JP6325290B2 - Mechanical parking equipment - Google Patents

Description

  The present invention relates to a mechanical parking apparatus in which a parking position is predetermined for each vehicle.

  A mechanical parking device is a facility that houses a large number of vehicles in three dimensions by placing a mechanical device in a building built on the ground or in a space formed underground. Elevator type, comb type elevator type, vertical circulation Various methods such as a method, a multilayer circulation method, a horizontal circulation method, and a plane reciprocation method are used.

For example, in an elevator-type parking device, a cage hoistway provided in the center of a building, a storage shelf provided in multiple stages on the side of the cage hoistway, a cage hoistway up and down along the storage shelf, A pallet carrying a car between them, and a cage for delivering.
As such an elevator type parking apparatus, for example, Patent Document 1 is disclosed.

  In addition, for example, a mechanical parking device used only by a specific user (hereinafter referred to as a contractor), such as a mechanical parking device installed in a condominium or the like, in advance for each contractor's vehicle (hereinafter referred to as a contracted vehicle). There are certain storage shelves for parking. In such a mechanical parking apparatus, for example, the vehicle A of the contractor A mounted on the pallet A is stored in the storage shelf A, and the vehicle B of the contractor B mounted on the pallet B is stored in the storage shelf B. Registered in advance. The vehicle A of the contractor A is stored in the storage shelf A even if there is another empty pallet.

JP 2013-139777 A

  In the above-mentioned mechanical parking device for contractors, in order to avoid unnecessary movement of the cage as much as possible, the vehicle A of the previous user A is left in the loading / unloading section until the next user B enters the loading procedure. Was. That is, in the contractor's mechanical parking device, after confirming the next user B's warehousing procedure, the vehicle A is stored in the storage shelf A, the cage is then directed to the storage shelf B of the user B, and the pallet B is It was transported to the warehouse. Therefore, after the user B performs the warehousing procedure, the time for storing the vehicle A of the previous user A and the time until the pallet B used by the user B is transported to the warehousing / unloading unit are displayed in front of the warehousing / unloading unit. There was a tendency to wait and to wait longer. In addition, since the waiting time per user is long, it was easy to form a line of vehicles waiting for warehousing in front of the loading / unloading department when crowded.

  In addition, in the conventional mechanical parking device, as in Patent Document 1, for example, the cage near the center of the cage hoistway and the entrance / exit section are defined every time the cage carrying the pallet stores the user's vehicle in the storage shelf. Some stop at the position and wait for the next instruction. In such a driving type mechanical parking device, even if there are a plurality of users, the cage stops at a fixed position every time the vehicle is stored, and after the next user's warehousing procedure, the user's pallet Since there is a lot of useless movement in the cage, the waiting time of the user was long.

Further, in the mechanical parking device disclosed in Patent Document 1, even if the parking area is arranged in a line for a long time in the vicinity of the entry / exit part, the user once gets out of the vehicle and is provided outside the entry / exit part at the beginning of the line. The operator had to operate the control panel to enter the warehouse, and then boarded again to enter the entry / exit section.
Therefore, the waiting time of the user was long and the work burden was heavy even after the turn came.

  The present invention has been developed to solve the above-described problems. That is, an object of the present invention is to provide a mechanical parking device that can shorten the waiting time of the passenger, speed up the continuous warehousing operation, and allow the occupant to enter the warehousing procedure without getting out of the vehicle.

According to the present invention, a mechanical parking device that selectively parks a contract vehicle with a parking contract,
An imaging camera that is provided in the vicinity of the loading / unloading unit and photographs the approaching vehicles arranged in front of the loading / unloading unit and outputs the image data;
An image processing device for outputting a warehousing command for warehousing the approaching vehicle based on the image data;
A cage control device for determining a route of a cage for transporting the approaching vehicle based on the warehousing instruction, and outputting route information of the route;
A transport device that moves the cage according to the route information and performs a warehousing operation for transporting the approaching vehicle from the warehouse to a parking position dedicated to the approaching vehicle,
The image processing device extracts image identification information that allows individual identification of the approaching vehicle from the image data,
Compare the image identification information with registration data registered in advance as information on the contract vehicle,
When the image identification information coincides with the registration data, the entry command is output as the approach vehicle is the contract vehicle ,
The mechanical parking , wherein the image processing device outputs the warehousing command for a subsequent approaching vehicle arranged to enter the warehousing / unloading section before the transport device finishes the warehousing operation of the approaching vehicle. An apparatus is provided.

Further , according to the present invention, a mechanical parking device that selectively parks a contract vehicle with a parking contract,
An imaging camera that is provided in the vicinity of the loading / unloading unit and photographs the approaching vehicles arranged in front of the loading / unloading unit and outputs the image data;
An image processing device for outputting a warehousing command for warehousing the approaching vehicle based on the image data;
A cage control device for determining a route of a cage for transporting the approaching vehicle based on the warehousing instruction, and outputting route information of the route;
A transport device that moves the cage according to the route information and performs a warehousing operation for transporting the approaching vehicle from the warehouse to a parking position dedicated to the approaching vehicle,
The image processing device extracts image identification information that allows individual identification of the approaching vehicle from the image data,
Compare the image identification information with registration data registered in advance as information on the contract vehicle,
When the image identification information coincides with the registration data, the entry command is output as the approach vehicle is the contract vehicle,
The imaging camera is a first camera that outputs, as immediately preceding image data, the image data obtained by capturing the most approaching vehicle that is the approaching vehicle arranged in the forefront;
A second camera that outputs, as prior image data, the image data obtained by imaging the subsequent approaching vehicle that is the approaching vehicle arranged behind the foremost approaching vehicle,
The image processing device is a final warehousing command that is the warehousing command for warehousing the frontmost approaching vehicle that is output based on the immediately preceding image data.
Outputting a reservation warehousing command that is the warehousing command for warehousing the subsequent approaching vehicle that is output based on the prior image data;
The cage control device, wherein the outputs route information based on the final goods receipt instruction or the reservation warehousing command, is to that machine械式parking system wherein is provided that.

The image identification information is a face of a passenger of the approaching vehicle photographed through a windshield of the approaching vehicle,
The registration data is a face of a registered user of the contract vehicle.

The image identification information is a license plate of the approaching vehicle,
The registration data is a license plate of the contract vehicle.

The route information includes composite route information that is a cage route from the parking position of the foremost approaching vehicle to the parking position of the subsequent approaching vehicle that is output based on the final warehousing instruction and the reservation warehousing instruction, and a reservation warehousing instruction. Including the preliminary route information, which is a route from the parking position of the subsequent approaching vehicle output based on the route to the parking position of the subsequent approaching vehicle again through the loading / unloading unit,
The image processing device, when the image identification information extracted from the previous image data and the image identification information extracted from the immediately preceding image data when the subsequent approach vehicle becomes the front approach vehicle Only, a release instruction to release the composite route information and the backup route information is output to the transport device,
Outputting a new final warehousing instruction based on the image identification information extracted from the immediately preceding image data when the subsequent approaching vehicle becomes the foremost approaching vehicle,
The cage control device outputs new composite route information and new final route information in accordance with the new final entry command.

  Further, the image processing device outputs the reservation warehousing command before the conveying device finishes the warehousing operation of the foremost approaching vehicle.

  In addition, the imaging camera can move freely in the vertical and horizontal directions.

  The second camera includes a plurality of cameras that capture each of the plurality of subsequent approaching vehicles.

According to the mechanical parking apparatus of the present invention described above, since the individual identification of the approaching vehicle is performed using the image data acquired by the imaging camera, the warehousing command can be output while being lined up in front of the warehousing / exiting unit.
Therefore, it is not necessary for subsequent passengers who have been turned in order to get off the vehicle and operate the operation panel or the like, and the work burden on the passenger can be reduced. In addition, since it is possible to output the warehousing command of the subsequent approaching vehicle from the image processing device before the order of the subsequent approaching vehicle entering the loading / unloading unit, it is possible to shorten the waiting time of the subsequent passenger.

In addition, since the entering command for the approaching vehicle can be output while the following approaching vehicles are lined up in front of the entry / exit section, the entering operation of the approaching vehicle that has entered first and the entering operation of the next entering vehicle are continuously performed. be able to.
Therefore, there is no need for the cage to make a useless movement, and the waiting time for the passenger can be reduced accordingly. In addition, since the waiting time for one passenger can be shortened, congestion of the mechanical parking device can be reduced.

It is explanatory drawing of the mechanical parking apparatus of 1st Embodiment of this invention. It is explanatory drawing of the image data image | photographed with the imaging camera of FIG. It is explanatory drawing of the drive method of the mechanical parking apparatus of 1st Embodiment of this invention. It is explanatory drawing of the mechanical parking apparatus of 2nd Embodiment of this invention. It is explanatory drawing of the imaging camera of the mechanical parking apparatus of 2nd Embodiment of this invention. It is explanatory drawing of the drive method of the mechanical parking apparatus of 2nd Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the common part in each figure, and the overlapping description is abbreviate | omitted.

(First embodiment)
FIG. 1 is an explanatory diagram of a mechanical parking apparatus 1 according to a first embodiment of the present invention.
The mechanical parking device 1 of the present invention is a mechanical parking device that selectively parks a contracted vehicle with a parking contract. The mechanical parking apparatus 1 of the present invention is installed in a place used by a specific user, such as an apartment house such as an apartment.

The mechanical parking device 1 of the first embodiment is an elevator parking device.
As shown in FIG. 1, the mechanical parking device 1 of the present embodiment has a ground floor of the building 9 serving as a loading / unloading floor, and a loading / unloading port 13 is provided here. The entrance / exit 13 is an entrance through which the approaching vehicle P enters the building 9. One pallet 12 for entering vehicles P to enter through the floor is installed in the loading / unloading section 2 inside the loading / unloading port 13. The mechanical parking device 1 according to this embodiment includes a cage hoistway 10 provided in the center of the building 9, storage shelves 11 provided in multiple stages on the side of the cage hoistway 10, and the storage shelves 11. The cage 3 is provided with a cage 3 that moves up and down the cage hoistway 10 and moves a pallet 12 on which a car is placed between the cage and the storage shelf 11.
The mechanical parking device 1 of the present invention includes an imaging camera 5, an image processing device 6, a cage control device 7, and a transport device 8.

In the mechanical parking device 1 of the present invention, the image processing device 6, the cage control device 7, and the transport device 8 are independently driven. That is, for example, as shown in FIG. 1, when two approaching vehicles P are arranged in the order of the approaching vehicle P _n and the approaching vehicle P _{n + 1} before the entry / exit unit 2, the transfer device 8 is connected to the approaching vehicle P _n . before closing the warehousing operation, the image processing apparatus 6 extracts the image identification information T from image data Q entering vehicle P _{n + 1,} and outputs a warehousing command R _{n + 1.} The cage control unit 7, the transport device 8 outputs the entering vehicle P _{n + 1} route information S before finishing warehousing operation of entering vehicle P _n to the transport device 8.
In the present application, the approaching vehicle P refers to a vehicle that has entered the loading / unloading unit 2 and a vehicle that lines up before the loading / unloading unit 2 in order to enter the loading / unloading unit 2.

The imaging camera 5 captures an approaching vehicle P that is provided in the vicinity of the loading / unloading unit 2 and is arranged in front of the loading / unloading unit 2 and outputs the image data Q.
The imaging camera 5 may be an infrared camera that can be used at night. In addition, it is preferable to install a cage 14 around the imaging camera 5 in order to stabilize the daytime image.

One imaging camera 5 of the present embodiment is provided in the loading / unloading unit 2 and images the approaching vehicle P in front of the loading / unloading unit 2.
The imaging camera 5 may be a camera whose shooting location can be freely moved up and down and left and right.

Next, the image processing apparatus 6 of the present invention will be described.
FIG. 2 is an explanatory diagram of the image data Q taken by the imaging camera 5 of FIG.
Based on the image data Q, the image processing device 6 outputs a warehousing command R for warehousing the approaching vehicle P as follows.

The image processing device 6 first extracts image identification information T that allows individual identification of the approaching vehicle P from the image data Q. Here, the image identification information T is, for example, the face T1 of the passenger of the approaching vehicle P and the license plate T2 of the approaching vehicle P taken through the windshield of the approaching vehicle P as shown in FIG.
Hereinafter, a user boarding the approaching vehicle P is referred to as a passenger.

Next, the image processing device 6 compares the image identification information T with registered data registered in advance as contract vehicle information. The registration data when the image identification information T is the face T1 of the passenger of the approaching vehicle P photographed through the windshield of the approaching vehicle P is the registered user's face of the contract vehicle, and the image identification information T is entered. The registration data when the vehicle P is the license plate T2 is the license plate of the contract vehicle.
The registration data is preferably stored in the storage unit of the image processing apparatus 6.

  Then, when the image identification information T matches the registration data, the image processing device 6 outputs a warehousing command R on the assumption that the approaching vehicle P is a contract vehicle.

The registered user is a specific user registered as a user of the contract vehicle. When the registered data is a registered user's face, it is preferable to register not only the front face of the registered user but also the side face as registered data. Further, there may be a plurality of registered users per unit.
The image processing apparatus 6 preferably extracts not only the face T1 of the passenger sitting in the driver's seat but also the face T1 of the passenger sitting in the passenger seat or the rear seat from the image data Q as the image identification information T.

  Moreover, it is preferable that the image processing apparatus 6 of the present invention can extract both the passenger's face T1 and the license plate T2 of the approaching vehicle P. As a result, the mechanical parking device 1 of the present invention can accurately match even when either one of the passenger's face T1 and the license plate T2 of the approaching vehicle P cannot be extracted.

  The cage control device 7 determines the route of the cage 3 that transports the approaching vehicle P based on the warehousing command R, and outputs route information S of the route. The route information S is preferably information on the shortest route of the cage 3.

The transfer device 8 moves the cage 3 according to the route information S, and performs a warehousing operation for conveying the approaching vehicle P from the entry / exit unit 2 to the parking position 4 dedicated to the approaching vehicle P. That is, for example, parking position of the entering vehicle P _n shown in FIG. 1. 4, if predetermined empty parking position 4 _n the left, even an empty parking position 4 was in another, entering vehicle P _n It is conveyed always parking position 4 _n. Also therefore entering vehicle P _n is parked in another parking position 4, entering vehicle P other than entering vehicle P _n in the parking position 4 _n is nor to park.
In the present embodiment, the storage shelf 11 corresponds to the parking position 4.

Mechanical parking device 1 of the present invention as described above, captured image data Q of entering vehicle P _n automatically, the entering vehicle P _n dedicated pallet 12 _n extracts the image identification information T from the image data Q Since the warehousing procedure for transporting the vehicle to the warehousing and unloading unit 2 is advanced, the operation of the manager is not required, the cost for maintenance of the mechanical parking device 1 can be suppressed, and the approaching vehicle P is in front of the warehousing and unloading unit 2 The waiting time can be made shorter than that of a conventional mechanical parking device.

Moreover, the mechanical parking apparatus 1 of 1st Embodiment does not require a passenger to get off the approaching vehicle _{Pn in} front of the entrance / exit 13 and to operate an operation panel. Therefore, the passenger can complete the warehousing procedure without getting off the approaching vehicle _Pn until the approaching vehicle _Pn is parked on the pallet 12 _n installed in the loading / unloading unit 2.

Next, the drive method of the mechanical parking apparatus 1 of 1st Embodiment is demonstrated using FIG. 1 and FIG.
FIG. 3 is an explanatory diagram of a driving method of the mechanical parking apparatus 1 according to the first embodiment of the present invention. That is, FIG. 3 is an operation explanatory diagram of the imaging camera 5, the image processing device 6, the cage control device 7, and the transfer device 8 when two approaching vehicles P are arranged in front of the entry / exit unit 2 as shown in FIG. 1. Yes, in order from the top, the time lapse of the imaging camera 5, the image processing device 6, the cage control device 7, and the transfer device 8 is represented. As shown in FIG. 1, it is assumed that an approaching vehicle P _n and an approaching vehicle P _{n + 1} are arranged in front of the loading / unloading unit 2. The entering vehicle _P parking position of the _n 4 the parking position _{4 n,} the pallet 12 pallet 12 _n, the image identification information T image identification information _{T n,} warehousing command R and warehousing command _{R n,} parking position of the entering vehicle _{P n + 1} 4 is the parking position 4 _{n + 1} , the pallet 12 is the pallet 12 _{n + 1} , the image identification information T is the image identification information T _{n + 1} , and the warehousing command R is the warehousing command R _{n + 1} .

First, the procedure for warehousing the first approaching vehicle _Pn will be described.
First, the imaging camera 5 provided in the vicinity of the loading / unloading unit 2 captures the approaching vehicle _Pn entering the front space V in front of the loading / unloading unit 2 and outputs the image as image data Q. This image, which contains the license plate T2 _n of the occupant of the face T1 _n and entering vehicle _{P n} of entry vehicle _{P n.}

Next, the image processing device 6, based on the image data Q inputted, outputs a warehousing command R _n for which receipts the entering vehicle P _n. Specifically, the image processing apparatus 6, an individual identifiable image identification information T _n of entering vehicle P _n as license plate T2 _n face T1 _n and entering vehicle P _n occupant of entering vehicle P _n extracted from the image data Q, comparing the image identification information T _n as registration data.

The image processing device 6 outputs the warehousing command R _n only when the image identification information T _n matches the registered data.
On the other hand, the image processing device 6 in a case where the image identification information T _n does not match the registration data, and outputs a command for broadcasting the announcement as "not available", that the entering vehicle P is not a contract vehicle To the passenger.

Next, the cage control device 7 that has input the warehousing instruction R _n goes to the pallet 12 _n stored in the parking position 4 _n for the cage 3 and transports it to the warehousing and unloading unit 2 and mounts the approaching vehicle P _n . The shortest route from the current position until the pallet 12 _n is stored in the parking position 4 _n is obtained, and the route information S is output to the transport device 8.

The conveying device 8 moves the cage 3 according to the route information S and conveys the pallet 12 _n to the loading / unloading unit 2.
When the pallet 12 _n is conveyed to the inlet-outlet unit 2, door entry and leaving port 13 open.

In addition, it is preferable that the pallet 12 _n is conveyed to the loading / unloading unit 2 before the approaching vehicle P _n arrives at the loading / unloading port 13. When the approaching vehicle _Pn arrives at the entrance / exit 13, it is preferable to finally confirm from the image data Q that the approaching vehicle P is the approaching vehicle _Pn .

Then the rider is operating the entering vehicle P _n enters the inside of the inlet-outlet unit 2, to park the entering vehicle P _n on the pallet 12 _n, the operation to the inlet-outlet unit 2 door the control panel Close.
Thereafter, when the door of the entrance / exit 13 is closed, the transport device 8 drives the cage 3 and transports the pallet 12 _n to the parking position 4 _n .

Next, a procedure for warehousing the subsequent approaching vehicle P _{n + 1} will be described.
Subsequent entering vehicle P _{n + 1,} when entering vehicle P _n to park earlier starts entering the inside of the inlet-outlet unit 2, following the entering vehicle P _n travels to the front space V. The entry procedure for the approaching vehicle _{Pn + 1} is started from the time when the approaching vehicle _{Pn + 1} appears in the image of the imaging camera 5, or when the approaching vehicle _{Pn + 1} is lined up in front of the entry / exit unit 2 for a certain period of time.

Thus, the entry procedure of the approaching vehicle P _{n + 1} is started before the door of the entry / exit section 2 is closed or before the passenger of the preceding approaching vehicle _Pn leaves the mechanical parking device 1, and the approaching vehicle P Similar to the _n warehousing procedure, the warehousing instruction R _{n + 1} and the route information S are output.
Therefore, amount that warehousing procedure subsequent entering vehicle P _{n + 1} is started earlier, since the entering vehicle P _{n + 1} route information S is output earlier in the conveying device 8, enters the vehicle P _{n + 1} passengers waiting time is shortened .

In addition, since the entry procedure for the approaching vehicle _{Pn + 1} is automatically started from the image of the imaging camera 5, it is not necessary for the passenger of the entry vehicle _{Pn + 1} to get off the vehicle to perform the entry procedure, and the work load on the passenger is reduced. small.
Since receipts procedures subsequent entering vehicle P _{n + 1} is started earlier, can enter the vehicle P _{n + 1} cage control device 7 in light thereby warehousing the after entering vehicle P _n determines the shortest route of the cage 3, Further, the route information S of the approaching vehicle P _{n + 1} can be output before the entering operation of the entering vehicle P is completed.

(Second Embodiment)
Next, the mechanical parking apparatus 1 of 2nd Embodiment of this invention is demonstrated.
4 is an explanatory diagram of the mechanical parking device 1 according to the second embodiment of the present invention, FIG. 5 is an explanatory diagram of the imaging camera 5 of the mechanical parking device 1 according to the second embodiment of the present invention, and FIG. It is explanatory drawing of the drive method of the mechanical parking apparatus 1 of 2nd Embodiment of this invention.

In the following description, as shown in FIG. 4, it is assumed that the approaching vehicle P _n , the approaching vehicle P _{n + 1, and the} approaching vehicle P _{n + 2} are arranged in front of the entry / exit unit 2. In this case, the approaching vehicle _Pn is the foremost approaching vehicle P1, and the approaching vehicle _{Pn + 1} and the approaching vehicle _{Pn + 2} are the subsequent approaching vehicles P2. The parking position 4 the parking position of the entering vehicle _{P n 4 n,} and the pallet 12 and the pallet 12 _n, entering vehicle _{P n + 1} of the parking position 4 the parking position _{4 n + 1,} the pallet 12 and the pallet _{12 n + 1.} The route information S is the final route information S _f route information S that is output based on the final goods receipt command R1 to be described later, the route information S that is output based on the reservation warehousing command R2 described later final goods receipt command R1 comprising a composite route information S _g, and a spare route information S _h route information S that is output based on the reservation warehousing command R2.

The imaging camera 5 according to the second embodiment is arranged behind the first approaching vehicle P1 and the first camera 5a that outputs the image data Q obtained by photographing the foremost approaching vehicle P1, which is the approaching vehicle P arranged in the forefront, as the immediately preceding image data Q1. And a second camera 5b that outputs image data Q obtained by imaging a subsequent approaching vehicle P2 that is an approaching vehicle P as prior image data Q2. For example, in the case of FIGS. 4 to 6, the approaching vehicle _Pn is the foremost approaching vehicle P1, and the approaching vehicle _{Pn + 1} and the approaching vehicle _{Pn + 2} are the subsequent approaching vehicles P2.
The second camera 5b may include a plurality of cameras that capture each of the plurality of subsequent approaching vehicles P2.

  For example, a plurality of imaging cameras 5 (first camera 5a, second camera 5b) may be provided in the building 9 as shown in FIG. Or the some imaging camera 5 may be provided in the position away from the building 9, such as the pole 15 built along the road where several approaching vehicles P line up, as shown in FIG.

  Further, the image processing device 6 of the second embodiment outputs a final warehousing command R1 which is a warehousing command R for warehousing the foremost approaching vehicle P1 output based on the immediately preceding image data Q1, and an output based on the prior image data Q2. The reservation receipt command R2, which is a receipt command R for allowing the subsequent approaching vehicle P2 to be received, is output. Moreover, it is preferable that the image processing apparatus 6 of this embodiment outputs the reservation warehousing instruction | command R2 before the conveying apparatus 8 finishes warehousing operation | movement of the foremost approach vehicle P1.

  The cage control device 7 of the second embodiment outputs route information S based on the final warehousing command R1 or the reservation warehousing command R2.

Route information S includes the final route information _{S f,} complex routing information _{S g,} and a spare route information _{S h.}
The final route information _Sf is a route from the parking position 4 of the foremost approaching vehicle P1 output based on the final warehousing instruction R1 to returning to the parking position 4 of the foremost entering vehicle P1 via the warehousing / exiting unit 2 again.

The combined route information _Sg is the route of the cage 3 from the parking position 4 of the foremost approach vehicle P1 to the parking position 4 of the subsequent approach vehicle P2 output based on the final warehousing command R1 and the reservation warehousing command R2.
The preliminary route information _Sh is a route from the parking position 4 of the subsequent approaching vehicle P2 output based on the reservation entering command R2 to returning to the parking position 4 of the subsequent approaching vehicle P2 via the storage / exit section 2 again. .

Only when the image identification information T extracted from the previous image data Q2 and the image identification information T extracted from the immediately preceding image data Q1 when the subsequent approaching vehicle P2 becomes the foremost approaching vehicle P1 do not coincide with each other. In addition, a release instruction W for releasing the combined route information _Sg and the backup route information _Sh is output to the transport device 8. Then, the image processing device 6 outputs a new final warehousing command R1 based on the image identification information T extracted from the immediately preceding image data Q1 when the subsequent approaching vehicle P2 becomes the foremost approaching vehicle P1.
Further, the cage control device 7 has the new route information S (that is, the new combined route information _Sg and the following approach vehicle P2 (the approach vehicle P _{n + 1} )) become the foremost approach vehicle P1 in accordance with the new final storage instruction R1. New final route information S _f ) is output.

Thereby, even if the subsequent approaching vehicle P2 (for example, the approaching vehicle _{Pn + 1} ) is out of the line, the pallet 12 of the next subsequent approaching vehicle P2 (for example, the approaching vehicle _{Pn + 2} ) can be transferred without any mistake. Can be prepared.
The structure of the mechanical parking apparatus 1 of other 2nd Embodiment is the same as that of 1st Embodiment.

Next, a driving method of the mechanical parking device 1 according to the second embodiment will be described.
FIG. 6 shows the first camera 5a, the second camera 5b, the image processing device 6, the cage control device 7, and the transport device 8 when three approaching vehicles P are arranged in front of the loading / unloading unit 2 as shown in FIG. FIG. 4 is a diagram illustrating the operation of the first camera 5a, the second camera 5b, the image processing device 6, the cage control device 7, and the transport device 8 in order from the top.

Hereinafter, the final goods receipt command R1 for entering vehicle _{P n} to a final goods receipt command R1 _n, the reservation warehousing command R2 and reservation warehousing command R2 _n. Similarly, the final warehousing command R1 for the approaching vehicle P _{n + 1} is set as the final warehousing command R1 _{n + 1} , and the reserved warehousing command R2 is set as the reserved warehousing command R2 _{n + 1} .

First, a procedure for warehousing the approaching vehicle _Pn that is the foremost approaching vehicle P1 will be described.
First, the first camera 5a provided in the vicinity of the entry / exit section 2 captures the approaching vehicle _Pn that has entered the front space V in front of the entry / exit section 2, and outputs the image as immediately preceding image data Q1. . On the other hand, the second camera 5b disposed at a position capable of capturing a subsequent entering vehicle P _{n + 1} images the entering vehicle P _{n + 1} arranged behind the entering vehicle P _n, and outputs the image as a pre-image data Q2. These images are included and entering vehicle _{P n} and entering vehicle _{P n + 1} passengers face _{T1 n, T1} n _{+ 1,} their license plates _{T2 n, T2} n _{+ 1.}

Next, the image processing device 6 first outputs a final warehousing command R1 _n for warehousing the approaching vehicle _Pn based on the immediately preceding image data Q1. Specifically, the image processing apparatus 6, an individual identifiable image identification information T _n of entering vehicle P _n as license plate T2 _n face T1 _n and entering vehicle P _n occupant of entering vehicle P _n Extracted from the immediately preceding image data Q1, and compares the image identification information _Tn with the registered data. Then, the image processing device 6 outputs the final warehousing command R1 _n of the approaching vehicle P _n only when the image identification information T _n matches the registration data.

  The point that the image processing device 6 outputs a command such as broadcasting an announcement when the image identification information T does not match the registered data is the same as in the first embodiment.

Subsequently, the image processing device 6 outputs a reservation warehousing instruction R2 _{n + 1} for warehousing the approaching vehicle P _{n + 1} based on the preliminary image data Q2. Specifically the image processing apparatus 6 compares the image identification information T _{n + 1} extracted from the pre-image data Q2 and the registered data, only if the image identification information T _{n + 1} coincides with the registration data reservation warehousing command R2 n _{+ 1} output To do.

In parallel with the extraction of the image identification information T _{n + 1} of the image processing device 6, the cage control device 7 takes the pallet 12 _n stored in the parking position 4 _n of the approaching vehicle P _n according to the final warehousing command R1 _n. The shortest route from the current position of the cage 3 until the pallet 12 _n loaded with the approaching vehicle P _n is stored in the parking position 4 _n is determined and the route information S is determined as the final route information S. _It outputs to the conveying apparatus 8 as _f . Then, when the final route information _Sf is input, the transport device 8 performs the warehousing operation of the approaching vehicle _Pn accordingly.

Then, the cage controller 7 reserved goods receipt after instruction _{R2 n + 1} is input, the parking position of the final goods receipt command R1 _n and booking warehousing command _R2 sought on the basis of the _{n + 1} entering vehicle _{P n} (forefront entering vehicle P1) 4 enter from _n vehicle _{P n + 1} (subsequent entering vehicle P2) parking position is information of the shortest route to _{4 n + 1} and the complex route information _{S g,} entry and leaving from its parking position _{4 n + 1} is determined based on the reservation warehousing command _{R2 n + 1} part 2 to carry the pallet _{12 n + 1,} and outputs a spare route information _{S h} is the shortest route of the cage 3 until storing pallets _{12 n + 1} equipped with the entering vehicle _{P n + 1} to the parking position _{4 n + 1} to the conveying device 8 .

Thus the transport device 8, a final route information S _f, complex routing information S _g, since it is continuously output in the order of spare route information S _h, receipts operation and receiving of entering vehicle P _{n + 1} of the entering vehicle P _n The operation can be performed continuously. Therefore, the transport device 8 can drive the cage 3 efficiently without causing time to stop.
Thereby, compared with the conventional mechanical parking apparatus, the waiting time of the passenger of the approaching vehicle P can be shortened.

When the pallet 12 _n is conveyed to the loading / unloading unit 2, the door of the loading / unloading port 13 is opened, and the passenger drives the approaching vehicle P _n and enters the loading / unloading unit 2. And passenger of the entry vehicle P _n is parked entry vehicle P _n on top of the pallet 12 _n, after getting off, by operating the control panel and close the door of the inlet-outlet unit 2. When the door of the entrance / exit 13 is closed, the transport device 8 starts driving the cage 3 and transports the pallet 12 _n to the parking position 4 _n .

On the other hand, when the one subsequent entering vehicle P of entering vehicle P _n and entering vehicle P _x, subsequent entering vehicle P _x is the entering vehicle P _n enters the inside of the inlet-outlet unit 2, the front surface space V The vehicle travels and is photographed by the first camera 5a. The first camera 5a outputs the immediately preceding image data Q1 of entering vehicle P _x, the image processing apparatus 6 extracts the image identification information T _x from the previous image data Q1. The image processing apparatus 6 compares the image identification information T _{n + 1} extracted from the image identification information T _x and pre-image data Q2 extracted from the previous image data Q1.

If the image identification information T _{n + 1} extracted from the image identification information T _x and pre-image data Q2 extracted from the previous image data Q1 are matched, the image processing apparatus 6 does not output a new final goods receipt command R1 _x. Whereby for the composite route information S _g and spare route information S _h based on pre-image data Q2 can be directly used, it is possible to omit the time the cage control device 7 creates a new route information S. Thereby, the waiting time of the passenger can be shortened.

If contrast, the image identification information T _x and the image identification information T _{n + 1} does not match, the image processing device 6 outputs a cancel instruction W of the composite route information S _g and spare route information S _h to the conveying device 8 At the same time, a final warehousing command R1 _x based on the image identification information T _x is output to the cage control device 7. The cage control unit 7 in accordance with the final goods receipt command R1 _x based on the image identification information T _x, seeking a new complex route information S _g and entering vehicle P _{n + 1} of the new final route information S _f, it outputs the transport device 8 To do.

Conveying Thus, even if a subsequent entry entering vehicle P _{n + 1} is a vehicle P2 is even had middle off the column, the entering vehicle P _{n + 2} is the next subsequent entering vehicle P2 to the parking position 4 _{n + 1} of the entering vehicle P _{n + 1} It is possible to prevent malfunction of the transport device 8 such as.

Thus, mechanical parking device 1 of the present invention, prior to while performing warehousing operation of entering vehicle P _n of the passenger, the passenger from the image identification information T _{n + 1} of the next entering vehicle P _{n + 1} Individual identification can be performed and preparations can be made in advance for the use of the next approaching vehicle _{Pn + 1} .

  Therefore, the mechanical parking apparatus 1 of the present invention can start the next passenger's entry procedure before the previous passenger's entry operation is completed, so that it is not necessary to wait for the passenger. In addition, before the previous occupant's warehousing operation is completed, a plurality of warehousing commands R (final warehousing command R1, reservation warehousing command R2) are input to the cage control device 7 in the same order as the order of the passengers. The cage 3 can be moved by the route most efficient for the order of the passengers. Therefore, the occupant operation of the previous passenger and the next passenger can be continuously performed, and the cage 3 does not need to perform a useless operation, so that the waiting time of the passenger is shortened accordingly.

  The mechanical parking device 1 of the present invention is not limited to the elevator parking device shown in the first embodiment and the second embodiment, but in the interior of the building 9 constructed on the ground or in the space formed underground. As long as it is a facility for storing a large number of vehicles in a three-dimensional manner, various types of parking devices such as a comb-type elevator system, a vertical circulation system, a multi-layer circulation system, a horizontal circulation system, and a plane reciprocation system may be used.

According to the mechanical parking device 1 of the present invention described above, since the individual identification of the approaching vehicle P is performed using the image data Q acquired by the imaging camera 5, the warehousing is performed while being lined up in front of the loading / unloading unit 2. Command R can be output.
Therefore, it is not necessary for subsequent passengers who have been turned in order to get off the vehicle and operate the operation panel or the like, and the work burden on the passenger can be reduced. In addition, since the warehousing command R of the subsequent approaching vehicle P can be output from the image processing device 6 before the order of the subsequent approaching vehicle P entering the warehousing / exiting unit 2, the waiting time of the subsequent passenger can be shortened.

Moreover, since the incoming instruction | command R of the approaching vehicle P can be output while the subsequent approaching vehicle P is located in front of the entering / exiting part 2, the entrance operation of the approaching vehicle P which entered previously and the entrance of the next approaching vehicle P are received. The operation can be continued.
Therefore, there is no need for the cage to make a useless movement, and the waiting time for the passenger can be reduced accordingly. Moreover, since the waiting time for one passenger can be shortened, congestion of the mechanical parking device 1 can be reduced.

  Note that the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications can be made without departing from the gist of the present invention.

1 mechanical parking device, 2 entry / exit section, 3 cage, 4 parking position,
5 imaging camera, 5a first camera, 5b second camera,
6 image processing device, 7 cage control device, 8 transport device, 9 building,
10 cage hoistway, 11 storage shelf, 12 pallets,
13 Entry / exit entrance, 14 庇, 15 pole,
P, P _n , P _{n + 1} approaching vehicle, P1 front approaching vehicle, P2 following approaching vehicle,
Q image data, Q1 previous image data, Q2 prior image data,
R receipt command, R1 final receipt command, R2 reservation receipt command,
S route information, S _f final route information, S _g composite route information, _Sh backup route information,
T image identification information, T1 passenger face, T2 license plate,
V front space, W release instruction

Claims (9)

A mechanical parking device that selectively parks a contracted vehicle with a parking contract,
An imaging camera that is provided in the vicinity of the loading / unloading unit and photographs the approaching vehicles arranged in front of the loading / unloading unit and outputs the image data;
An image processing device for outputting a warehousing command for warehousing the approaching vehicle based on the image data;
A cage control device for determining a route of a cage for transporting the approaching vehicle based on the warehousing instruction, and outputting route information of the route;
A transport device that moves the cage according to the route information and performs a warehousing operation for transporting the approaching vehicle from the warehouse to a parking position dedicated to the approaching vehicle,
The image processing device extracts image identification information that allows individual identification of the approaching vehicle from the image data,
Compare the image identification information with registration data registered in advance as information on the contract vehicle,
When the image identification information coincides with the registration data, the entry command is output as the approach vehicle is the contract vehicle ,
The mechanical parking , wherein the image processing device outputs the warehousing command for a subsequent approaching vehicle arranged to enter the warehousing / unloading section before the transport device finishes the warehousing operation of the approaching vehicle. apparatus. A mechanical parking device that selectively parks a contracted vehicle with a parking contract,
An imaging camera that is provided in the vicinity of the loading / unloading unit and photographs the approaching vehicles arranged in front of the loading / unloading unit and outputs the image data;
An image processing device for outputting a warehousing command for warehousing the approaching vehicle based on the image data;
A cage control device for determining a route of a cage for transporting the approaching vehicle based on the warehousing instruction, and outputting route information of the route;
A transport device that moves the cage according to the route information and performs a warehousing operation for transporting the approaching vehicle from the warehouse to a parking position dedicated to the approaching vehicle,
The image processing device extracts image identification information that allows individual identification of the approaching vehicle from the image data,
Compare the image identification information with registration data registered in advance as information on the contract vehicle,
When the image identification information coincides with the registration data, the entry command is output as the approach vehicle is the contract vehicle,
The imaging camera is a first camera that outputs, as immediately preceding image data, the image data obtained by capturing the most approaching vehicle that is the approaching vehicle arranged in the forefront;
A second camera that outputs, as prior image data, the image data obtained by imaging the subsequent approaching vehicle that is the approaching vehicle arranged behind the foremost approaching vehicle,
The image processing device is a final warehousing command that is the warehousing command for warehousing the frontmost approaching vehicle that is output based on the immediately preceding image data.
Outputting a reservation warehousing command that is the warehousing command for warehousing the subsequent approaching vehicle that is output based on the prior image data;
The cage control device, the final goods receipt instruction or the reservation warehousing the outputs route information based on the instruction, to that machine械式parking device wherein a. The image identification information is a face of a passenger of the approaching vehicle photographed through a windshield of the approaching vehicle,
The registration data is the a face of the registered user of contract vehicles, mechanical parking device according to claim 1 or 2, characterized in that. The image identification information is a license plate of the approaching vehicle,
The registration data, the contract is a license plate of the vehicle, a mechanical parking device according to claim 1 or 2, characterized in that. The route information includes composite route information that is a route of a cage from the parking position of the foremost approaching vehicle to the parking position of the subsequent approaching vehicle that is output based on the final warehousing instruction and the reservation warehousing instruction, and a reservation warehousing instruction. Including the preliminary route information that is a route from the parking position of the subsequent approaching vehicle output based on the route to the parking position of the subsequent approaching vehicle again through the loading / unloading unit,
The image processing device, when the image identification information extracted from the previous image data and the image identification information extracted from the immediately preceding image data when the subsequent approach vehicle becomes the front approach vehicle Only, a release instruction to release the composite route information and the backup route information is output to the transport device,
Outputting a new final warehousing instruction based on the image identification information extracted from the immediately preceding image data when the subsequent approaching vehicle becomes the foremost approaching vehicle,
The mechanical parking device according to claim 2, wherein the cage control device outputs new composite route information and new final route information in accordance with the new final storage instruction.   The mechanical parking device according to claim 2, wherein the image processing device outputs the reservation warehousing command before the conveying device finishes the warehousing operation of the front approaching vehicle. The imaging camera, photographing position is freely movable vertically and horizontally, mechanical parking device according to claim 1 or 2, characterized in that.   The mechanical parking apparatus according to claim 2, wherein the second camera includes a plurality of cameras that photograph each of the plurality of subsequent approaching vehicles. The said cage control apparatus outputs the said route information about the next approach vehicle arranged in order to enter the said storage / extraction part before the said conveyance apparatus finishes the warehousing operation | movement of the said approach vehicle to a conveyance apparatus. The mechanical parking device described.

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