WO1997047840A1 - Mechanical parking lot and parking control method therefor - Google Patents

Abstract

A device and a method for controlling car parking in a mechanical parking lot suitable for mechanizing a car entry and/or exit device for the mechanical parking lot. In a mechanical car park comprising car entry and exit areas and lift means for transporting a car between the car entry and exit areas and a car storage area, there are provided automatic recognition means provided in the car entry area for confirming the condition of a car and presence of people in the car, and car storage controlling means for confirming based on outputs from the automatic recognition means that the car at the car entry area is in a suitable condition for storage and that no person is present at a car entry opening in the car entry area to thereby allow the lift means to transport the car in the car storage area.

Description

 Description Mechanical parking lot and its parking control method Technical field

 The present invention relates to a mechanical parking lot for vehicles such as passenger cars and a method of controlling the parking of the vehicle, and in particular, to the automatic management of the parking lot. It is related to. Background technology

 There are various types of mechanical parking lots, and there are usually areas for vehicle entry and exit, and entrances and exits for getting on and off. For lifters that transport vehicles between the entry / exit area and the vehicle storage area, and for passengers connected to the entry / exit area in the entry / exit area. The train is equipped with a crew passage. In addition, as shown in the official gazette of Japanese Patent Publication No. 6-6834, a stacker train equipped with a lift platform on the running body and a static cleaner train It is also known that there is a vertical mechanical parking lot consisting of a mechanical warehouse with a number of storage shelves on both sides in the direction of travel.

In general, in a mechanical parking lot, when parking a vehicle, the vehicle is moved forward and stopped above the entrance / exit for parking. The crew will get off the vehicle and give instructions to enter the vehicle. When leaving the warehouse, ask a staff member to leave the vehicle up to the entrance / exit mentioned above. driver When the passenger gets on the train, move the vehicle backward, stop the vehicle on the turntable installed in front of the entrance and exit, and stop here. The driver will change direction and leave.

 The control of vehicle parking in large-scale mechanical parking lots is performed as follows, for example.

 (1) The occupants of the vehicle receive a parking ticket at the entrance gate.

 (2) The vehicle enters the entrance, and the occupant gets off the vehicle.

 (3) The clerk opens the door at the entrance, folds the door mirror on the vehicle, and instructs the crew to store the antenna.

 (4) The occupant exits from the occupant passageway.

 (5) The occupant inserts a parking ticket into the terminal. (6) The crew pushes the warehousing instruction button.

 (7) The staff members lock the door at the entrance. The vehicle is moved by the lifter.

 The above (3) and (5) are performed by the verbal instructions of the pharmacist.

 In a large-scale mechanical parking lot like this, the number of vehicles that are subject to parking and unloading operations is large, and the number of required staff The number will increase, and the work will be complicated.

To reduce the number of staff to save money, This is not desirable because it will lead to safety assurance and increase the load on the crew. Disclosure of the invention

 The purpose of the present invention is to automate the parking equipment in the mechanical parking lot and reduce the burden on the staff and crew in the parking work. It is also to provide a control system for a mechanical parking lot that can ensure safety and a method for controlling the parking.

 Another purpose of the present invention is to automate the entry / exit equipment of the mechanical parking lot, and not only the entry / exit operation, but also the staff and the passengers at the time of the exit operation. The aim is to reduce the burden on the staff and to provide a control system for the mechanical parking lot that can ensure safety and safety and to provide a method for controlling the parking. .

About.

 The features of the present invention include a vehicle entry / exit area, and a lifting / lowering means for carrying the vehicle between the entry / exit area and the vehicle storage area. At a mechanical parking lot equipped with

 Including the telecamera installed in the storage area, confirm the condition of the vehicles and the presence or absence of people in the storage area. Automatic recognition means for

Based on the output of the automatic recognition means, the condition of the vehicle in the storage area is suitable for storage, and the vehicle is in the storage area. That there are no people in the warehouse After confirming that the vehicle has been provided with a vehicle control means for storing the vehicle in the storage area by means of the transport means described above ^)).

 Another feature of the invention is that the entry / exit area is provided with occupant passageways for the occupants connected to the entry / exit respectively.

 The automatic recognition means shall be provided in the entry / exit area to confirm the condition of the vehicle and the presence or absence of persons in the entry / exit area. Each vehicle includes a plurality of telecameras, and the vehicle control system described above is based on the output of the automatic recognition system described above. The condition of the vehicle is suitable for storage, the door of the occupant passage is closed, and no people are present at the entrance. And confirm that there are no people or vehicles at the exit, and confirm that there are no vehicles or vehicles at the exit. Is to close the region.

 Another feature of the present invention is that the vehicle control system described above has a predetermined outer shape of the vehicle image taken by the television camera. If the vehicle is within the range and the vehicle is recognized by the automatic recognition means, the vehicle is in a state suitable for storage. We are going to do the vehicle delivery work.

Another feature of the present invention is that the entry / exit area described above is used for occupants who are connected to the entrance / exit respectively. It has a passage and the above-mentioned automatic recognition means including a plurality of telecameras respectively installed in the above-mentioned entry / exit area.

 According to the above-mentioned automatic recognition means, the condition of the vehicle at the entry / exit opening, the opening / closing status of the occupant passage door, or the entry / exit opening described above The presence or absence of people and vehicles in

¾ Ί

 Based on the output of the automatic recognition means, the condition of the vehicles in the storage territory described above was suitable for delivery at the vehicle delivery control means. In this state, the door force of the occupant passage is closed; after confirming that there is no person at the entrance, the occupant access means To drive the vehicle to the above-mentioned storage area.

 The purpose of this is to confirm that no people or vehicles are present at the exit and close the gate in the exit area.

 According to the present invention, it is confirmed that the state of the vehicle is in a state suitable for storage by the automatic recognition means, and the above-mentioned storage entrance is used. After confirming that there are no humans in the vehicle, and commencing the vehicle-grade delivery work, the burden on the staff and crew at the time of loading is reduced. We can provide a control system for a mechanical parking lot and a control method for a mechanical parking system that will ensure safety.

According to another feature of the present invention, the vehicle is released outside the exit, and both the vehicle and the person are present in the exit. After confirming that there is no such thing by the automatic recognition means, the exit gate is closed, so not only at the time of entry, but also at the time of retrieval and staffing and boarding. The burden on staff members will be reduced, and safety will be ensured.

Brief explanation of drawings

 FIG. 1 is a plan view of a mechanical parking lot according to an embodiment of the present invention, and is a view corresponding to a cross section A—A in FIG.

 Figure 2 is an enlarged plan view of the entrance and exit of Figure 1

 FIG. 3 is an enlarged vertical sectional view of the vicinity of the entrance and exit of FIG.

 FIG. 4 is a vertical sectional view of the mechanical parking lot shown in FIG.

 FIG. 5 is a diagram showing a configuration example of the centralized control device according to one embodiment of the present invention.

 FIG. 6 is a view for explaining the installation state of the automatic recognition means such as a television camera and an ultrasonic sensor.

 FIG. 7 is a diagram for explaining the installation state of the automatic recognition means such as a television camera and an ultrasonic sensor.

 FIG. 8 is a diagram for explaining an example of an installation state of the television camera.

 FIG. 9 is an external view of the display.

FIG. 10 is a flow chart illustrating the operation of the vehicle f [] delivery control in one embodiment of the present invention. . ^, ^ 酹 8 ^--9 4-W ^ t I, 0 I 9Z ^ Instant ^ ^: 9 一 i \ L ^ a) ^ ^v Ύ m

t¾, ¾ S base ^ ° 9 · ^ ^ ¾ Τ 9

 ー: _ ^ 6 ¾ O) ¾12, 6 |

 ^ QZ

^ \ £ ° ^ ε ¾ ^ ^

 ¾ T rri ¾l Z Z ffi ffi つ ffi c

¾i Y 5? ¾i I ^ ^ τ ^ mm C ^ ^ V ι

. 2 · ½ ^ d :) ^ つ ¾ ¾））））

 ^ ½ ¾ *-of ρ m ^ ^ I m-? . 91

4- ½ ¾1 6i ^ Mi ^ ¾ ¾-^ m ¾ ½ ¾ ^ 丄 r;

 ϋ ¾ O) ^ potato 0? 2 · ¾traction

 ° 2 园 ー a · ½ ¾1 ¾ 嗨 拗 拗 ^ ^ ¾ t¾i ¾ ¾ ^ ^ M ^ Z T g] L ΐ

 ° IM1 — a ^ 9 4- m ^ ^ m 01 ^ 9 ^ · 2 \ ^> z i m? <9 T m

 . ^ m-^ ^ \ ^ a)

 m (i $ Φ m 9 u-¾ ¾) s I ta, ¾ s x

° 9 ¾ 园 ® i¾ 8-Q a) zi ^v I

° 2 ¾! 21 S igl V-va) zim ^v v ε I! ¾

Car ¾ ^ sharp ^ ¾ traction <) ¾ ½ ¾ * ^v \ z T

 ° § ¾ ー a-m ^ ^

 ^ M-9 ^ ^-) m 牽 ¾ ¾ book v i I

 L

6 £ 9I0 / 96 «If / XDd 0PSLP / L6 ΟΛ1 The shelf groups 10 and 11 each have 13 rows and 7 columns of storage shelves in the illustrated example. The statuary crane 5 and the shelves 10 and 11 are provided with the vehicle 20 on the pallet turned sideways (parallel to the lanole 6). It is configured to

 Numeral 5 is an elevator for loading and unloading, which is installed below the shelf group 1 1. The vehicle is located in the loading and unloading area 2.

Place 20 on the shelf group 1 1 and raise it to the first level. Reference numeral 16 denotes an elevator for loading and unloading, which is installed below the group of shelves 11. The first stage of the group of shelves 11 puts vehicles in and out. Go down to area 2. Elevator 1

Numerals 5 and 16 are non-graph types that are operated by hydraulic pressure. A space for receiving the fork 8 is provided between the loading surface of the elevators 15 and 16 and the knurls.

 In FIG. 1, the horizontal line indicated by a dashed line indicates the rail 6 of the stack 5 of the stack. A pillar 21 for supporting the storage area 3 (floor 9) is provided below the rail 6 and is laid. Between the system IJ on the pillar 21 and the row, there is an access path 22 for vehicles entering the warehouse.

A storage gate 23 for controlling the storage is provided between each access path 22 and the elevator 15. The occupant passes through the entrance gate 23 and puts the vehicle 20 on the elevator 15 at the entrance 46 and then gets off the vehicle and walks as a passage. Take Road 25 to your destination. Sidewalk 2 T / 96/01639

 9

The end 25a of 5 is connected to a building or the like having the mechanical parking lot on the side of the mechanical parking lot 1.

 The vehicle 20 that descends to the entry / exit area 2 on the elevator 16 passes through the exit route 27 in the forward direction of the vehicle, and turns left to exit the main exit. You can join road 28 and exit on public road 29. The main exit route 28 is connected to the public road 29. Each approach 22 is connected to a public road 29 via a main approach 30 provided at right angles to the outside of the mechanical parking lot 1. Yes. At the upper part of the entrance of each access road 22, there is provided a display 35 A for indicating whether the vehicle is full, empty, or the like.

 60 is a centralized control device that manages the entry and exit of vehicles, parking fees, and so on. The details will be described later.

On the right side of the elevator 15, an occupant exit 45 A is provided, and in the front of the elevator 15, an indicator 35 B is provided in the front of the elevator 15. The fence at the occupant's exit 45A is suspended from the ceiling Akabe, and goes up and down along the frame 38. The outside of the exit 45A is a waiting room 26A which is a concave room as viewed from the sidewalk 25, and is a sidewalk 25 of the waiting room 26A. On the side, the terminal device 41 of the centralized control device 60 is installed; the magnetic force of the terminal device 41 as a storage instruction and a parking ticket is provided. It is configured to give you a pass. A space between the elevator 16 for exit and the sidewalk 25 is a waiting room 26B for a person who exits. In the waiting room 26B, a terminal device 42 of a control device 60 is provided. The terminal device 42 carries out processing such as payment of a parking fee by inserting a magnetic card or the like, or a departure instruction. When the vehicle is lowered by the departure instruction, the door 45B of the waiting room 26B opens; the departure gate 37 is raised.

 In the vicinity of the elevator 15 for storage, the doors of the vehicle are open and closed, the door mirrors and the antennas are stored, and the doors are closed. As a means of automatically recognizing the open / closed state of a computer, multiple telecameras can be used.

7 2 Power; installed. In addition, as a means for automatically recognizing the presence or absence of a person at the entrance 46, the telecamera described above is used. Use 7 2. As a means for automatic recognition, a combination of a television camera 72 and an infrared sensor 70 or a supersonic wave sensor 74 is used. You can use it. For example, an ultrasonic sensor may be part of the vehicle's auto-recognition mechanism to check the status of each vehicle and the open / closed state of the doorway. Is good even if an infrared sensor is used.

Passing through a storage gate (23) or a sensor (for example, a photo sensor) installed near the storage entrance (46) allows the vehicle to pass through a 20-power train. Stop at Takotoko or entrance 46 We detect that we drive. When the central control device 60 detects this vehicle 20, it issues a descending command of the entrance gate 23.

 As shown in Fig. 3, the sidewalk 25, the entrance 46, the exit 47, the entrance 22 and the exit 27 are practically at the same level. It has been broken. Between the pillars 21 and 21 in the direction of travel of the Katakka Crane 5, walls 50 and / or walls may be formed to form each approach 22 and room. Have fences

As shown in FIG. 5, the central control device 60 includes a CPU 61, a memory 62, and a vehicle storage device held in the memory in the form of a program. It has control means 63, parking fee management means 64, and image processing means 65. The image processing means 65 includes a processor for performing the figure conversion processing, and is an automatic recognition means for obtaining an image within a predetermined range. In addition to controlling each of the television force cameras 72, the recorded images are recorded in the image memory 66, read out, and image recognition is performed. Perform processing such as comparison. 67 is a solid line, and 68 is an I / O 68. The storage terminal device 41 and the storage terminal device 42 connected to the central control device 60 have an input section, an output section and a display section, respectively. Yes. The storage terminal 41 is further equipped with a parking sword issuing means. The output of the infrared sensor 70, the television camera 72, and the ultrasonic sensor 74 Two

Is supplied to the centralized control device 60. Output of centralized control device 60 ', statuary cleaner actuator 5A, elevator platform actuator 15A and display Output to 35B.

 Referring to FIG. 6, the installation position of the television camera 72 at the entrance 46 will be described. In Fig. 6, the rectangular area surrounded by the line segments L1 and L2 and the line segments W1 and W2 is the largest dimension that the vehicle can accommodate. In other words, the range of the maximum length and the maximum width of the vehicle that can be accommodated is shown and reported. The surroundings of the elevator 15 for storage, that is, the vehicles along the line W1-W2, L1-L2, from the ceiling down, along the line To confirm that the force in the delivery state, for example, the door of vehicle 20 has been opened, and that the door, door, and mirror are in place. A plurality of TV cameras 72 (TVW1, TVW2, TVL1, TVL2) S are provided as automatic recognition means of the TV. The circles in the figure represent each television camera.

2 shows the imaging range. The TV camera 72 (TVW1, TVW2) checks the width of the vehicle 20 and the TV camera 72 (TVL1, TVL2) checks the width of the vehicle. This is to obtain the image necessary to check the length direction of both sides. Vehicle-grade delivery control means 63 is an image of the storage entrance taken by the TV camera 72 and compared with the image when there is no vehicle. When there is a vehicle S, the line segments L1, L2, and Part outside the rectangular area 2 OA surrounded by the line segments Wl and W2; if so, it is determined that the vehicle is not in a state of coming and going. Refuse. For example, the outside of the line segment W 1—W 2, that is, the rectangular area 2 OA The part that protrudes out of the car 20 M is the vehicle at the entrance 2 Opening 0 is likely to be a door.

 Nao, in the entrance 46 of the warehouse. The portion excluding the let 55 becomes the space platform 46F that the occupant can walk.

 In addition, as a means of automatically recognizing the presence or absence of a person at the entrance 46, the above-mentioned TV camera 72 is used as an automatic recognition means. Use the image obtained. In an area where there is a possibility that a person may be present, the telecamera 72 is placed in a position where the above-mentioned telecamera 72 cannot be overturned. It is good to install 11 followers.

In order to recognize the presence or absence of a person at the entrance in the image taken by the TV camera 72, it is necessary to use the image. According to the processing means 65, the ability to compare two images taken at a fixed time interval is considered. That is, it is not usually conceivable that a person stays still for a long time at the entrance 46, so it is necessary to take a picture at a certain time interval. The two captured still images are compared, and when the two images except for the vehicle part are inconsistent, it is determined that there is a person at the entrance 46. I can't support it. To remove the vehicle part t

 CJt 〇 〇

V V t 93 Si V δ Vr

 cv m 冈

 □

 Γζ Si 〇 Si m r <Hi ft o »

 o

 > Difficult V S- Orm r Or H Factory

 r V H Γζ a 94 Λ H factory Ml 〇 X t 1

 > Set CM H ~ n.θ

 1 t 1 t factory (V>

 a 〇 <ί <Λ I λ -¾ r 94 fog a tsu t θ Or θ t 4 V

 Si 脔 <脔 π ππ- ns EE

 X V> EE 铱 i i

Γζ ^ <factory

 Si ΓΊ OK

 he τι ¾ * o

 1 X ¾ ^ V a r <

 D to Ort 9 picture ¾5

 Difficult 4 * 〇 脔 M!

 Or> a [9τ

 o quotient

X Factory 鲫 r D r rW 9-r -A ί <d s 粱> 0 Q Or

 5 馋 CM V r 脔 Q

 o Jm

 0 i l

 o Λ X word Or Si

[Si H> Or

CT

 1 5

Range S Small, it is difficult to cover the entire range of the entrance, and it is difficult to image and recognize the shape of the antenna. . Then, as shown in FIG. 8, a pair of brackets 77 fixed to the upper and lower sides of the entrance wall 46 at the side wall 76 of the storage opening 46 via the left through the shaft. With multiple TV cameras 72 supported to rotate to the right, images of multiple positions that differ in order in the horizontal direction are captured. Then, the whole shape of the antenna is recognized based on the images at the multiple positions. In addition, as shown by arrows in the television camera 72 of FIG. 8 and the servomotor 78, it is possible to drive left and right. By controlling the television camera 72 and the servomotor 78, it is possible to take images of a plurality of successive locations.

 Regarding the TV camera 72 (TVW 1 and TVW 2) and TV camera 72 (TVL 1 and TVL 2) described earlier, there are multiple TV cameras. The camera may be sequentially imaged from the scanning force S along the above-mentioned line segment. Also, a light source may be attached to the television camera 72 so that reflected light from a vehicle or the like is imaged.

As another means of automatically recognizing the presence of human power at the entrance 46, another infrared sensor 70 or 70 can be used. The power of using the ultrasonic sensor 74; These sensors are placed in the side wall of the entrance 46 ,, A) Tsu earth ε ζ Λ 一 w ¾-9Z ^) ¾ ¾ ¾ γ ° 2 Y ^ ¾i ^ ii i :: iss γ γ

 ^-^ ν 9 s 挲 ^: ^ ^ car ο

Y ^k ^ ί ^ ¾ γ) ¾y tt § ^ Ύ 酈 酈 ε ε 8 s ε — Ba a \ s ε

 Y ii ^ ¾-

CD ffl s ε ¾ 挲 Mine / ―

 ^ O) 5 | S a? ¾ Ε ¾ί c ^

 , ¾ ¾ m, 《8

 $ 翟 ^ ω 9 a 窜 γ ^ ί 6 91

⁰ ¾ S ¾l ^ ¾ 皋 窜 蹈 蹈 蹈 蹈 「「 S S S ¾ ^

 ¾ ^ ¾ ^ sukurffl ¾¾ ^ a>-.

4- ぺ m ^ ^ <^ z L ^

w m Akebono g? 9 · ¾ ¾ ^ ν ΐ 苜

 Y ^ # ^ <^ r m L,: · 军

 °, ^ ω 9r 4-W 01 ή 9 ν — ^ 9 9 4

 Car Y,.

4- ^? ¥ 9 ¾ x n ^ IEL ffl

^, ^ L-Ά- m 袅 ¾ o

^ Be ^ Starring ^> One

 D ^ 鵜 Cormorant O Eye O) 9 S ¾ CD

 CD ¾, ^ M

One M

9 I

6e9I0 / 96df / XDd 0 SLP / L6 OAV Stop at approach 22 as shown in. When it becomes possible to store goods, no. Place the pedestal 55 on the lift platform and lower it. In this state, the occupant's shutter 45A at the exit 45A and the gate 23 rise, so that the vehicle 20 moves forward. Stop on let 5 5. Thereafter, the gate 23 closes. The driver on the right side of the vehicle enters the waiting room 26A through the right platform car exit (occupant exit 45A) and enters the waiting room 26A. Wait for. Passengers on the left side of the vehicle can use the platform on the left side of the vehicle to access the platform on the rear side of the vehicle and the exit (occupant exit 45A). Follow the steps and enter the waiting room 26 A. When a command to request storage is given to the terminal 41 of the waiting room 26 A and the magnetic card is taken out, the shutter force S at the outlet 45 A is obtained. When it descends, the elevator 15 rises. Passengers, such as drivers, go through the sidewalk 25 for the purpose.

 The elevator 15 for storage stops at the fixed position of the shelf group 11. The statuary crane 5 drives the fork 8 and the elevator 7 as known to receive the vehicle 20 with the knoll 5 5, After running and ascending and descending, put the vehicle 20 with the pallet 55 on the designated storage rack.

When the vehicle 20 is placed on the storage rack, the stats tray 5 is empty and the empty storage rack (the storage rack where the vehicle is not stored). Take the let and place it on the elevator 15. ° ^ 9 CD WMYZ, τ ^ xm ^ ^ V s — — 4 ^.) 9 4-T iQ ¾ 9 ΐ ^{1 = 1 = 1 1}

 One ^ 窜 m ¾: Ί ¾

 L ^ ^ m v> one 0 Μ ^

Z L 4 = ≠ C (. Λ =: M ^ γ-L U

 ）) ^ Ζ ΐ7 ϋ car ffi 0 ζ m car

 ° 54-car ffi light 8 Ζ L Z

 ¾ ^ ^ ^ o Z ^ a. ^

 ^ — Car W O) ^ ΠΗ Car Choi ° 4- ^ x

¾ ¾ Ma one a> ί # ¾ Ma one _{4 91: O) ® ^ P} ^ - ^> \ ^ Choi ^ ίιΐ ^ ^ car ° 9 0 · W § · vehicles Choi, ^ ^ a 9 V JL A blind Choi 8 9 ¾

丄 ^ 9 t ¾? 9-^ 8 ― °

 ¾ T 9 I ¾1? I I 錤 m ^:, m ¾ ¾ ^ 01 6ι ¾ ¾ ¾ 0 2 ¾J ¾ ¥? S 9 9 ^ m

 — Λ '

 ■ k) ^ ffi ¾ ^ ε 9 ¾ ^ moth ^ bundle A T

1 ^-: ¾ W Y:, s-%

⁰ ¾ ffi ffi o γ :) z

车 S? ^, ― ¾ WL ^ (A γ:〗 g 9 S Army a) \\ i

 9 a: · Y Y © ^ S 2 Ιί B S zn ^ M D ^ ^ ¾ X ^ Mune) ffi ffi

 ° <5 ^ 瓤 1 窜 Y ^ 丄 ¾ S T ¾

8 I

6 € 9lO / 96df / 3d 0P9LP / L6 OAV Next, the detailed operation flow of the vehicle-grade delivery control at the time of entry by the vehicle-grade delivery control means 63 will be described with reference to FIGS. 10 and 11. . First, the vehicle-grade delivery control means 63 indicates the gates that can be parked with the indicator 35A, and the vehicle desired to be parked is based on this instruction. Then, the user enters the approach road 22 where the storage gate 23 is open (S 1). Then, the user enters the entrance 46 in the forward direction (S3). The vehicle-grade delivery control means 63 confirms that the vehicle is in a waiting state for the warehousing by descending and descending the warehousing gate 23 (S5).

 Next, the size (width, length) of the vehicle 20 and the height of the antenna, which are stopped at the approach road 22 by a television camera, etc. Check (S7). If the length of the vehicle 20 is larger than the maximum length of the vehicle that can be accommodated (S8), the driver is notified by the display 35B or the like. , And refuse to park (S9).

 If parking is possible, check the height or width of the vehicle 20 and if it is greater than the maximum vehicle capacity (S 1 0), the door mirror S is expected to open and the antenna power S is expected to be extended and the output will remain constant. Then, the driver is notified to that effect (S11).

The vehicle 20 moves forward and stops on the pallet 55 due to the driving of the driver. Then stop and replay An occupant such as a driver gets out of the vehicle. If the occupant's power is open and the door mirror is open, or if the antenna is informed that the antenna has been extended, then the antenna You can help to store the Nado Amirror. The crew continues, opening the crew door and opening the door.

Exit at Route 25 from 6km. The door of the occupant passageway was opened, and the fact that it was closed, in other words, the occupants such as the driver, entered the pallet 55 at the entrance 46. It is confirmed from the image of the television camera 72 or the like that the peripheral force of the vehicle has passed through the passage 25 (S13).

 If the occupant door is open, check the height or width of the vehicle 20 again by using an image of a television camera, etc. (S15). If the height or width of the vehicle 20 is larger than the specified value (S16), the vehicle door is open or the door mirror is not open. Since the antenna is open or the antenna is still extended, the driver is notified again using the display 35B etc. (S1 7).

When the power of members of such luck rolling's Ru out to the incoming cabinet opening 4 6 or al communication path 2 5, doors of the power of employees communication paths Ru been closed Ji et al. (S 1 9) _0-order, Dig ital TV mosquitoes The height and width of the image in the entrance 46 are checked again according to the image of the camera, etc., and no person is present in the entrance 46. This is confirmed by confirming the moving body of the television camera 72 and the infrared sensor 70 (S21). In this way, when all of the conditions for warehousing are satisfied, it is determined that warehousing is possible (S23), and the door of the occupant passage is locked. At the same time (S29), near the door of the occupant passageway, the voice or display means may be used to indicate that the terminal is in And then issue a command such as "." (S31).

 On the other hand, if the height and width of the image in the entrance 46 are checked again, and if all the conditions that can be entered are not satisfied, the display is displayed. The driver is informed again to that effect using 35B or the like (S25). For example, the notification should be made in the storage entrance 46, near the door of the occupant passageway, or near the terminal device 41, and be accompanied by sound. Display it near the terminal device 41.

 After a lapse of a predetermined time t (S26), the confirmation is again performed by confirming the moving body of the television camera 72 and the infrared sensor 70. (S21). In the same way, repeat S23 and the following.

In S31, the driver who received a command such as "Insert the terminal device's storage switch and get it down.", Etc., should remove the terminal device's storage switch. Insert (S33). However, even if all conditions for warehousing are not satisfied, the driver may drop the terminal's warehousing switch, even if the conditions are not met. In order to ensure safety, the absence of human power at the entrance 46 was confirmed by the TV camera 72 and the infrared sensor 70. Depending on the confirmation, #a ^ 窜 Y 9 · ^ ϋ ¾ 绻 ^ ¾ ^ Car ^ m-\ ^ ^? : ^ ¾ γ □ ¾ γ -1 ¥? ¾ 4- si ¾ ^? ^ ¾ ¾ m ^ η

、 ：） 6 τ ：： ( 9 ε S ) S 毽 敏 、 ェ Τ :5 S 敏 ¾ 嗨 0 L - ^ M ^ ^ Z L 4= ≠ Ά ^v 、 ( I S s ) 1 L¾ B ¾ 、 ( s s s ) ^ -'i ^ m ^ α m-^ ^ ^ m ^ ^ ^: Tsuki; 剁 1ί τ ϋ ¾ Υ 3 ¾ 鵜 Cormorant, eyes

, :) 6 τ:: (9 ε S) S 敏, ェ: 5 S ¾ L 0 L-^ M ^ ^ ZL 4 = ≠ Ά ^v , (IS s) 1 L ¾ B 、, (sss) ^

θ) ¾ ¾ 、, ^ ^ ° (S S S) 9 4- ^ M U si 2) ¾ ¾ 皂 o), ^ 8 s ε it 、,？? w

? -J- m ^ ^ ^ ^ -m γ, sound-^ M ^ ^ ^ ^ m m ^ i i7 d ¾ Y, ^ ―

 ° § 剁 ¾ ½ ¾i ^) Q [sj?

 ^ 0 ¾ t¾ ¾i ¾, ¾ Cl ^ ffl Ο ¾ 靡 01 01 01 01: 01 car

 ^ S base /! N ^ ^ ¾ M?} ^ ¾ ¾

? 1 c ^ ^ ^ ^ γ 0 9 - ^ ϋ ¾ ^ ^} ¾ Υ, one ^ ° ¾ s

Μ ^ (ΐ S) one ^ ^ 窜 Υ sauce ^ (6 ε s) n ^ ^ ^ ^ my

 (z ε s) o. i ½i fi *? ¾ k ¾i Y ^ ^ ^ ^ ^ m ^ ^ ^ ^ ■ ø y (s ε s) and s sensitivity ^ ¾

s z

6 € 9lO / 96df / 13J 08 6 OW The burden on staff and crew will be reduced, and safety will be ensured.

 In addition, after confirming that the vehicle is released outside the exit and that there are no people or vehicles at the exit 內 by the automatic recognition means, the exit gate The closure of the garage will reduce the burden on the staff and crew during the unloading work, and ensure safety.

 An example in which the present invention is applied to another type of standing parking lot is described in FIGS. 12 to 17. First, in Fig. 12 to Fig. 14, 100 is a vertical mechanical parking lot, and the first floor has an entrance 1 for entrance and exit. 0 2 and the exit port 103, and below the ground is the vehicle storage area 104. Storage lifter 110 (A, B, C) and warehouse lifter 116 (A, B, C) are provided at the warehouse entrance 102 and the warehouse outlet 103. It is set up. An entrance 130 is provided in front of the entrance 102, and an exit 125 is provided after the exit 103. In addition, an occupant passageway 125 is provided between the entrance 102 and the exit 103, and is provided through doors 144 and 144, respectively. Crew members are allowed to enter and exit.

In addition, between the entrance lifter 1 15 and the entrance 1 4 6 of the entrance 10 2, the exit 14 7 of the exit 10 3 and the exit lifter 14 During the period between 1 and 16, each of the vehicles serves as a transportation means for transporting the vehicle in the horizontal direction. Conveyor 120 is installed.

 The incoming lifter 115 and the outgoing lifter 116 are each provided with a lifter 107 that goes up and down the hoistway 106. Vehicles will be transported between the entrance 1 ◦ 2 or exit 103 and the underground storage area 104. In the storage area 104, a large number of storage areas 110 each having a conveyor are provided in a hierarchical structure, and each storage area is provided with a plurality of storage areas. At the entrance, there is a transport vehicle with a bearing. A shutter 13 is provided between the entrance 102 or the exit 103 and the hoistway 106. 160 is a centralized control device that manages the entry and exit of vehicles, parking fees, and so on. The details will be described later.

 On the side of the occupant passageway of the storage lifter 115, a terminal device 1401 of the control device 160 is provided, and this terminal device 14 is provided. It is configured so that a magnetic card or the like as a parking instruction and a parking ticket is to be inserted into 1. In addition, the terminal 1 of the control device 160 is provided on the passenger's passage side surface of the discharge lifter 116.

4 2 Power S is installed. This terminal device 14 2 issues a shipping instruction by, for example, injecting a magnetic force.

The entrance of the storage compartment 102, the periphery of the storage lifter 115, and the exit of the storage compartment 103, the presence or absence of a vehicle, the open / closed state of the vehicle door, etc. Door mirror and antenna case As a means of automatically recognizing the delivery state and the open / closed state of the door of the passage, multiple telecameras 1 7 2 Power S installation It has been. In addition, there is no power in the storage area 102, and there is no power in the storage area 102, and there is no power in the exit area 103 for people and vehicles. As a means of automatic recognition to confirm the, the telecamera 17 2, the infrared sensor 17 0 or the ultrasonic sensor 17 Four power stations are installed. In addition, a part of the automatic recognition means for confirming the state of each vehicle and the open / closed state of the doorway of the vehicle is provided with a televicamera 172. It is also good to use an ultrasonic sensor or an infrared sensor.

As shown in FIG. 15, the central control device 1660 is held in the memory in the form of a CPU 161, a memory 162, and a program. The vehicle is equipped with a vehicle rating control means 16 3, a parking fee management means 16 4, and an image processing means 16 5. The explanation of the components of the centralized control system 160 except for the vehicle control system 163 is shown in Fig. 1 to Fig. 11. Substitute the explanation of the corresponding part. The storage terminal device 14 1 and the storage terminal device 14 2 connected to the centralized control device 16 60 are the input unit, the output unit, and the display, respectively. It is equipped with a part. The parking terminal machine 14 1 is also equipped with a parking card issuing means. In addition, infrared sensor 170, television camera 172 or more The output of the acoustic wave sensor 174 is supplied to the central control device 160. The function of these automatic recognition means is replaced by the explanation of the corresponding parts of the embodiment of FIGS. 1 to 11.

 Output of central control device 160, actuator 107 of lifter 107, and actuator of each conveyor 120A , Transport carts 155, occupant passage doors 145, 146, and certain outputs are output from shutters 137 and indicators 135. .

 Next, the operation of this embodiment will be described. First, the vehicle 20 on the main approach road 30 enters each storage area in the forward direction according to the indication of the indicator 1335A, and the conveyor 1 20 Stop on top of When storage is possible, the lifter 107 rises. The occupants of the vehicle exit the occupant passageway 125 through the doorway 142 from the entrance 102. The occupants of the vehicle will also receive a parking request and give a parking request to the terminal 141, and will receive a parking card. Then, the vehicle is transported into the lifter 107 by the conveyor 120. Then, the shutter 13 7 7 before the lifter 10 7 falls S, and the lifter 10 7 descends. Passengers, such as drivers, go through Route 125 for the purpose.

It stops at the fixed position in the storage area 104, with the lifter 107 for storage. The transport vehicle receives the vehicle 20 in a known manner and places it on the designated storage rack. Place.

 When leaving the warehouse, the crew, such as the driver, must be on the side of the exit lifter 1 16 of the IJ, which is located at the entrance entrance 1464, which has entered the warehouse through passage 1 25. A parking card is inserted into the terminal device 142, and a departure instruction is given.

 The lifter 107 given the delivery instruction receives the vehicle 20 from the instructed storage area, and the delivery lifter 116 is located. The vehicle stops and the vehicle is transported out of the lifter 107 by the comparator 120. The occupant door 146 opens, and the occupant gets into the vehicle and exits through the exit route 147.

 It was confirmed by TV camera 172 that the vehicle 20 was released outside of the exit 103 and that nobody was inside the exit 103. Later, the vehicle delivery control means 163 closes the occupant door 1466.

Next, the detailed operation flow of the vehicle-grade delivery control at the time of entry by the vehicle-grade delivery control means 163 will be described with reference to FIGS. 16 and 17. . First, the vehicle-grade delivery control means 163 indicates the gates that can be stored using the display 1335A, and the vehicle that is desired to be parked is indicated by this instruction. Based on the above, enter the storage opening 102 from the storage opening 1466 in the forward direction. The vehicle rating control means 163 confirms that the vehicle is in a waiting state for parking by the output of the automatic recognition means (S10) 2). Next, stop at the entrance 102 with a TV camera, etc. Check the size (width, length) of the vehicle 20 to be checked and the height of the antenna (S104). If the length of the vehicle 20 is larger than the maximum length of the vehicle that can be stored (S106), the display unit 1335B and so on indicate that. Notify the driver and refuse to park (S108).

 If parking is possible, check the height or width of the vehicle 20 (S1 12), which is greater than the maximum vehicle capacity that can be stored. If this is the case, it is expected that the door mirror force S is open or the antenna is expected to be in an extended state. The driver is notified to that effect (S114).

 The vehicle 20 moves forward and stops on the conveyor due to the driving of the driver. Then, the occupants of the stopped vehicles, such as drivers, descend outside. If the occupant power, door mirror is open, or information that the antenna is extended has been received, then the antenna You can save money for door mirrors. The occupant continues to open the occupant door and exits from the entrance 102 to the passage 125. When the door opening and closing of the occupant passageway is opened and closed, in other words, the occupant such as a driver enters the passageway 125. Check with the image of TV power camera 172 (S116).

When the occupant door force S is opened and the vehicle is opened, the height of the vehicle 20 is then increased according to the image of the television camera. Checks the width again (S118). If the height or width of the vehicle 20 is larger than the specified value (S120), the vehicle door may be open or the door mirror may not be open. Since the antenna is open or the antenna is still extended, notify the driver again using the display 1335B etc. ( S 1 2 2).

 When an occupant such as a driver exits from the entrance 102 to the passage 1 25, the door of the occupant passage is closed (S

1 2 4).

 Further, the height and width of the image in the entrance 102 are checked again by using an image of a television camera or the like. The absence of a person at the entrance 102 was confirmed by confirming the moving body of the TV camera 172 and the infrared sensor 170. Check it (S122).

 In this way, when all of the conditions that allow entry are satisfied, it is determined that entry is possible (S128), and the door of the passenger passage is closed. Locking 5 and (S

13 0), near the door of the occupant passageway, use the sound or display means to “put the terminal in and out of the terminal. Then, a command such as "" is output (S1332).

On the other hand, if the height and width of the image in the storage opening 102 are checked again and all the conditions that can be stored are not satisfied, this is displayed. The driver is informed again to that effect by using the device 135B (S1334). After a lapse of a predetermined time t (S 13 36), it is determined again by confirming the moving body of the television camera 172 and the infrared sensor 170. And confirm (S12). In the same way, repeat the following from S128.

 In S1332, the driver who received the instruction such as "Please insert the terminal's storage switch" should be sent to the terminal's storage switch. Is inserted (S133). However, even if all conditions for warehousing are not satisfied, the driver may drop the terminal's warehousing switch, even if the conditions are not met. For safety reasons, it is important to note that there is no human power S at the entry port 102 for safety reasons. Re-confirmation is performed by confirming the moving object (S1334), and when all the conditions for warehousing are satisfied, it is determined that warehousing is possible (S1336). ), And after notifying by a display (S136), the door of the occupant passage is locked (S140).

 Then, the warehousing work is started. In the warehousing operation, the vehicle positioning position is determined (S150), and the vehicle 20 is moved into the lifter 107 by the conveyor 120. (S155). Further, the shutter is closed (S156), and the actuators are controlled to advance the vehicle delivery operation (S156-S). 160). The detailed description of this warehousing work is the same as the conventionally known method, so that the description is omitted.

On the other hand, the height and width of the image in the storage As a result of the check, if all the conditions that can be stored are not satisfied, the driver is notified again to that effect using the display 1335B etc. (S142). Then, the door of the occupant passage is opened (S144), after a lapse of a predetermined time t (S144), and again, the television camera 172 and the like are opened. Confirmation by the moving body confirmation (S1334). In the same way, repeat the steps from S136.

 In this way, automatic recognition means, such as a television camera and an ultrasonic sensor, are installed at the entrance and in the passenger passage, and these automatic recognition means are installed. By recognizing that the condition of the vehicle is suitable for storage according to the step, it is also necessary to recognize that there is no human power at the entrance and that the vehicle does not exist. After that, the vehicle will be automatically commenced in the car packaging work, which will reduce the burden on the staff and crew, and ensure safety.

 Also, after the vehicle has been released outside the territory of departure and the driver has automatically recognized that no person or vehicle is present at the exit, the occupant passageway will be checked. Because the doors are closed, not only is it necessary to enter the garage, but also the burden on the staff and crew during the unloading operation is reduced, and safety is ensured.

According to the present invention, it is necessary to confirm that the state of the vehicle is suitable for the vehicle by the automatic recognition means. After confirming that there are no people at the entrance, the vehicle will start to be delivered to the vehicle.Therefore, the staff and crew at the time of entry will be responsible. Control devices for mechanical parking lots that reduce traffic and ensure safety And provide a way to control mechanical parking.

 According to another characteristic of the present invention, the vehicle is automatically released outside the exit, and no person or vehicle is present in the exit. After confirming by means, the exit area will be closed, so not only the time of entry, but also the burden on the staff and crew during the exit operation will be reduced. To ensure safety.

Claims

OAVJ Re 6 £ 9i6fcvL d  w 1ml m Jfi 1 vJ  Yong y J  Kiki AJ  <  癉 V N  Les s  ir = '', H- AJ positive J)> J ri i | nn y--Xiao V J  蟬 ti.  • ΠΠ  AJ ι | π 1ml  Q ■ R bone ” CO ce iiua Ρ \ CO s ■ Q

 ¾ 鸱 δ π. I  Pair 33 ιΐιια iliia Snow J Electric O 5¾ ^ J  ,, J  la ¾ F¾  Q K J O  鎏 σ- · ttf- <J V <  '1  AJ 鹧 rftia Q Q AJ δ 鸱  Q 鸱 櫸 "" a E 齄 鹧 ii a G us a E 鹧 Id 鹧 (tribute 1: Butterfly  v J  Jia i] un dish G illta 33 δ • nn Jml  Xiao <• R Jia Ba AJ ilna '' -AJ <ru  HDH; ilna ill 'a "s t r | naaR τ? Ιπ Q Q 鹧 ra  ilna y \ ilna Λ 33  i1: <myQ) IK Q o In addition to carrying out the vehicle delivery operation described above, confirm that there are no people or vehicles at the exit, and confirm that there is no gate in the delivery area. A mechanical parking lot that is characterized by closing the parking lot. 3. At the mechanical parking lot described in claim 1, the means for controlling the delivery of the vehicle is the vehicle taken with the TV camera described above. When the external shape of both images is recognized by the automatic recognition means as being within the prescribed range, the condition of the vehicle is suitable for delivery. A mechanical parking lot that is characterized by the fact that it is in such a state that it will carry out the above-mentioned car delivery business.  4.At the mechanical parking lot described in claim 1, the above-mentioned TV camera of the above-mentioned automatic recognition means shall confirm and confirm the above vehicle status. A mechanical parking lot that is characterized by taking pictures of the above-mentioned storage area in order to confirm the presence of the writer.  5. At the mechanical parking lot described in claim 4, the means for controlling the delivery of the vehicle shall be based on the automatic recognition means described above, and If the image of the storage area captured by the camera contains an object with a width and height beyond the specified range, other than the vehicle described above A mechanical parking lot that is characterized by the fact that it is recognized that human power exists. 6.At the mechanical parking lot described in claim 1, the automatic recognition means also checks the status of the vehicle. ^ ^ ^ m. A> ^ ^ g ^ z? SS (A ^ m ^ ^ ^ mm ^  璨 w ^  ^ γ old ¾ o? Blind Choi: 3-l-J ¾ eclipse ^ car Ϊ i car ¾ ¾ 殺 殺 2 Mr ^ SI · 8  ° ¾ Moth ^ Car 9 Fluorescent Wheel S ^ Oblique 2? ^ ^ ^ M ^ (A ^ i \ ^-^ ¾ 1 si x ¾l m ¾? ^ Inn ¾ w Y :) a y a> y? im ^ ^ ^ ^ ^ ¾ ^ ¾ ₅ ^ n ^ OJ igJ car ^^^^^^^^^^^^^^  ^ Ί ^) Y 9: ^ -1 a ■ y? T ^ m ^ 01 ^ car ¾ 窜 Υ ϋ Α (Α ^-^ ^? M  ^ ^ ^ w ¾ι ί ¾ ^ 窜 γ s  ,  ^ :) ¾ ^ ^ ^ ^ ¾ ¾ 車 車 1 1 斜 1} ^ ¾ ^ n (m ^:-^ ^ ^ ^ ^v ? ¾ ΐ s car? 窜? ¾ ^ ¾ WYO) * 'L ε 6C9T0 / 96df / X3d 0 6 OAV OS ° ¾ ^ moth spleen ¾ 觜 9 9 9 9? ¾¾ #fc ^ ;?: ¾ ^ ^ ¾ ^ Car 2. ¾ ^ α. Ϋ ^-^ Ί m ^ ^ ^ ^) Μ m ^ν ? ^ ^ M ^ 2 ^ :) M ffl ¾ o) ¾ ^ w ^ Hiring ^ ^ Car ¾ ¾ W $ ^ 磷 ^ 31, 6i τ ί ST  mm m ^ m ^ ^ ^ ^ m ^  ,, A ^ ¾ 呦 "i $ ma 瞽 瞽 ί ί ¾ ^«-6  ° ^ o-^. Τ ^ ^-^  -) ^ m 01 class;: ^ ¾ ¾ Wi¾l car ^ Y) α car ffl 2 lump  Ί m ^ ^ m ^ $ m ^ mm mm ^ ^ ^ ^-i, ¾ つ 、 ^ Y ^ ^ Y si m ^ ^ ^-A O ^ ^ m "^ ^ m ^ ^-^ ^  ¾j Kuroshio ^ 窜 Y 2, ^ ^) 蛾 Moth ίι ^ ¾  ? ϊ ^ 耷) Insect cormorant g t ^ m ^ D M ^ y ^ u ^ ^ a ^ ^ y> n 9 ε