JP4133023B2

JP4133023B2 - Mechanical parking lot and control method thereof

Info

Publication number: JP4133023B2
Application number: JP2002182732A
Authority: JP
Inventors: 勝仁中山; 潤一郎井上; 政英芦沢; 慶明土佐林
Original assignee: Mitsubishi Heavy Industries Parking Co Ltd
Current assignee: Mitsubishi Heavy Industries Machinery Systems Co Ltd
Priority date: 2002-06-24
Filing date: 2002-06-24
Publication date: 2008-08-13
Anticipated expiration: 2022-06-24
Also published as: JP2004027541A

Description

【０００１】
【発明の属する技術分野】
本発明は、車両を自動で格納庫に搬送し格納する機械式駐車場及びその制御方法に関する。
【０００２】
【従来の技術】
従来より用いられている機械式駐車場の一例として、図４の斜視図に示すような機械式駐車場１００について説明する。
図示の機械式駐車場１００は、車両１の入庫もしくは出庫を行う入出庫バース２，３と、入出庫バース２，３に対応して配置されるとともに車両１の昇降を行う各リフタ４，５（搬送機器）と、車両１が格納される棚状に形成された多数の格納棚６（「格納庫」とも言う。）と、各格納棚６と各リフタ４，５との間でレールＲ上を走行する台車７（搬送機器）とを少なくとも備えて構成されている。なお、台車７は格納棚６の各階層に少なくとも１つ備えられている。
【０００３】
各リフタ４，５及び台車７にはそれぞれモータ等の駆動機構が備わり、各リフタ４，５は上下方向に昇降可能とされ、台車７は各階層の格納棚６に沿って水平方向に移動可能とされている。
【０００４】
台車７には車両のホイールベースに合わせて設置されたスラットコンベア８（搬送機器）が備えられ、これと同様に、各格納棚６にも同様なスラットコンベア９（搬送機器）が備えられている。台車７側にはスラットコンベア８を動作させるモータ等の駆動機構が設けられ、格納庫６側には台車７側の駆動機構に連結する従動機構が設けられている。
【０００５】
台車７が所定の格納棚６の位置に移動すると、台車７側の駆動機構と格納棚６側の従動機構が連結され、台車７側の駆動機構の駆動により台車７側のスラットコンベア８と格納庫６側のスラットコンベア９とが同期して駆動し、格納棚６と台車７との間で車両１の移載が行われる。
【０００６】
なお、入出庫バース２，３及び各リフタ４，５にもスラットコンベア２ａ，３ａ，４ａ，５ａ（搬送機器）が設けられており、これら各スラットコンベア２ａ，３ａ，４ａ，５ａにおいてもモータ等の駆動機構によって駆動されるようになっている。
【０００７】
入出庫バース２，３には、格納する車両１を認識するためのカードリーダ１０や、車両形状を検出するセンサ（図示せず）等が設けられている。
カードリーダ１０に車両１の所有者を特定するカード（図示せず）を通すことにより、車両１が格納される格納棚６の関連付けが行われる。具体的に説明すれば、入庫する際に所有者または、管理者がカードを通すことで、空き状態の格納棚６の中で１つの格納棚６が選択され、この格納棚６に車両１が格納されることが記憶される。そして、車両１を出庫させる際には、先に記憶された所有者の車両１が格納された格納棚６が特定され、車両１が出庫バース５に搬送されることになる。
【０００８】
なお、各格納棚６には、それぞれの格納棚６を識別するための番地がつけられており、さらに、この番地を有する各格納棚６には、使用を優先させたい優先番号（記号とされる場合も含む。）が割り当てられている。優先番号は、全て異なる番号とは限らず、同一な番号の割り当てによって各格納棚６のグループ化を得ることも可能とされている。また、この優先番号は固定値とされた番地と異なり、変更することも可能な番号である。
そして、このような各格納棚６が有する優先番号及び番地の情報に基づいて、入庫する車両１が格納される所定の格納棚６が決定されたり、各格納棚６の識別や管理が行われたりしている。
【０００９】
実際に車両１を入庫バース２から格納棚６へと搬送する作業、及び格納棚６から出庫バース３に搬送する作業は、各リフタ４，５、各階層に備わる台車７、及び各スラットコンベア２ａ，３ａ，４ａ，５ａ，８，９等の搬送機器によって行われている。そして、これら搬送機器の動作は、機械式駐車場１００に備わる図示しない制御装置によって制御されている。
【００１０】
制御装置は、機械式駐車場１００の稼働状態を認識しつつ、機械式駐車場１００に備わる全ての機器の制御を行う回路構成の全体を指すものである。例えば、入庫する車両１を認識した後にどの搬送機器を用いてどの格納棚６に搬送するかを決定し、決定事項に基づいて各機器の動作を指示するとともに、各機器の稼働状態を取り込みながら制御を行っている。
【００１１】
【発明が解決しようとする課題】
さて、このような機械式駐車場において、車両の出庫時に、車両のエンジンの故障や、キーロック、運転者の不在等により、該車両が出庫バースから自走で退出することが不可能となる状況が希に発生することがある。なお、これ以降については上記車両を「問題車両」と称して説明するが、この問題車両は、本発明における出庫作業を終えた「第１の車両」を指すものである。
【００１２】
上記問題が発生すると、出庫バース上の問題車両に続く多数の出庫車両が機械式駐車場内で渋滞してしまうため、従来より問題車両、及びこれに続く出庫車両の全てを強制的に機械式駐車場内の格納棚に再入庫（以下、「強制再入庫」と言う。）させる方法がなされていた。
そして、問題車両の強制再入庫が完了した時点で、再び各出庫車両を格納棚から以前に決定された出庫順に呼び出して出庫作業を行っていた。
【００１３】
しかしながら、出庫車両の全てを一旦格納することによって、問題車両の再入庫ルートに干渉しない出庫車両までもが再入庫されてしまい、以前の出庫作業の状態に復帰するまでに多くの時間がかかっていた。これによって、出庫効率が著しく低下してしまい、機械式駐車場の運用に大きな影響を与え兼ねない状態であった。
【００１４】
また、問題車両を出庫バース上にてジャッキアップさせて出庫バースから移動させることで出庫作業を継続させる方法もあるが、多大な労力と時間を必要とするので、このような作業を除去するための解決策を講じることが望まれている。
【００１５】
本発明は上記事情に鑑みて成されたものであり、出庫バースにて退出できない車両の強制的な再入庫作業に係わる各車両の搬送を制御し、出庫効率の低下を最小限に抑えた機械式駐車場及びその制御方法を提供することを目的とする。
【００１６】
【課題を解決するための手段】
本発明は、上記課題を解決するため、以下の手段を採用することとした。
本発明は、車両の入出庫を行う入出庫バースと、車両を格納する複数の格納棚と、前記入出庫バースと前記各格納棚との間で車両を搬送する搬送機器とを備えた機械式駐車場において、前記搬送機器及び前記各格納棚の稼動を制御する制御装置には、再入庫させる第１の車両の再入庫先となる格納棚を選択する格納棚選択部と、選択された前記格納棚に基づいて前記第１の車両の再入庫ルートを決定し、前記再入庫ルート上に存在する出庫車両を認識し、該出庫車両及び前記第１の車両の再入庫作業を指示する再入庫制御部と、前記再入庫ルート上に存在しない他の出庫車両を認識し、該他の出庫車両の出庫作業を継続して指示する出庫継続制御部とが備えられていることを特徴としている。
【００１７】
このような構成により、出庫に係わる第１の車両が何らかの理由で再入庫させる必要が生じた場合、再入庫される第１の車両、及び、該第１の車両の再入庫における再入庫ルート上に存在する出庫作業中の出庫車両は、再入庫制御部の指示に基づいて所定の格納棚に格納される。そして、上記作業と並行するように、再入庫ルート上に存在しない出庫作業中の他の出庫車両は、出庫継続制御部の指示に基づいて再入庫されることなく出庫作業が継続して行われる。
【００１８】
請求項２に記載の発明は、請求項１に記載の機械式駐車場において、前記出庫継続制御部が、前記他の出庫車両を搬送するための搬送機器が再入庫作業によって重複する場合、前記他の出庫車両を出庫作業が継続した状態で一時的に待機させることを特徴としている。
請求項３に記載の発明は、請求項１または請求項２に記載の機械式駐車場において、前記出庫継続制御部が、各前記他の出庫車両の出庫ルートと、前記再入庫ルートとを比較し、これら各ルートどうしが重複する場合に、出庫作業の継続よりも再入庫作業を優先させることを特徴としている。
請求項４に記載の発明は、請求項１から請求項３のいずれかに記載の機械式駐車場において、第１の車両を再入庫させる際に、その時点における全ての出庫車両を格納棚に一旦再入庫し、前記第１の車両の再入庫が完了した後に、前記出庫車両を出庫させる第１再入庫モードと、出庫効率を優先する第２再入庫モードとが選択可能に設けられており、前記第２再入庫モードが選択された場合に、再入庫制御部が、再入庫させる第１の車両の再入庫ルートを決定し、前記再入庫ルート上に存在する出庫車両を認識し、該出庫車両及び前記第１の車両の再入庫作業を指示し、出庫継続制御部が、前記再入庫ルート上に存在しない他の出庫車両を認識して、該他の出庫車両の出庫作業を継続して指示することを特徴としている。
請求項５に記載の発明は、車両の入出庫を行う入出庫バースと、車両を格納する複数の格納棚と、前記入出庫バースと前記各格納棚との間で車両を搬送する搬送機器とを備えて構成された機械式駐車場の制御方法において、再入庫させる第１の車両の再入庫先となる格納棚を選択し、選択した前記格納棚に基づいて、前記第１の車両の再入庫ルートを決定し、前記再入庫ルート上に存在する出庫車両を認識し、該出庫車両及び前記第１の車両を再入庫させることと並行して、前記再入庫ルート上に存在しない他の出庫車両の出庫作業を継続して指示することを特徴としている。
【００１９】
出庫に係わる第１の車両が何らかの理由で再入庫させる必要が生じた場合、再入庫される第１の車両、及び、該第１の車両の再入庫における再入庫ルート上に存在する出庫作業中の出庫車両は所定の格納棚に格納される。そして、上記作業と並行するように、再入庫ルート上に存在しない出庫作業中の他の出庫車両は、再入庫されることなく出庫作業が継続して行われる。
【００２０】
請求項６に記載の発明は、請求項５に記載の機械式駐車場の制御方法において、前記他の出庫車両の出庫ルートと、前記再入庫ルートとが重複する場合、前記再入庫ルートと前記出庫ルートとの重複ルートから前記第１の車両を離脱させた後に、前記他の出庫車両を前記重複ルートに進入させることを特徴としている。
【００２１】
出庫作業が継続される他の出庫車両は、再入庫する第１の車両が重複ルートから離脱した段階で重複ルートに進入する。つまり、重複ルートが存在する場合では、第１の車両の再入庫搬送が優先されて行われることになり、互いの車両を搬送する搬送機器が干渉したり重複したりすることが回避され、また、第１の車両の存在によって出庫作業が行き詰まったりすることがなくなる。
請求項７に記載の発明は、請求項５または請求項６に記載の機械式駐車場の制御方法において、前記他の出庫車両を搬送するための搬送機器が再入庫作業によって重複する場合、前記他の出庫車両を出庫作業が継続した状態で一時的に待機させることを特徴としている。
請求項８に記載の発明は、請求項５から請求項７のいずれかに記載の機械式駐車場の制御方法において、第１の車両を再入庫させる際に、その時点における全ての出庫車両を格納棚に一旦再入庫し、前記第１の車両の再入庫が完了した後に、前記出庫車両を出庫させる第１再入庫モードと、出庫効率を優先する第２再入庫モードとが選択可能に設けられており、前記第２再入庫モードが選択された場合に、再入庫先の格納棚に基づいて、前記第１の車両の再入庫ルートを決定し、前記再入庫ルート上に存在する出庫車両を認識し、該出庫車両及び前記第１の車両を再入庫させることと並行して、前記再入庫ルート上に存在しない他の出庫車両の出庫作業を継続して指示することを特徴としている。
【００２２】
【発明の実施の形態】
次に、本発明に係る機械式駐車場の一実施形態について、図面を参照して説明する。
なお、本実施形態にて説明する機械式駐車場については、従来技術にて説明した図４の機械式駐車場１００の構成に基づいて説明するものとし、同様な構成については同一符号を用いてその説明を一部省略する。
【００２３】
機械式駐車場には、複数の格納棚の稼動状態、つまりは空き状態であるか車両を格納している状態であるかを認識しつつ、搬送機器の動作制御等を行って機械式駐車場の運用を制御する制御装置が設けられている。
この制御装置の構成及び作用について、図１を参照しながら説明する。
【００２４】
図１は機械式駐車場の制御回路を説明する図であって、本図に示される制御装置２０には以下に記載する各制御部が備えられている。
１つには、各リフタ４，５、台車７、スラットコンベア８（図４に示した符号２ａ，３ａ，４ａ，５ａ，９を含む）等の各搬送機器の動作を制御する運転制御部２１が備えられている。
また、入庫される各車両に応じて所定の格納棚６を選択する格納棚選択部２２が備えられている。
また、再入庫させる問題車両（第１の車両）の再入庫ルートを導き出すとともに、得られた再入庫ルート上に存在する出庫車両を所定の格納棚６に再入庫させつつ、問題車両の再入庫作業を指示する再入庫制御部２３が備えられている。
また、上記再入庫ルート上に存在しない出庫車両（他の出庫車両）を認識して、該出庫車両の出庫作業を継続して指示する出庫継続制御部２４が備えられている。
【００２５】
図に示すように、制御装置２０には各格納棚６から車両の格納等に関わる稼働状態の情報が入力されるとともに、カードリーダ１０や、精算機１１等にて得られた入庫や出庫に関わる情報が入力されている。
また、制御装置２０は、各リフタ４，５、台車７、スラットコンベア８（図４に示した符号２ａ，３ａ，４ａ，５ａ，９のスラットコンベアを含む。）等の動作における稼働状態の情報を入力するとともに、これら入力した情報に基づき、制御用の信号を運転制御部２１から各リフタ４，５等の搬送機器に出力している。
【００２６】
カードリーダ１０からの車両の入庫命令が制御装置２０に入力されると、制御装置２０では、カードリーダ１０、精算機１１、さらには、各格納棚６等から入力された各格納棚６の稼動情報が処理されて格納棚選択部２２に送られる。これと同時に制御装置２０では、使用する台車７等の選択が行われる。そして、運転制御部２１により各種の搬送機器の動作が制御されて入庫作業が行われることになる。
【００２７】
また、カードリーダ１０等からの車両の出庫命令が制御装置２０に入力されると、制御装置２０では、該車両が格納された格納棚６が識別されるとともに、使用する台車７や出庫リフタ５等の各搬送機器の選択が行われる。そして、運転制御部２１により各種の搬送機器の動作が制御されて出庫作業が行われることになる。
【００２８】
さて、出庫作業の際に、出庫バースにて問題車両が発生すると、管理者は出庫バースに設置されたカードリーダ１０のタッチパネル１０ａから強制再入庫の作業開始を指示する。
すると、制御装置２０の再入庫制御部２３と、出庫継続制御部２４とが機能して、これらの制御部にて決定された条件が運転制御部２１に送られる。そして、運転制御部２１からの出力信号に基づいて各種の搬送機器は動作し、再入庫の作業と出庫作業が行われることになる。
【００２９】
なお、タッチパネル１０ａには、従来の強制再入庫作業を行う第１再入庫モードと、出庫効率を優先する第２再入庫モードとが備えられている。そして、従来通りの第１再入庫モードが選択されると、再入庫作業を行うとともに、再入庫が完了した時点から出庫車両を正規の出庫順に出庫することを優先した出庫作業が行われる。
また、タッチパネル１０ａにて第２再入庫モードが選択されると、再入庫作業が行われることと同時に、出庫効率が優先された出庫作業が行われる。
【００３０】
上記第２再入庫モードが選択された場合における、再入庫制御部２３と出庫継続制御部２４とが機能した場合での制御装置２０内の制御の流れについて図２を参照しながら説明する。図２は第２再入庫モードにおける再入庫作業及び出庫作業での制御の流れを説明する流れ図である。
【００３１】
問題車両の強制再入庫が開始されると、制御装置２０内では出庫作業中の全車両の位置情報や搬送機器の使用情報等が処理され、強制再入庫する問題車両を元の格納棚に戻すか、あるいは別の空き格納棚に格納するかが選択される。なお、格納棚を選択する作業は、格納棚選択部によって決定され、出庫開始前に格納されていた元の格納棚であったり、出庫バースに近い格納棚等を選択する。
そして、選択された格納棚に基づいて、上述した再入庫制御部２３が強制再入庫の再入庫ルートを決定することになる。
【００３２】
さらに、再入庫制御部２３にて再入庫ルート上に出庫車両が存在しないことが判定されると、強制再入庫される問題車両は選択された格納棚に早急に再入庫されることになり、再入庫作業は終了する。
この際、再入庫ルート上に存在しない別の出庫車両は、出庫継続制御部２４からの指示の基づいて上記再入庫作業が行われている状態であっても出庫作業が継続して行われる。なお、出庫車両を搬送するための搬送機器が再入庫作業によって重複する場合、出庫作業の対象となる出庫車両は、出庫作業が継続された状態で一時的に待機する。
【００３３】
また、再入庫ルート上に出庫車両が存在していることが判定されると、再入庫制御部２３は、再入庫ルート上の出庫車両を上流側（格納棚に近い側、または、出庫命令が遅い側）から順に元の格納棚に戻すように指示を促し、最終的に問題車両の再入庫作業を指示することになる。
これと同時に、再入庫ルート上に存在しない別の出庫車両は、出庫継続制御部２４からの指示によって上記再入庫作業が行われている状態であっても出庫作業が継続して行われる。
【００３４】
また、出庫継続制御部２４は、上述のように再入庫作業を指示する再入庫制御部２３と並行して同時に機能することになるが、各出庫車両の出庫ルートと、再入庫ルートとの比較を行ってこれら各ルートどうしが重複する場合に、出庫作業の継続よりも再入庫作業を優先することとしている。つまり、問題車両の再入庫に係わる搬送を優先することで、互いの車両を搬送する搬送機器の重複、及び、出庫作業が行き詰まって出庫不可能となることを回避している。
【００３５】
以上説明した内容を踏まえて図３を参照しながら各車両の動きを具体的な例を挙げて説明する。なお、図３に示される機械式駐車場の部分側面図は、地下４階建てに構成された格納棚に１機の出庫リフタ５が備わり、且つ該出庫リフタ５に２つの出庫バース３Ａ，３Ｂが設けられた場合を示している。
【００３６】
図３（ａ）では、上層の出庫バース３Ａに再入庫を行う問題車両１ａがあり、既に出庫リフタ５上には次に出庫を待つ第１の出庫車両１ｂが待機している。また、その次に出庫命令がかかった第２の出庫車両１ｃは、出庫リフタ５を待つために格納棚の地下３階にて動作する台車７上で待機している。なお、第２の出庫車両１ｃは、下層の出庫バース３Ｂから出庫される予定とされている。
【００３７】
問題車両１ａの再入庫が開始されると、再入庫制御部２３は、格納棚選択部２２の情報に基づいて問題車両１ａを地下１階の格納棚に格納する再入庫ルートを決定する。そして、第１の出庫車両１ｂが問題車両１ａの再入庫ルート上に存在していることを認識し、この第１の出庫車両１ｂを実線の矢印に示すように以前に格納されていた地下１階の格納棚に格納するように指示する。これにより、第１の出庫車両１ｂは、出庫リフタ５に載置されたまま地下１階に向かい、この階の台車７に移載されて所定の格納棚に格納される。
【００３８】
第１の出庫車両１ｂを地下１階に降ろした出庫リフタ５が再び上層の出庫バース３Ａに戻ると、次に問題車両１ａが該出庫リフタ５に移載されて再び地下１階の台車７に移載される。これによって、問題車両１ａは所定の格納棚に格納される。
問題車両１ａが台車７に移載された段階で出庫リフタ５の使用が可能となるので、再入庫されずに出庫作業での待機状態とされた第２の出庫車両１ｃは、出庫リフタ５の到着に合わせて出庫作業が引き続き行われる。また、地下１階での第１の出庫車両１ｂの出庫作業も同時に行われる。
【００３９】
このような制御が行われることで、第２の出庫車両１ｃは再入庫による無駄な搬送が行われずに出庫作業が継続して行われることになる。つまり、問題車両１ａや再入庫ルート上に存在する出庫車両１ｂの再入庫作業中であっても出庫作業が行われることになり、出庫効率の向上が図られることになる。
【００４０】
なお、第２の出庫車両１ｃは、下層の出庫バース３Ｂから出庫されることとされているので、出庫リフタ５が問題車両１ａの搬送を行う前に第２の出庫車両１ｃを搬送することとしても良い。これによれば、出庫リフタ５の動作経路に無駄がなくなり、第２の出庫車両１ｃをより早急に出庫させることができる。
【００４１】
また、第２の出庫車両１ｃが問題車両１ａと同じ格納棚の階層に位置する場合であれば、第２の出庫車両も第１の出庫車両１ｂと同様に再入庫が行われる。そして、出庫の際は出庫順に即して出庫作業が行われる。
【００４２】
次に示す図３（ｂ）では、上層の出庫バース３Ａに再入庫を行う問題車両１ａがあり、出庫命令がかかった第１の出庫車両１ｂが、出庫リフタ５を待つために地下３階にて動作する台車７上で待機している。なお、第１の出庫車両１ｂは、問題車両１ａと同じ上層の出庫バース３Ａから出庫される予定とされている。
【００４３】
問題車両１ａの再入庫が開始されると、再入庫制御部２３は、格納棚選択部２２の情報に基づいて問題車両１ａを地下１階の格納棚に格納する再入庫ルートを決定する。そして、問題車両１ａの再入庫ルート上に出庫車両が存在していないことを認識し、問題車両１ａを実線の矢印に示すように所定の格納棚に格納するように指示する。
【００４４】
問題車両１ａが地下１階の台車７に移載された段階で出庫リフタ５の使用が可能となるので、再入庫されずに出庫作業での待機状態とされた第１の出庫車両１ｂは、出庫リフタ５の到着に合わせて出庫作業が引き続き行われ、上層の出庫バース３Ａから第１の出庫車両１ｂが出庫されることになる。
【００４５】
このような制御が行われることで、第１の出庫車両１ｂは再入庫による無駄な搬送が行われずに出庫作業が継続して行われることになる。つまり、問題車両１ａの再入庫作業中であっても出庫作業が行われることになり、出庫効率の向上が図られることになる。
【００４６】
さらに、図３（ｃ）では、上層の出庫バース３Ａに再入庫を行う問題車両１ａがあり、既に出庫リフタ５上には次に出庫を待つ第１の出庫車両１ｂが待機している。また、その次に出庫命令がかかった第２の出庫車両１ｃが、出庫リフタ５を待つために格納棚の地下１階にて動作する台車７上で待機している。
またさらに、第２の出庫車両１ｃの次に出庫命令がかかった第３の出庫車両１ｄが、地下４階の出庫リフタ５の近傍にて、この階を動作する台車７に載置されて待機している。
なお、第２の出庫車両１ｃは上層の出庫バース３Ａから出庫される予定とされ、第３の出庫車両１ｄは下層の出庫バース３Ｂから出庫される予定とされている。
【００４７】
問題車両１ａの再入庫が開始されると、再入庫制御部２３は、格納棚選択部２２の情報に基づいて問題車両１ａを地下１階の格納棚に格納することを決定する。そして、第１の出庫車両１ｂと第２の出庫車両１ｃとが問題車両１ａの再入庫ルート上に存在していることを認識し、この第１の出庫車両１ｂ及び第２の出庫車両１ｃを実線の矢印に示すように以前に格納されていた地下１階の格納棚に格納するように指示を促す。これにより、第２の出庫車両１ｃは台車７に載置されたまま先に所定の格納棚に格納され、さらに同じ台車７によって第１の出庫車両が出庫リフタ５から移載されて所定の格納棚に格納される。
【００４８】
第１の出庫車両１ｂを地下１階に降ろした出庫リフタ５が再び上層の出庫バース３Ａに戻ると、次に問題車両１ａが移載されて再び地下１階の台車７への移載が行われ、問題車両１ａは所定の格納棚に格納される。そして、問題車両１ａが台車７に移載された段階で出庫リフタ５の使用が可能となるので、再入庫されずに出庫作業での待機状態とされた第３の出庫車両１ｄは、出庫リフタ５の到着に合わせて出庫作業が引き続き行われる。また、地下１階での第１の出庫車両１ｂ及び第２の出庫車両１ｃの出庫作業も同時に行われる。
【００４９】
このような制御が行われることで、第３の出庫車両１ｄは再入庫による無駄な搬送が行われずに出庫作業が継続して行われることになる。つまり、問題車両１ａや再入庫ルート上に存在する出庫車両１ｂ，１ｃの再入庫作業中であっても出庫作業が継続されることになり、出庫効率の向上が図られることになる。
【００５０】
なお、第３の出庫車両１ｄは、下層の出庫バース３Ｂから出庫されることとされているので、出庫リフタ５が問題車両１ａの搬送を行う前に第３の出庫車両１ｄを搬送することとしても良い。これによれば、出庫リフタ５の動作に無駄がなくなり、より効率的な出庫作業が行われることになる。
【００５１】
以上説明した本実施形態における機械式駐車場によれば、出庫バース上で強制的に再入庫を必要とする問題車両が発生しても、再入庫ルートに存在しない出庫車両の出庫作業を継続して行えることになり、出庫効率の低下を最小限で抑えることが可能となる。
また、多数の出庫バース及びこれに対応する出庫リフタが備えられる場合、出庫ルートと再入庫ルートとの重複が少なくなるので、再入庫作業の際に出庫作業を継続する出庫車両の待機状態が削減されて出庫バースの設置個数に応じた効率の高い出庫作業を行うことができる。
【００５２】
【発明の効果】
以上説明した本発明の機械式駐車場及びその制御方法においては以下の効果を奏する。
請求項１に記載の発明によれば、再入庫させる第１の車両の再入庫ルートを決定し、再入庫ルート上に存在する出庫車両を認識し、該出庫車両及び前記第１の車両の再入庫作業を指示する再入庫制御部と、前記再入庫ルート上に存在しない他の出庫車両を認識し、該他の出庫車両の出庫作業を継続して指示する出庫継続制御部とが備えられているので、再入庫の必要が生じた第１の車両の再入庫作業にて出庫作業中の出庫車両を必ずしも全て再入庫させる必要がなくなり、出庫可能な車両については、第１の車両の再入庫作業中であっても出庫作業を継続し行うことが可能となる。従って、第１の車両に再入庫の必要が生じても、出庫効率の低下を最小限に抑えて運用可能とされた機械式駐車場を実現することができる。
【００５３】
請求項５に記載の発明によれば、再入庫させる第１の車両の再入庫ルートを決定し、前記再入庫ルート上に存在する出庫車両を認識し、該出庫車両及び前記第１の車両を再入庫させることと並行して、前記再入庫ルート上に存在しない他の出庫車両の出庫作業を継続して指示する機械式駐車場の制御方法とされているので、再入庫作業と出庫作業とが並行して行われることになり、再入庫が生じた場合でも出庫効率の低下を最小限に抑えて機械式駐車場を運用することができる。
【００５４】
請求項６に記載の発明によれば、出庫ルートと再入庫ルートとが重複する場合、第１の車両を重複ルートから離脱させた後に、他の出庫車両を重複ルートに進入させる制御方法としているので、互いの車両の搬送において干渉することがなくなり、再入庫と出庫との両作業にて混乱を来すことなく確実且つ並行して両作業を行うことができる。
【図面の簡単な説明】
【図１】本発明の一実施形態における機械式駐車場の制御回路の全体構成を説明するブロック図である。
【図２】本発明の一実施形態における機械式駐車場の制御方法を説明する再入庫作業及び出庫作業での制御の流れを説明する流れ図である。
【図３】各車両の動きを具体的に説明する機械式駐車場の部分側面図である。
【図４】機械式駐車場の全体構成を説明する斜視図である。
【符号の説明】
１ａ問題車両（第１の車両）
１ｂ，１ｃ，１ｄ出庫車両
３出庫バース
４，５各リフタ（搬送機器）
６格納棚
７台車（搬送機器）
１０カードリーダ
１０ａタッチパネル
１１精算機
２０制御装置
２１運転制御部
２２格納棚選択部
２３再入庫制御部
２４出庫継続制御部[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a mechanical parking lot that automatically transports and stores a vehicle in a hangar and a control method thereof.
[0002]
[Prior art]
As an example of a mechanical parking lot conventionally used, a mechanical parking lot 100 as shown in a perspective view of FIG. 4 will be described.
The illustrated mechanical parking lot 100 is provided corresponding to the loading / unloading berths 2 and 3 for loading or unloading the vehicle 1, and the lifters 4 and 5 that are arranged corresponding to the loading / unloading berths 2 and 3 and lift the vehicle 1. (Transport equipment), a large number of storage shelves 6 (also referred to as “hangars”) formed in a shelf shape in which the vehicle 1 is stored, and between each storage shelf 6 and each lifter 4, 5 on the rail R And a cart 7 (conveying device) that travels at least. Note that at least one carriage 7 is provided at each level of the storage shelf 6.
[0003]
The lifters 4 and 5 and the carriage 7 are each provided with a drive mechanism such as a motor. The lifters 4 and 5 can be moved up and down in the vertical direction, and the carriage 7 can be moved in the horizontal direction along the storage shelves 6 of each level. It is said that.
[0004]
The cart 7 is provided with a slat conveyor 8 (conveying device) installed in accordance with the wheel base of the vehicle, and similarly, each storage shelf 6 is provided with a similar slat conveyor 9 (conveying device). . A drive mechanism such as a motor for operating the slat conveyor 8 is provided on the cart 7 side, and a driven mechanism connected to the drive mechanism on the cart 7 side is provided on the hangar 6 side.
[0005]
When the carriage 7 is moved to the predetermined storage shelf 6 position, the drive mechanism on the carriage 7 side and the driven mechanism on the storage shelf 6 side are connected, and the slat conveyor 8 on the carriage 7 side and the storage are driven by the drive mechanism on the carriage 7 side. The slat conveyor 9 on the 6 side is driven in synchronism, and the vehicle 1 is transferred between the storage shelf 6 and the carriage 7.
[0006]
In addition, the slat conveyors 2a, 3a, 4a, 5a (conveying equipment) are also provided in the loading / unloading berths 2, 3 and the lifters 4, 5, and the slat conveyors 2a, 3a, 4a, 5a also have motors and the like. It is driven by the drive mechanism.
[0007]
The entry / exit berths 2 and 3 are provided with a card reader 10 for recognizing the vehicle 1 to be stored, a sensor (not shown) for detecting the vehicle shape, and the like.
By passing a card (not shown) specifying the owner of the vehicle 1 through the card reader 10, the storage shelf 6 in which the vehicle 1 is stored is associated. Specifically, when the owner or the manager passes the card when entering the warehouse, one storage shelf 6 is selected from the empty storage shelves 6, and the vehicle 1 is placed in the storage shelf 6. It is remembered that it is stored. And when the vehicle 1 is made to leave, the storage shelf 6 in which the vehicle 1 of the owner memorize | stored previously is stored is specified, and the vehicle 1 is conveyed to the delivery berth 5. FIG.
[0008]
Each storage shelf 6 is assigned an address for identifying the storage shelf 6, and each storage shelf 6 having this address is assigned a priority number (symbol) to be prioritized for use. Is also included). The priority numbers are not necessarily different numbers, and it is possible to obtain a grouping of the storage shelves 6 by assigning the same number. In addition, this priority number is a number that can be changed, unlike the fixed address.
Based on the priority number and address information of each storage shelf 6, a predetermined storage shelf 6 in which the vehicle 1 to be stored is stored is determined, and each storage shelf 6 is identified and managed. It is.
[0009]
The work of actually transporting the vehicle 1 from the storage berth 2 to the storage shelf 6 and the work of transporting the vehicle 1 from the storage shelf 6 to the delivery berth 3 are the lifters 4 and 5, the carts 7 provided at each level, and the slat conveyors 2 a. , 3a, 4a, 5a, 8, 9 and the like. And the operation | movement of these conveyance apparatuses is controlled by the control apparatus which is not shown in the mechanical parking lot 100.
[0010]
The control device refers to the entire circuit configuration that controls all devices provided in the mechanical parking lot 100 while recognizing the operating state of the mechanical parking lot 100. For example, after recognizing the vehicle 1 to be received, it is determined which transport device is used to which storage shelf 6 to be transported, the operation of each device is instructed based on the determined items, and the operating state of each device is captured. Control is in progress.
[0011]
[Problems to be solved by the invention]
Now, in such a mechanical parking lot, when the vehicle is delivered, it becomes impossible for the vehicle to leave the delivery berth by itself due to a malfunction of the engine of the vehicle, key lock, absence of the driver, or the like. Situations may occur rarely. In the following description, the vehicle will be referred to as a “problem vehicle”. The problem vehicle refers to the “first vehicle” that has finished the leaving operation in the present invention.
[0012]
When the above problem occurs, many outgoing vehicles following the problematic vehicle on the outgoing berth will be congested in the mechanical parking lot, so that the problem vehicle and all subsequent outgoing vehicles will be forcibly mechanically parked. There was a method of re-entry (hereinafter referred to as “forced re-entry”) to the storage shelves in the hall.
Then, when the forced re-entry of the problem vehicle is completed, each outgoing vehicle is called again from the storage shelf in the previously determined outgoing order to perform the outgoing work.
[0013]
However, once all the outgoing vehicles are stored, even the outgoing vehicles that do not interfere with the reentry route of the problem vehicle are re-entry, and it takes a lot of time to return to the previous outgoing work state. It was. As a result, the delivery efficiency has been significantly reduced, and the operation of the mechanical parking lot can be greatly affected.
[0014]
In addition, there is a method of continuing the unloading work by jacking up the problem vehicle on the unloading berth and moving it from the unloading berth, but it requires a lot of labor and time, so that such work is removed. It is hoped that this solution will be taken.
[0015]
The present invention has been made in view of the above circumstances, and controls the transportation of each vehicle related to the forced re-entry operation of vehicles that cannot be exited at the exit berth, thereby minimizing the decrease in the exit efficiency. An object of the present invention is to provide a parking lot and its control method.
[0016]
[Means for Solving the Problems]
In order to solve the above problems, the present invention employs the following means.
The present invention is a mechanical type equipped with a loading / unloading berth for loading and unloading vehicles, a plurality of storage shelves for storing vehicles, and a transport device for transporting vehicles between the loading / unloading berths and the respective storage shelves. In a parking lot, the control device for controlling the operation of the transport device and each storage shelf includes: Based on the selected storage shelf, the storage shelf selection unit that selects the storage shelf as the re-entry destination of the first vehicle to be re-stocked A re-entry control unit for determining a re-entry route of the first vehicle, recognizing a delivery vehicle existing on the re-entry route, and instructing re-entry work of the outgoing vehicle and the first vehicle; A delivery continuation control unit that recognizes another delivery vehicle that does not exist on the entry route and continuously instructs the delivery operation of the other delivery vehicle is provided.
[0017]
With such a configuration, when it becomes necessary to re-entry the first vehicle involved in the delivery for any reason, the first vehicle to be re-stocked and the re-entry route in the re-entry of the first vehicle The unloading vehicle that is in the process of unloading is stored in a predetermined storage shelf based on an instruction from the re-entry control unit. And, in parallel with the above work, the other unloading vehicles that are not on the re-entry route are performing the unloading operation continuously without being re-entry based on the instruction of the unloading continuation control unit. .
[0018]
Contract Claim 2 The invention described in claim 1 In the mechanical parking lot described above, when the delivery device for transporting the other delivery vehicle overlaps due to re-entry work, the delivery continuation control unit temporarily keeps the other delivery vehicle in a state where the delivery work continues. It is characterized by making it stand by.
Claim 3 The invention described in claim 1 Or Claim 2 In the mechanical parking lot described in the above, the unloading continuation control unit compares the unloading route of each of the other unloading vehicles with the re-entry route, and if these routes overlap each other, the unloading operation is continued. It is characterized by giving priority to re-entry work rather than.
Claim 4 The invention described in claim 1 to claim 1 3 In the mechanical parking lot according to any one of the above, when the first vehicle is reentry, all the outgoing vehicles at that time are temporarily reentry into the storage shelf, and the reentry of the first vehicle is completed. Later, a first re-entry mode in which the outgoing vehicle is delivered and a second re-entry mode in which priority is given to delivery efficiency are provided so that re-entry can be performed when the second re-entry mode is selected. The control unit determines the re-entry route of the first vehicle to be re-entry, recognizes the outgoing vehicle existing on the re-entry route, and instructs the re-entry work of the outgoing vehicle and the first vehicle, The unloading continuation control unit recognizes another unloading vehicle that does not exist on the re-entry route, and continuously instructs the unloading operation of the other unloading vehicle.
Claim 5 The invention described in (1) includes a loading / unloading berth for loading and unloading the vehicle, a plurality of storage shelves for storing the vehicle, and a transport device for transporting the vehicle between the loading / unloading berth and each of the storage shelves. In the control method of the configured mechanical parking lot, Select a storage shelf that is a re-entry destination of the first vehicle to be re-stocked, and based on the selected storage shelf, In parallel with determining the re-entry route of the first vehicle, recognizing the outgoing vehicle existing on the re-entry route, and re-entry the outgoing vehicle and the first vehicle. It is characterized by continuously instructing unloading work of other unloading vehicles that do not exist.
[0019]
When it is necessary to re-entry the first vehicle involved in the delivery for some reason, the first vehicle to be re-stocked, and during the unloading operation existing on the re-entry route in the re-entry of the first vehicle The outgoing vehicle is stored in a predetermined storage shelf. And in parallel with the said operation | work, the unloading operation | work is continuously performed for the other unloading vehicles in the unloading operation | work which does not exist on the re-entry route, without being re-entrapped.
[0020]
Claim 6 The invention described in claim 5 In the control method of the mechanical parking lot according to claim 1, when the delivery route of the other delivery vehicle and the re-entry route overlap, the first vehicle is derived from the overlap route of the re-entry route and the delivery route. After leaving the vehicle, the other leaving vehicle is caused to enter the overlapping route.
[0021]
The other leaving vehicles for which the unloading operation is continued enter the overlapping route when the first vehicle to be re-entered leaves the overlapping route. That is, in the case where there is an overlapping route, the re-entry transfer of the first vehicle is performed with priority, and it is avoided that the transfer devices that transfer each other's vehicles interfere or overlap. The presence of the first vehicle prevents the delivery work from getting stuck.
Contract Claim 7 The invention described in claim 5 or Claim 6 In the control method of the mechanical parking lot described in the above, if the transport device for transporting the other outgoing vehicle overlaps due to re-entry work, the other outgoing vehicle is temporarily on standby with the outgoing work continued. It is characterized by letting.
Claim 8 The invention described in claim 5 To claim 7 In the mechanical parking control method according to any one of the above, when the first vehicle is re-entry, all the outgoing vehicles at that time are temporarily re-entry into a storage shelf, and the first vehicle is re-entry. When the second re-entry mode in which the first re-entry mode in which the leaving vehicle is delivered and the second re-entry mode in which priority is given to the delivery efficiency is selected and the second re-entry mode is selected. , Determining a re-entry route of the first vehicle based on a storage shelf of the re-entry destination, recognizing the outgoing vehicle existing on the re-entry route, and re-entry the outgoing vehicle and the first vehicle In parallel with this, it is characterized by continuously instructing the outgoing work of other outgoing vehicles that do not exist on the re-entry route.
[0022]
DETAILED DESCRIPTION OF THE INVENTION
Next, an embodiment of a mechanical parking lot according to the present invention will be described with reference to the drawings.
In addition, about the mechanical parking lot demonstrated in this embodiment, it shall explain based on the structure of the mechanical parking lot 100 of FIG. 4 demonstrated in the prior art, and uses the same code | symbol about the same structure. A part of the description is omitted.
[0023]
In the mechanical parking lot, the operation of the storage racks is recognized, that is, whether it is vacant or the vehicle is stored, and the mechanical parking lot is controlled by controlling the operation of the transfer equipment. A control device is provided for controlling the operation.
The configuration and operation of this control device will be described with reference to FIG.
[0024]
FIG. 1 is a diagram for explaining a control circuit of a mechanical parking lot, and a control device 20 shown in the figure is provided with each control unit described below.
One is an operation control unit 21 that controls the operation of each conveying device such as each lifter 4, 5, cart 7, slat conveyor 8 (including reference numerals 2 a, 3 a, 4 a, 5 a, and 9 shown in FIG. 4). Is provided.
Moreover, the storage shelf selection part 22 which selects the predetermined storage shelf 6 according to each vehicle received is provided.
Further, a re-entry route of the problem vehicle (first vehicle) to be re-stocked is derived, and the re-entry of the problem vehicle is performed while re-stocking the exit vehicle existing on the obtained re-entry route to the predetermined storage shelf 6. A re-entry control unit 23 for instructing work is provided.
Further, a delivery continuation control unit 24 that recognizes a delivery vehicle (other delivery vehicles) that does not exist on the re-entry route and continuously instructs the delivery operation of the delivery vehicle is provided.
[0025]
As shown in the figure, the control device 20 receives information on the operating state related to storage of the vehicle from each storage shelf 6, and stores and retrieves information obtained by the card reader 10, the checkout machine 11, and the like. Related information is entered.
Further, the control device 20 is information on the operating state in the operations of the lifters 4 and 5, the carriage 7, the slat conveyor 8 (including the slat conveyors 2 a, 3 a, 4 a, 5 a, and 9 shown in FIG. 4). , And a control signal is output from the operation control unit 21 to the transfer devices such as the lifters 4 and 5 based on the input information.
[0026]
When a vehicle entry command from the card reader 10 is input to the control device 20, the control device 20 operates the card reader 10, the payment machine 11, and the storage shelves 6 input from the storage shelves 6 and the like. The information is processed and sent to the storage shelf selector 22. At the same time, the control device 20 selects the cart 7 to be used. Then, the operation control unit 21 controls the operation of various transport devices, and the warehousing operation is performed.
[0027]
When a vehicle exit command from the card reader 10 or the like is input to the control device 20, the control device 20 identifies the storage shelf 6 in which the vehicle is stored, and uses the cart 7 or the exit lifter 5 to be used. Etc. are selected. And the operation | movement of various conveyance apparatuses is controlled by the operation control part 21, and the leaving work is performed.
[0028]
Now, when a problem vehicle occurs in the leaving berth during the leaving work, the manager instructs the start of forced re-entry work from the touch panel 10a of the card reader 10 installed in the leaving berth.
Then, the re-entry control unit 23 and the outgoing continuation control unit 24 of the control device 20 function, and the conditions determined by these control units are sent to the operation control unit 21. Then, various transport devices operate based on the output signal from the operation control unit 21, and re-entry work and unloading work are performed.
[0029]
In addition, the touch panel 10a is provided with a first re-entry mode for performing a conventional forced re-entry operation and a second re-entry mode that prioritizes the delivery efficiency. Then, when the conventional first re-entry mode is selected, re-entry work is performed, and from the point in time when re-entry is completed, a delivery operation that prioritizes delivery of the outgoing vehicles in the normal delivery order is performed.
In addition, when the second re-entry mode is selected on the touch panel 10a, the re-entry work is performed, and at the same time, the leaving operation with priority on the delivery efficiency is performed.
[0030]
A control flow in the control device 20 when the re-entry control unit 23 and the continuation control unit 24 function when the second re-entry mode is selected will be described with reference to FIG. FIG. 2 is a flowchart for explaining a control flow in the re-entry work and the outgoing work in the second re-entry mode.
[0031]
When the forced re-entry of the problem vehicle is started, the control device 20 processes the position information of all the vehicles being delivered, the usage information of the transfer device, and the like, and returns the problem vehicle to be forced to re-entry to the original storage shelf. Or to store in another empty storage shelf. In addition, the operation | work which selects a storage shelf is determined by the storage shelf selection part, and the storage shelf etc. which were the original storage shelves stored before the start of delivery or a delivery berth are selected.
And based on the selected storage shelf, the re-entry control part 23 mentioned above will determine the re-entry route of forced re-entry.
[0032]
Furthermore, if the re-entry control unit 23 determines that there is no outgoing vehicle on the re-entry route, the problem vehicle to be forcibly re-entry will be re-entry quickly to the selected storage shelf, The re-warehousing operation ends.
At this time, another unloading vehicle that does not exist on the re-entry route continues the unloading operation even when the re-entry operation is being performed based on an instruction from the unloading continuation control unit 24. In addition, when the conveyance apparatus for conveying an outgoing vehicle overlaps by re-entry work, the outgoing vehicle used as the object of outgoing work waits temporarily in the state where the outgoing work was continued.
[0033]
In addition, when it is determined that there is a leaving vehicle on the re-entry route, the re-entry control unit 23 sets the outgoing vehicle on the re-entry route upstream (the side closer to the storage shelf or the outgoing command is The user is prompted to return to the original storage shelf in order from the later side, and finally the re-entry work for the problem vehicle is instructed.
At the same time, another unloading vehicle that does not exist on the re-entry route continues the unloading operation even if the re-entry operation is being performed according to an instruction from the unloading continuation control unit 24.
[0034]
Further, the continuation control unit 24 functions in parallel with the re-entry control unit 23 that instructs the re-entry work as described above, but a comparison between the exit route of each exit vehicle and the re-entry route is performed. When these routes overlap each other, the re-entry work is given priority over the continuation of the outgoing work. In other words, priority is given to transport related to the reentry of the problem vehicle, thereby avoiding duplication of transport devices transporting each other's vehicles and the possibility of unloading and unloading being impossible.
[0035]
Based on the content described above, the movement of each vehicle will be described with a specific example with reference to FIG. In addition, the partial side view of the mechanical parking lot shown in FIG. 3 shows that a storage shelf constructed in a four-story basement is provided with one outgoing lifter 5, and two outgoing berths 3 </ b> A and 3 </ b> B are provided in the outgoing lifter 5. The case where is provided is shown.
[0036]
In FIG. 3A, there is a problem vehicle 1 a that re-entries in the upper delivery berth 3 </ b> A, and the first delivery vehicle 1 b that waits for the next delivery is already on the delivery lifter 5. Further, the second outgoing vehicle 1c to which the outgoing order is issued next waits on the cart 7 operating on the third basement floor of the storage shelf in order to wait for the outgoing lifter 5. The second delivery vehicle 1c is scheduled to be delivered from the lower delivery berth 3B.
[0037]
When re-entry of the problem vehicle 1a is started, the re-entry control unit 23 determines a re-entry route for storing the problem vehicle 1a in the storage shelf on the first basement floor based on the information of the storage shelf selection unit 22. And it recognizes that the 1st leaving vehicle 1b exists on the re-entry route of the problem vehicle 1a, and as shown in the solid line arrow, this 1st leaving vehicle 1b was previously stored underground 1 Instruct to store in the storage shelf on the floor. Thereby, the 1st leaving vehicle 1b goes to the 1st basement floor while being placed on the leaving lifter 5, is transferred to the cart 7 on this floor, and is stored in a predetermined storage shelf.
[0038]
When the delivery lifter 5 having lowered the first delivery vehicle 1b to the first floor underground returns to the upper delivery berth 3A again, the problem vehicle 1a is then transferred to the delivery lifter 5 and again to the cart 7 on the first basement floor. Reprinted. Thus, the problem vehicle 1a is stored in a predetermined storage shelf.
Since the issue lifter 5 can be used when the problem vehicle 1 a is transferred to the carriage 7, the second delivery vehicle 1 c that is in a standby state in the delivery operation without being re-entrapped is used for the delivery lifter 5. Outgoing work will continue to be performed upon arrival. In addition, the delivery work of the first delivery vehicle 1b on the first basement floor is also performed at the same time.
[0039]
By performing such control, the second unloading vehicle 1c continues the unloading operation without performing unnecessary transport by re-entry. That is, even if the problem vehicle 1a or the unloading vehicle 1b existing on the re-entry route is being re-entrapped, the unloading operation is performed, and the unloading efficiency is improved.
[0040]
In addition, since it is supposed that the 2nd delivery vehicle 1c is delivered from the lower delivery berth 3B, before the delivery lifter 5 conveys the problem vehicle 1a, it conveys the 2nd delivery vehicle 1c. Also good. According to this, there is no waste in the operation route of the exit lifter 5, and the second exit vehicle 1c can be exited more quickly.
[0041]
Moreover, if the 2nd leaving vehicle 1c is located in the same store shelf hierarchy as the problem vehicle 1a, the 2nd leaving vehicle is re-entry similarly to the 1st leaving vehicle 1b. And in the case of delivery, delivery work is performed according to the delivery order.
[0042]
In FIG. 3 (b), there is a problem vehicle 1 a that performs re-entry in the upper delivery berth 3 </ b> A, and the first delivery vehicle 1 b that has issued a delivery order is on the third basement floor to wait for the delivery lifter 5. Is waiting on the cart 7 that operates. The first outgoing vehicle 1b is scheduled to be delivered from the same outgoing berth 3A as the problem vehicle 1a.
[0043]
When re-entry of the problem vehicle 1a is started, the re-entry control unit 23 determines a re-entry route for storing the problem vehicle 1a in the storage shelf on the first basement floor based on the information of the storage shelf selection unit 22. And it recognizes that the leaving vehicle does not exist on the reentry route of the problem vehicle 1a, and instruct | indicates to store the problem vehicle 1a in a predetermined storage shelf as shown by the solid line arrow.
[0044]
Since the issue lifter 5 can be used when the problem vehicle 1a is transferred to the cart 7 on the first basement floor, the first delivery vehicle 1b that is in a standby state in the delivery operation without being re-entered, The unloading operation is continued in accordance with the arrival of the unloading lifter 5, and the first unloading vehicle 1b is unloaded from the upper unloading berth 3A.
[0045]
By performing such control, the first unloading vehicle 1b continues the unloading operation without performing unnecessary transport by re-entry. That is, even if the problem vehicle 1a is in the process of re-entry, the exit operation is performed, and the output efficiency is improved.
[0046]
Furthermore, in FIG.3 (c), there exists the problem vehicle 1a which carries out re-entry into the upper delivery berth 3A, and the 1st delivery vehicle 1b which waits for the next delivery is waiting on the delivery lifter 5 already. Further, the second outgoing vehicle 1c to which the outgoing order has been placed next is waiting on the carriage 7 operating on the first basement floor of the storage shelf in order to wait for the outgoing lifter 5.
Still further, the third delivery vehicle 1d, which has issued a delivery instruction next to the second delivery vehicle 1c, is placed on the carriage 7 operating on this floor in the vicinity of the delivery lifter 5 on the fourth basement floor. is doing.
The second delivery vehicle 1c is scheduled to be delivered from the upper delivery berth 3A, and the third delivery vehicle 1d is scheduled to be delivered from the lower delivery berth 3B.
[0047]
When re-entry of the problem vehicle 1 a is started, the re-entry control unit 23 determines to store the problem vehicle 1 a in the storage shelf on the first basement floor based on the information of the storage shelf selection unit 22. And it recognizes that the 1st delivery vehicle 1b and the 2nd delivery vehicle 1c exist on the re-entry route of the problem vehicle 1a, and this 1st delivery vehicle 1b and the 2nd delivery vehicle 1c are used. The user is prompted to store in the storage shelf on the first basement floor previously stored as indicated by the solid arrow. As a result, the second unloading vehicle 1c is first stored in a predetermined storage shelf while being placed on the cart 7, and the first unloading vehicle is further transferred from the unloading lifter 5 to the predetermined storage by the same cart 7. Stored on a shelf.
[0048]
When the delivery lifter 5 that has lowered the first delivery vehicle 1b to the first basement floor returns to the upper delivery berth 3A again, the problem vehicle 1a is next transferred and transferred again to the cart 7 on the first basement floor. The problem vehicle 1a is stored in a predetermined storage shelf. Then, since the delivery lifter 5 can be used when the problem vehicle 1a is transferred to the carriage 7, the third delivery vehicle 1d placed in the standby state in the delivery operation without being re-entered is used as the delivery lifter. The unloading work will continue in time for the arrival of 5. In addition, the unloading work of the first unloading vehicle 1b and the second unloading vehicle 1c on the first basement floor is also performed simultaneously.
[0049]
By performing such control, the third unloading vehicle 1d is continuously carried out without performing useless conveyance by re-entry. That is, even if the problem vehicles 1a and the unloading vehicles 1b and 1c existing on the re-entry route are being re-entrapped, the unloading operation is continued, and the unloading efficiency is improved.
[0050]
Since the third delivery vehicle 1d is supposed to be delivered from the delivery berth 3B in the lower layer, the delivery lifter 5 carries the third delivery vehicle 1d before carrying the problem vehicle 1a. Also good. According to this, there is no waste in the operation of the exit lifter 5, and a more efficient exit operation is performed.
[0051]
According to the mechanical parking lot in the present embodiment described above, even if a problem vehicle that requires re-entry forcibly occurs on the exit berth, the exit operation of the exit vehicle that does not exist on the re-entry route is continued. As a result, it is possible to minimize the drop in the shipping efficiency.
In addition, when a large number of delivery berths and corresponding delivery lifters are provided, the overlap between the delivery route and the re-entry route is reduced, so that the waiting state of the delivery vehicle that continues the delivery operation during the re-entry operation is reduced. Thus, it is possible to perform a high-efficiency shipping operation according to the number of shipping berths installed.
[0052]
【The invention's effect】
The mechanical parking lot and the control method thereof according to the present invention described above have the following effects.
Claim 1 In According to the described invention, the re-entry route of the first vehicle to be re-entered Determine and recognize the exiting vehicle on the reentry route, and the exiting vehicle And a re-entry control unit for instructing re-entry work of the first vehicle, and other outgoing vehicles not existing on the re-entry route. , Since the delivery continuation control unit for continuously instructing the delivery work of the other delivery vehicles is provided, the delivery vehicle that is being delivered in the re-entry work of the first vehicle that needs to be re-stocked is provided. It is not always necessary to re-stock, and for vehicles that can be delivered, the delivery operation can be continued even during the re-entry operation of the first vehicle. Therefore, even if the first vehicle needs to be re-entrapped, it is possible to realize a mechanical parking lot that can be operated while minimizing a decrease in the leaving efficiency.
[0053]
Claim 5 According to the invention described in the above, the re-entry route of the first vehicle to be re-entered is determined, the exit vehicle existing on the re-entry route is recognized, and the exit vehicle and the first vehicle are re-entry. In parallel with this, since it is a control method of a mechanical parking lot that continuously instructs the delivery work of other delivery vehicles that do not exist on the re-entry route, the re-entry work and the delivery work are performed in parallel. Therefore, even when re-entry occurs, a mechanical parking lot can be operated with a minimum reduction in output efficiency.
[0054]
Claim 6 According to the invention described in (1), when the exit route and the reentry route overlap, the control method of causing the other exit vehicle to enter the overlap route after the first vehicle is removed from the overlap route, Therefore, both operations can be performed reliably and in parallel without causing confusion in both the re-entry and the exit operations.
[Brief description of the drawings]
FIG. 1 is a block diagram illustrating an overall configuration of a mechanical parking lot control circuit according to an embodiment of the present invention.
FIG. 2 is a flowchart illustrating the flow of control in a re-entry work and a leaving work for explaining a method for controlling a mechanical parking lot according to an embodiment of the present invention.
FIG. 3 is a partial side view of a mechanical parking lot for specifically explaining the movement of each vehicle.
FIG. 4 is a perspective view illustrating the overall configuration of a mechanical parking lot.
[Explanation of symbols]
1a Problem vehicle (first vehicle)
1b, 1c, 1d Outgoing vehicle
3 Outgoing berth
4,5 Each lifter (conveying equipment)
6 Storage shelf
7 carts (conveying equipment)
10 Card reader
10a Touch panel
11 Checkout machine
20 Control device
21 Operation control unit
22 Storage shelf selector
23 Re-entry control unit
24 Outgoing continuation control unit

Claims

In a mechanical parking lot comprising a loading / unloading berth for loading and unloading vehicles, a plurality of storage shelves for storing vehicles, and a transport device for transporting vehicles between the loading / unloading berths and the respective storage shelves,
In the control device that controls the operation of the transport device and each storage shelf,
A storage shelf selection unit for selecting a storage shelf as a re-entry destination of the first vehicle to be re-stocked;
Based on the selected storage shelf, the re-entry route of the first vehicle is determined, the outgoing vehicle existing on the re-entry route is recognized, and the re-entry work of the outgoing vehicle and the first vehicle is performed. A re-entry control unit to instruct;
A mechanical parking garage provided with a delivery continuation control unit that recognizes another delivery vehicle that does not exist on the re-entry route and continuously instructs the delivery operation of the other delivery vehicle.

The goods issue continuation control section, when the conveying device for conveying said another issuing vehicle overlap by re receipts work, to claim 1 for temporarily stands by unloading work the other unloading vehicles has continued The described mechanical parking lot.

The unloading continuation control unit compares the unloading route of each of the other unloading vehicles and the re-entry route, and when these routes overlap, the re-entry operation is given priority over the continuation of the unloading operation. Item 3. A mechanical parking lot according to item 1 or item 2 .

When re-entry the first vehicle, all the outgoing vehicles at that time are temporarily re-entry into the storage shelf, and after the re-entry of the first vehicle is completed, the first re-entry is made to release the outgoing vehicle Mode and the second re-entry mode that prioritizes the delivery efficiency are selectable,
When the second re-entry mode is selected,
The re-entry control unit determines the re-entry route of the first vehicle to be re-entered, recognizes the outgoing vehicle existing on the re-entry route, and instructs the re-entry work of the outgoing vehicle and the first vehicle And
Unloading continuation control section, said recognize other goods issue vehicles not on re receipts route claims 1 to instruct to continue unloading operations of the other unloading vehicle according to any one of claims 3 Mechanical parking lot.

A mechanical parking facility comprising a loading / unloading berth for loading and unloading vehicles, a plurality of storage shelves for storing vehicles, and a transport device for transporting vehicles between the loading / unloading berths and the respective storage shelves. In the control method of the parking lot,
A storage shelf that is a re-entry destination of the first vehicle to be re-stocked is selected, a re-entry route of the first vehicle is determined based on the selected storage shelf, and a delivery that exists on the re-entry route A mechanical parking lot for recognizing a vehicle and continuously instructing another vehicle that does not exist on the reentry route in parallel with re-entry the vehicle and the first vehicle. Control method.

When the delivery route of the other delivery vehicle and the re-entry route overlap, the first delivery vehicle is removed from the overlap route between the re-entry route and the delivery route, and then the other delivery vehicle is The method for controlling a mechanical parking lot according to claim 5 , wherein the method enters the overlapping route.

The machine according to claim 5 or 6 , wherein when another transport device for transporting the other outgoing vehicle overlaps due to re-entry work, the other outgoing vehicle is temporarily put on standby in a state in which the outgoing work continues. Control method of the type parking lot.

When re-entry the first vehicle, all the outgoing vehicles at that time are temporarily re-entry into the storage shelf, and after the re-entry of the first vehicle is completed, the first re-entry is made to release the outgoing vehicle Mode and the second re-entry mode that prioritizes the delivery efficiency are selectable,
When the second re-entry mode is selected, the re-entry route of the first vehicle is determined based on the storage shelf of the re-entry destination, the outgoing vehicle existing on the re-entry route is recognized, said output compartment vehicle and in parallel with it to re-receipts the first vehicle, any one of claims 7 to claim 5 for instructing to continue the unloading work of another unloading vehicles that are not on the re Receipt route The control method of the mechanical parking lot as described in 2.