second sensor of the mechanical parking lot management system according to the first embodiment, (a) an example of 3D shape information of the vehicle Y generated immediately after entry, (b) generated when a warehousing instruction operation is performed. This is an example of 3D shape information of vehicle Y. It is a flowchart which shows the operation of the mechanical parking lot management apparatus used in the mechanical parking lot management system by 2nd Embodiment. This is an example of the 3D shape information of the vehicle Y generated when the warehousing instruction operation is performed in the second sensor of the mechanical parking lot management system according to the second embodiment.

<< First Embodiment >>
<Configuration of mechanical parking lot management system according to the first embodiment>
The configuration of the mechanical parking lot management system according to the first embodiment of the present invention will be described with reference to FIG. The mechanical parking lot management system 1A according to the present embodiment is used for the mechanical parking lot X having parking spaces S1 to S10. The mechanical parking lot X has a warehousing pallet P for loading the vehicle Y to be used and transporting the vehicle Y from the entrance area A in the mechanical parking lot X to any of the parking spaces S1 to S10.

The mechanical parking management system 1A includes a first sensor 10-1, a second sensor 10-2, an operation button 20, an output device 30, and a moving mechanism 40 installed in the entrance area A of the mechanical parking X. , A mechanical parking lot management device 50 (hereinafter, referred to as “parking lot management device 50”).

The first sensor 10-1 and the second sensor 10-2 are each composed of 3D sensors such as 3D-LiDAR (Light Detection and Ranging), and are different from the floor surface of the entrance area A of the mechanical parking lot X by about 200 mm. Installed in position. For example, as shown in FIG. 2, the first sensor 10-1 is installed at the left front position of the warehousing pallet P when the entrance area A is viewed from the direction of the arrow where the vehicle enters, and the first sensor 10-1 is installed at the right rear position of the warehousing pallet P. 2 Sensors 10-2 are installed. The first sensor 10-1 and the second sensor 10-2 each measure the 3D shape of the vehicle Y stopped on the warehousing pallet P in the entrance area A from different directions.

The operation button 20 is a button for performing an instruction operation for transporting the vehicle on the warehousing pallet P to any of the parking spaces S1 to S10 of the mechanical parking lot X. The output device 30 is composed of, for example, a speaker device, and outputs notification information transmitted from the parking lot management device 50, which will be described later. The moving mechanism 40 moves the warehousing pallet P between the entrance area A of the mechanical parking lot X and the parking spaces S1 to S10.

The detailed configuration of the mechanical parking lot management system 1A will be described with reference to the block diagram of FIG. The first sensor 10-1 includes a first light emitting unit 11-1, a first light receiving unit 12-1, a first horizontal / vertical scanning unit 13-1, and a first signal processing unit 14-1. The first light projecting unit 11-1 projects a laser beam in the direction of the vehicle to be measured. The first light receiving unit 12-1 receives the laser light projected from the first light emitting unit 11-1 and reflected by the vehicle to be measured. The first horizontal / vertical scanning unit 13-1 outputs an instruction to change the light emitting direction of the laser beam from the first light projecting unit 11-1 in order to scan the measurement target in the horizontal direction and the vertical direction.

The first signal processing unit 14-1 of the vehicle Y to be measured is based on the time until the laser light projected from the first light emitting unit 11-1 is received by the first light receiving unit 12-1. Measure the distance to a predetermined location. Further, the shape of the vehicle Y is scanned by repeating this measurement process by changing the projection direction of the laser beam by the first projection unit 11-1 based on the instruction of the first horizontal / vertical scanning unit 13-1. do. Then, the 3D shape information of the vehicle Y is generated based on the plurality of measurement results acquired by scanning.

The second sensor 10-2 includes a second light emitting unit 11-2, a second light receiving unit 12-2, a second horizontal / vertical scanning unit 13-2, and a second signal processing unit 14-2. Since these functional units have the same functions as the first light emitting unit 11-1, the first light receiving unit 12-1, the first horizontal and vertical scanning unit 13-1, and the first signal processing unit 14-1. A detailed description will be omitted.

The parking lot management device 50 is communicatively connected to the first sensor 10-1, the second sensor 10-2, the operation button 20, the output device 30, and the moving mechanism 40. It has a movement control unit 53. When the operation button 20 is operated, the protrusion detection unit 51 receives the 3D shape information of the vehicle Y generated by the first sensor 10-1 and the 3D shape information of the vehicle Y generated by the second sensor 10-2. Based on the above, the protruding portion of the vehicle Y, which is inconvenient when the vehicle Y is stored in the mechanical parking lot X by the warehousing pallet P, is detected.

The output control unit 52 causes the output device 30 to output notification information for notifying the protrusion portion detected by the protrusion detection unit 51. When the protrusion detection unit 51 does not detect the protrusion of the vehicle, the movement control unit 53 moves the warehousing pallet P to any of the predetermined parking spaces S1 to S10 by the movement mechanism 40.

<Operation of the mechanical parking lot management system according to the first embodiment>
Next, the operation of the mechanical parking lot management system 1A according to the present embodiment will be described with reference to the flowchart of FIG. When the vehicle Y using the mechanical parking lot X enters the entrance area A and stops on the warehousing pallet P (“YES” in S1), the first sensor 10-1 and the second sensor 10 are set at predetermined time intervals. The shape of the vehicle Y is scanned by -2 to generate 3D shape information. The 3D shape information of the vehicle Y generated by the first sensor 10-1 and the second sensor 10-2 is sequentially transmitted to the parking lot management device 50.

In the parking lot management device 50, the 3D shape information of the vehicle Y transmitted from the first sensor 10-1 and the second sensor 10-2 is acquired by the protrusion detection unit 51. The protrusion detection unit 51 stores 3D shape information immediately after stopping at the warehousing pallet P (S2). As an example, FIG. 5A shows the 3D shape information of the vehicle Y immediately after stopping at the warehousing pallet P transmitted from the second sensor 10-2.

After that, when the operation button 20 is operated by the manager or the user of the mechanical parking lot X, a warehousing instruction is output from the operation button 20 and transmitted to the parking lot management device 50. When the parking lot management device 50 acquires the warehousing instruction (“YES” in S3), is there a difference between the stored 3D shape information immediately after the stop and the current 3D shape information in the protrusion detection unit 51? Whether or not it is determined (S4).

Here, if there is a hatchback of the vehicle Y, forgetting to close the door, or the load is protruding, and a difference in the shape information of the vehicle Y is detected (“YES” in S4), the location where the difference is detected is , It is determined whether or not the overhanging portion is inconvenient when the vehicle is stored in the mechanical parking lot X (S5). For example, if the hatchback is forgotten to be closed as shown in FIG. 5B, it is determined that the location where the difference occurs is a protruding portion of the vehicle Y that is inconvenient for warehousing (“YES” in S5). Under the control of the output control unit 52, the output device 30 outputs notification information for notifying the protruding portion (S6).

When the hatchback is closed by the administrator or the user due to the output of the notification information and no difference is detected in the shape information of the vehicle Y immediately after the stop and the present (“NO” in S4), the movement control unit 53 The moving mechanism 40 is driven by the control, the warehousing pallet P is moved, and the vehicle Y is transported to any of the parking spaces S1 to S10 (S7).

In step S5, if the detected difference is a part that does not cause inconvenience when entering the mechanical parking lot X, for example, a difference due to opening and closing of the door mirror, the part is determined to be a protruding part of the vehicle Y. (“NO” in S5), the warehousing pallet P is moved and the vehicle Y is transported (S7).

According to the first embodiment described above, with respect to the vehicle Y to be stored in the mechanical parking lot X, an infrared sensor or the like can be used by using 3D-LiDAR as a device for detecting a portion protruding from a predetermined area on the storage pallet P. A system can be constructed with a simple configuration with a smaller number of detection devices than when used.

<< Second Embodiment >>
<Configuration of mechanical parking lot management system according to the second embodiment>
Since the configuration of the mechanical parking lot management system 1B according to the second embodiment of the present invention is the same as the configuration of the mechanical parking lot management system 1A described in the first embodiment, a detailed description of the portion having the same function Is omitted.

In the present embodiment, the protrusion detection unit 51 of the parking lot management device 50 of the mechanical parking lot management system 1A is measured by the first sensor 10-1 and the second sensor 10-2 after the vehicle Y stops on the warehousing pallet P. In the 3D shape of the vehicle Y, a portion protruding from a preset frame indicating a predetermined area on the warehousing pallet P is detected as a protruding portion.

<Operation of the mechanical parking lot management system according to the second embodiment>
The operation of the mechanical parking lot management system 1B according to the present embodiment will be described with reference to the flowchart of FIG. When the vehicle Y using the mechanical parking lot X enters the entrance area A and stops on the warehousing pallet P (“YES” in S11), the first sensor 10-1 and the second sensor 10 are set at predetermined time intervals. The shape of the vehicle Y is scanned by -2 to generate 3D shape information. The 3D shape information of the vehicle Y generated by the first sensor 10-1 and the second sensor 10-2 is sequentially transmitted to the parking lot management device 50.

In the parking lot management device 50, the 3D shape information of the vehicle Y transmitted from the first sensor 10-1 and the second sensor 10-2 is acquired by the protrusion detection unit 51. In the protrusion detection unit 51, when the warehousing instruction is acquired by operating the operation button 20 or the like after the vehicle Y stops on the warehousing pallet P (“YES” in S2), the first sensor 10-1 and the second sensor 10 From the 3D shape of the vehicle Y measured in -2, the protruding portion is detected.

Here, a portion protruding from the frame F indicating a predetermined area on the warehousing pallet P, which is set in advance as shown in FIG. 7, is detected as a protruding portion. As a result, parking of a vehicle in a non-conforming position, parking of a vehicle of a non-conforming size, forgetting to close a hatchback or a door, or a protruding portion due to a load on the vehicle is detected.

In the present embodiment, as the frame F, three frames F1, F2, and F3 having different heights are preset, and a frame selected from these frames based on the vehicle type of the vehicle is used. Here, it is assumed that the frame F1 is used and the hatchback portion of the vehicle Y is detected as a protruding portion protruding from the frame F1 (“YES” in S12). When the protruding portion is detected, the output device 30 outputs notification information for notifying the protruding portion under the control of the output control unit 52 (S13).

When the hatchback is closed by the administrator or the user due to the output of the notification information and no difference is detected in the shape information of the vehicle Y immediately after the stop and the present (“NO” in S12), the movement control unit 53 The moving mechanism 40 is driven by the control of the above, the warehousing pallet P is moved, and the vehicle Y is transported to any of the parking spaces S1 to S10 (S14).

According to the second embodiment described above, the protruding portion of the vehicle Y stopped on the warehousing pallet P can be easily detected by a simple configuration using 3D-Lidar.

In the first embodiment and the second embodiment described above, the case where two 3D-lidars are installed in the entrance area A of the mechanical parking lot X has been described, but the number is not limited to this, and three or more units are installed. However, the protruding portion may be detected with higher accuracy based on the 3D shape of the vehicle measured by these.

Further, by combining the process described in the first embodiment and the process described in the second embodiment, the protrusion detection process with higher accuracy may be performed.

1A, 1B Mechanical parking management system 10-1 1st sensor 10-2 2nd sensor 11-1 1st light emitting part 11-2 2nd light emitting part 12-1 1st light receiving part 12-2 2nd light receiving 13-1 1st horizontal and vertical scanning unit 13-2 2nd horizontal and vertical scanning unit 14-1 1st signal processing unit 14-2 2nd signal processing unit 20 Operation button 30 Output device 40 Moving mechanism 50 Parking lot management device 51 Overhang detection unit 52 Output control unit 53 Movement control unit

Claims (6)

A 3D sensor that measures the 3D shape of the vehicle that entered the warehousing pallet in the entrance area of the mechanical parking lot, and
Based on the 3D shape of the vehicle measured by the 3D sensor, a protrusion detection unit that detects a protrusion of the vehicle that is inconvenient when the vehicle is stored in the mechanical parking lot by the storage pallet.
A mechanical parking lot management system including an output control unit that outputs notification information for notifying the protrusion portion detected by the protrusion detection unit. A plurality of the 3D sensors are installed so as to measure the 3D shape of the vehicle on the warehousing pallet from different directions.
The mechanical parking lot management system according to claim 1, wherein the protrusion detection unit detects the protrusion using measurement information from the plurality of 3D sensors. Connected to a 3D sensor that measures the 3D shape of a vehicle entering on a warehousing pallet in the entrance area of a mechanical parking lot
Based on the 3D shape of the vehicle measured by the 3D sensor, a protrusion detection unit that detects a protrusion of the vehicle that is inconvenient when the vehicle is stored in the mechanical parking lot by the storage pallet.
A mechanical parking lot management device including an output control unit that outputs notification information for notifying the protrusion portion detected by the protrusion detection unit. The protrusion detection unit acquired the 3D shape of the vehicle measured by the 3D sensor immediately after the vehicle stopped on the warehousing pallet, and the warehousing instruction after the vehicle stopped on the warehousing pallet. The mechanical parking management device according to claim 3, wherein the protruding portion is detected from a difference from the 3D shape of the vehicle measured at times. The protrusion detection unit is a preset warehousing pallet in the 3D shape of the vehicle measured by the 3D sensor when the warehousing instruction is acquired after the vehicle has stopped on the warehousing pallet. The mechanical parking lot management device according to claim 3 or 4, wherein a portion protruding from the frame indicating the predetermined area is detected as the protruding portion. The mechanical parking management device connected to the 3D sensor that measures the 3D shape of the vehicle that entered on the warehousing pallet in the entrance area of the mechanical parking lot
Based on the 3D shape of the vehicle measured by the 3D sensor, the warehousing pallet detects a protruding portion of the vehicle that is inconvenient when the vehicle is stored in the mechanical parking lot, and detects the protruding portion. A mechanical parking lot management method characterized by outputting notification information for notification.

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