JP2009091799A - Mechanical parking facility and vehicle loading/unloading control method therefor - Google Patents

Mechanical parking facility and vehicle loading/unloading control method therefor Download PDF

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JP2009091799A
JP2009091799A JP2007263013A JP2007263013A JP2009091799A JP 2009091799 A JP2009091799 A JP 2009091799A JP 2007263013 A JP2007263013 A JP 2007263013A JP 2007263013 A JP2007263013 A JP 2007263013A JP 2009091799 A JP2009091799 A JP 2009091799A
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remote control
exit
door
entrance
loading
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JP5011054B2 (en
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Haruyasu Shiroya
晴康 代谷
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Shinmaywa Engineering Ltd
Shinmaywa Industries Ltd
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Shin Meiva Industry Ltd
Shinmaywa Engineering Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a mechanical parking facility which is operable by a remote control transmitter, and allows door closing operation only on the outside and in the vicinity of an entrance port thereof. <P>SOLUTION: The mechanical parking facility is formed of: a vehicle loading/unloading section 7 for a vehicle M; the entrance port 5 having a door 6 openable/closable when the vehicle enters/leaves the vehicle loading/unloading section 7; an external remote control receiver 21 for receiving a signal from the remote control transmitter 31 on the outside of the entrance port 5; an internal remote control receiver for receiving the signal from the remote control transmitter 31 on the inside of the vehicle loading/unloading section 7; and a control device 29 for opening the door 6 of the entrance port 5 when the external remote control receiver 21 receives the signal, and closing the door 6 of the entrance port 5 when the internal remote control receiver 26 receives the signal. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

本発明は、機械式駐車設備に関し、特にリモートコントローラ（以下、「リモコン」という）によって運転操作する機械式駐車設備とその入出庫制御方法に関する。   The present invention relates to a mechanical parking facility, and more particularly, to a mechanical parking facility operated by a remote controller (hereinafter referred to as “remote controller”) and a method for controlling entry / exit thereof.

従来、機械式駐車設備には、地上の駐車塔や建物の地上内部又は地下に車両を格納する駐車装置が設置されており、駐車設備の設置条件等に応じた搬送方法の駐車装置が採用されている。この駐車装置には、車両が入出庫するための少なくとも１つの入出庫部が備えられている。この入出庫部（以下、「駐車室」ともいう）には、車両及び利用者が出入りする入出庫口が設けられており、この入出庫口には開開可能な扉が設けられている。   Conventionally, in a mechanical parking facility, a parking device for storing a vehicle is installed in a parking tower on the ground or inside or under the ground of a building, and a parking device of a transport method according to the installation conditions of the parking facility is adopted. ing. This parking device is provided with at least one loading / unloading unit for loading / unloading of vehicles. The entry / exit section (hereinafter also referred to as “parking room”) is provided with an entry / exit port through which vehicles and users enter / exit, and a door that can be opened is provided at the entry / exit port.

一般的な機械式駐車設備は、この入出庫口の外側に運転操作盤が設置されている。そして、利用者自身が運転操作する方式の機械式駐車設備においては、入庫時、利用者が入出庫口の手前に車両を停車させて一旦降車し、上記運転操作盤を操作して空の車両搭載用パレット（この明細書及び特許請求の範囲の書類中における「車両搭載用パレット」は、機械式駐車設備において車両を搭載して搬送する構成であり、パレットレス方式では「車両搬器」が該当する構成となる）を上記入出庫部に呼び出す。そして、このパレットが入出庫部の乗入れ部に着床すると、入出庫口の扉が自動的に開く。その後、利用者は車両を運転して入出庫部に入ってパレットに車両を載置し、入出庫口から外に出て運転操作盤の操作により扉を閉める。   In general mechanical parking facilities, a driving operation panel is installed outside the entrance / exit. And, in the mechanical parking facility of the method that the user himself / herself operates, at the time of warehousing, the user stops the vehicle in front of the entrance / exit and exits once, and operates the driving operation panel to empty the vehicle Mounting pallet ("Vehicle mounting pallet" in this specification and claims refers to a configuration in which a vehicle is mounted and transported in a mechanical parking facility. Call the above storage / department department. And when this pallet reaches the loading / unloading section of the loading / unloading section, the door of the loading / unloading opening automatically opens. Thereafter, the user drives the vehicle, enters the loading / unloading section, places the vehicle on the pallet, goes out from the loading / unloading port, and closes the door by operating the driving operation panel.

また、出庫時は、利用者が上記運転操作盤を操作して自車搭載のパレットを入出庫部に呼び出す。そして、この出庫要求されたパレットが乗入れ部に着床すると、入出庫口の扉が自動的に開く。その後、利用者は入出庫部内に入り、車両を運転して入出庫口から外に出たところで一旦停車して降車し、運転操作盤の操作により扉を閉める。   At the time of delivery, the user calls the pallet mounted on the own vehicle to the entry / exit section by operating the operation panel. Then, when the pallet requested to go out arrives at the entry section, the door of the entrance / exit is automatically opened. Thereafter, the user enters the entry / exit section, drives the vehicle, gets out of the entry / exit port, stops once, gets off, and closes the door by operating the operation control panel.

このように、一般的な機械式駐車設備では、入出庫の都度、利用者が降車して運転操作盤を操作する煩わしさがある。そのため、この煩わしさを軽減するために、各利用者に、個別に付与した契約（暗証）番号を発信するリモコン送信機を携帯させ、各利用者がこのリモコン送信機を操作して機械式駐車設備を運転操作するリモコン操作システムを上記運転操作盤と併用した駐車場管理システムが提案されている。   As described above, in a general mechanical parking facility, the user gets out of the vehicle and operates the driving operation panel every time entering / exiting. Therefore, in order to reduce this annoyance, each user carries a remote control transmitter that transmits a contract (password) assigned individually, and each user operates this remote control transmitter to perform mechanical parking. A parking lot management system has been proposed in which a remote control operation system for operating equipment is used in combination with the above-described operation control panel.

例えば、少なくともユーザーコード番号を含む所定の信号を発信するリモコンをユーザが携帯し、入出庫口の付近に設置された受信機がこのリモコンからの信号を受信すると、入庫の場合は、入出庫口に近い空パレットを呼び出し、出庫の場合は、車両を載置したパレットを呼び出すようにしたものがある（例えば、特許文献１参照）。   For example, when a user carries a remote control that transmits a predetermined signal including at least a user code number, and a receiver installed near the entrance / exit is receiving a signal from the remote control, When an empty pallet close to is called out and the vehicle is released, there is a pallet on which the vehicle is placed (for example, see Patent Document 1).

図１２は、このようにリモコンで運転操作する機械式駐車装置の入出庫口付近を示す斜視図である。図示するように、この機械式駐車装置１０１は、運転操作盤１０２とリモコン操作システムとを併用しており、車両Ｍ内からリモコン送信機１０３によってリモコン受信機１０４に信号を送信することにより、入出庫口１０５の扉１０６を開閉する操作や、入出庫部（駐車室）１０７内の乗入れ部にパレット１０８を配置する運転操作ができるようになっている。上記扉１０６の外側上方部には、入出庫時に点滅等によって入出庫の状況を示す表示灯１０９が設けられている。この機械式駐車装置１０１の場合、利用者は入出庫部１０７内のパレット１０８に車両Ｍを駐車した後、車外に退出して入出庫口１０５から外へ出て、リモコン送信機１０３の扉閉ボタンを押下して扉１０６を閉鎖することにより入庫が完了する。   FIG. 12 is a perspective view showing the vicinity of the entrance / exit of the mechanical parking apparatus that is operated by the remote controller in this way. As shown in the figure, this mechanical parking device 101 uses a driving operation panel 102 and a remote control operation system in combination, and transmits a signal from the vehicle M to the remote control receiver 104 by a remote control transmitter 103. An operation for opening and closing the door 106 of the exit port 105 and an operation for placing the pallet 108 in the entry part in the entrance / exit part (parking room) 107 can be performed. An indicator lamp 109 is provided on the outer upper portion of the door 106 to indicate the loading / unloading status by blinking during loading / unloading. In the case of this mechanical parking device 101, the user parks the vehicle M on the pallet 108 in the loading / unloading unit 107, then exits the vehicle, exits from the loading / unloading port 105, and closes the door of the remote control transmitter 103. The entry is completed by pressing the button and closing the door 106.

なお、他の背景技術として、車両の暗証番号と駐車パレット番号とをメモリに記憶し、入庫の際にリモコン送信機の発信ボタンを押すだけで暗証番号が照合されて自動運転を開始して入庫状態となり、出庫の際にリモコン送信機の発信ボタンを押すと暗証番号が照合されて自動運転を開始して出庫状態となるようにしたものがある（例えば、特許文献２参照）。   As another background technology, the personal identification number of the vehicle and the parking pallet number are stored in the memory, and the personal identification number is verified just by pressing the send button on the remote control transmitter at the time of warehousing. There is a state in which when the outgoing button of the remote control transmitter is pressed during the delivery, the password is collated and the automatic operation is started to enter the delivery state (see, for example, Patent Document 2).

また、他の背景技術として、運転盤にリモコン受信機を設置し、入出庫作業をリモコン操作によって行えるようにし、リモコン送信機が無いときには運転盤で扉を閉操作するようにしたものがある（例えば、特許文献３参照）。
特闘平１０−１０２８０４号公報 特開平２００２−１９４９１４号公報 特開平６−３３６８５２号公報 As another background art, there is a remote control receiver installed on the operation panel so that entry / exit work can be performed by remote control operation, and when there is no remote control transmitter, the door is closed on the operation panel ( For example, see Patent Document 3).
Tokuhei 10-102804 JP-A-2002-194914 JP-A-6-336852

しかしながら、上記したような機械式駐車装置１０１における通常のリモコン操作システムの場合、入出庫口１０５の外部の入出庫口付近、あるいは運転操作盤１０２にリモコン受信機１０４が設置され、入出庫口１０５から離れて停車した車両Ｍの車内からリモコン送信機１０３を操作しても運転操作が可能となっている。つまり、通常のリモコン受信機１０４の検知範囲は少なくとも数メートル（例えば、５〜１０ｍ程度）となっているので、この範囲内であれば運転操作が可能となる。   However, in the case of the normal remote control operation system in the mechanical parking apparatus 101 as described above, the remote control receiver 104 is installed in the vicinity of the entrance / exit entrance outside the entrance / exit entrance 105 or in the driving operation panel 102, and the entrance / exit entrance 105 is provided. Even if the remote control transmitter 103 is operated from the inside of the vehicle M parked away from the vehicle, the driving operation can be performed. That is, since the detection range of the normal remote control receiver 104 is at least several meters (for example, about 5 to 10 m), driving operation is possible within this range.

このことは、入出庫の都度降車し、入出庫口１０５の運転操作盤１０２まで行くことなく、入出庫口１０５からかなり離れた位置からでも操作ができるので、利用者にとっては利便性が向上するが、逆に入庫完了後に扉１０６を閉鎖する操作を離れた位置からでも行えることになる。すなわち、車両Ｍの入庫を終え、入出庫口１０５から外に出た利用者は、入出庫部１０７内に人が残っていないことを直接目視確認したうえで扉１０６を開めることになっているが、入出庫口１０５から入出庫部１０７内を見渡し得ないほど離れた場所からリモコン送信機１０３を操作し、入出庫部１０７内を目視確認しないで扉１０６を閉めてしまう、という、怠慢行為をシステム上見過ごしてしまうおそれがある。このようなことは、例えば、上記特許文献３の場合、１個のリモコン受信機が操作盤に付設されているので、利用者は操作盤を見ながらリモコン送信機の扉閉釦を押下するが、必ずしも入出庫口の内部を視認した上で扉閉釦を押下するとは限らないこととなる。このことは、上記特許文献１〜３のいずれも同様である。   This is because convenience can be improved for the user because the user can get off at every entry / exit and can operate from a position far away from the entry / exit 105 without going to the operation control panel 102 of the entry / exit 105. However, on the contrary, the operation of closing the door 106 after completion of warehousing can be performed even from a remote position. That is, the user who has finished warehousing the vehicle M and has gone out from the warehousing / unloading port 105 opens the door 106 after directly confirming that no person remains in the warehousing / removal unit 107. However, the remote controller transmitter 103 is operated from a place far away from the loading / unloading port 105 so that the inside of the loading / unloading unit 107 cannot be seen, and the door 106 is closed without visually checking the loading / unloading unit 107. There is a risk that negligence may be overlooked in the system. This is because, for example, in the case of Patent Document 3, since one remote control receiver is attached to the operation panel, the user presses the door close button of the remote control transmitter while looking at the operation panel. The door close button is not necessarily pressed after visually confirming the inside of the entrance / exit. This is the same in all of Patent Documents 1 to 3.

また、リモコン送信機を入庫車内に置き忘れると、出庫時、運転操作盤による操作では契約（暗証）番号の入力等、普段行わない特別の入力操作を必要とし、入出庫後の「扉閉」操作にも手間取り、後続の入出庫に支障を来たす場合がある。しかも、リモコン送信磯を車内に置き忘れても運転操作盤で操作すればよい、という安易な考えが蔓延すると、出庫時にリモコン送信機が無い利用者による運転操作盤の煩雑な操作が頻繁に行われ、駐車場の管理上、混乱を招くことにもなる。   In addition, if the remote control transmitter is left in the warehousing vehicle, special operations such as entering a contract (password) are required for operations using the operation panel when leaving the vehicle. In addition, it may be troublesome for subsequent loading and unloading. In addition, if the easy idea that the remote control transmitter can be operated on the operation panel even if it is left in the car spreads, complicated operation of the operation panel is frequently performed by users who do not have a remote control transmitter at the time of delivery. This can be confusing for parking management.

このように、従来のリモコン操作システムと運転操作盤とを併用した駐車場管理システムでは、リモコン送信機の車内置忘れや、入庫後に入出庫部（駐車室）内の目視確認を怠った「扉閉」操作が可能なシステムとなっている。   In this way, in the parking lot management system using the conventional remote control operation system and the operation control panel in combination, forgetting to place the remote control transmitter in the car or neglecting the visual confirmation of the entry / exit section (parking room) after entering the warehouse The system is capable of “close” operation.

そこで、本発明は、リモコン送信機による運転操作ができるとともに、扉を閉じる操作を入出庫口の外部付近でしか行えないようにした機械式駐車設備と、その運転操作方法を提供することを目的とする。   Therefore, the present invention has an object to provide a mechanical parking facility that can be operated by a remote control transmitter and that can close a door only near the outside of the entrance / exit, and a method for operating the same. And

上記目的を達成するために、本発明の機械式駐車設備は、車両の入出庫部と、該入出庫部への車両入出庫時に開閉する扉を有する入出庫口と、該入出庫口の外部でリモコン送信機からの信号を受信する外部リモコン受信機と、前記入出庫部の内部でリモコン送信機からの信号を受信する内部リモコン受信機と、前記外部リモコン受信機が信号を受信すると前記入出庫口の扉を開放し、前記内部リモコン受信機が信号を受信すると前記入出庫口の扉を閉鎖する制御装置とを備えている。この明細書及び特許請求の範囲の書類中における「リモコン」は、赤外線や電波等の無線で送信を行う「ワイヤレス・リモコン」をいう。これにより、車両の入庫時には入出庫口の扉の外部の外部リモコン受信機によってリモコン送信機の信号を受信し、入庫後の扉閉信号は入出庫部内の内部リモコン受信機によってリモコン送信機の信号を受信するので、入庫後の「扉閉」操作は入出庫口付近から入出庫部内に向けて行わなければならず、自ずと入出庫部内を確認しながら「扉閉」操作を行うようにできる。   In order to achieve the above object, a mechanical parking facility according to the present invention includes a vehicle loading / unloading unit, a loading / unloading port having a door that opens and closes when the vehicle is loaded into and unloaded from the loading / unloading unit, and an outside of the loading / unloading port. An external remote control receiver for receiving a signal from the remote control transmitter, an internal remote control receiver for receiving a signal from the remote control transmitter inside the warehouse, and the input when the external remote control receiver receives the signal. And a control device that opens the door of the exit and closes the door of the entrance when the internal remote control receiver receives a signal. The “remote control” in the specification and claims refers to a “wireless remote control” that performs transmission by radio waves such as infrared rays and radio waves. Thus, when the vehicle is received, the remote control transmitter signal is received by the external remote control receiver outside the door of the entrance / exit, and the door closing signal after the entry is received by the internal remote control receiver in the storage / exit section. Therefore, the “door closing” operation after warehousing must be performed from the vicinity of the loading / unloading entrance to the loading / unloading section, and the “door closing” operation can be performed while confirming the inside of the loading / unloading section.

また、前記入出庫部の側部に乗降通路を設け、前記内部リモコン受信機を該乗降通路の後側に配置してもよい。これにより、入庫後のリモコン操作による「扉閉」操作を乗降通路の後側に向けて行うので、自ずと入出庫部内を確認しながら行うようにできる。   Moreover, a boarding / alighting passage may be provided on a side portion of the loading / unloading section, and the internal remote control receiver may be disposed on the rear side of the boarding / alighting passage. Thereby, since the “door closing” operation by the remote control operation after warehousing is performed toward the rear side of the entrance / exit passage, it can be performed while confirming the inside of the warehousing / exiting section.

さらに、前記内部リモコン受信機の信号検知範囲を入出庫口の外部付近に制限てもよい。これにより、入出庫口から大きく離れた場所から「扉閉」操作ができないので、自ずと入出庫部内を確認しながら「扉閉」操作を行うようにできる。   Furthermore, the signal detection range of the internal remote control receiver may be limited to the vicinity of the outside of the entrance / exit. As a result, since the “door closing” operation cannot be performed from a location far away from the entrance / exit, the “door closing” operation can be performed while confirming the inside of the entrance / exit.

また、前記入出庫口の外部に運転操作盤を配置してもよい。これにより、リモコン送信機の不調時等には、運転操作盤を操作して機械式駐車設備への入出庫ができる。   Moreover, you may arrange | position a driving control panel outside the said entrance / exit. As a result, when the remote control transmitter is malfunctioning, the operation control panel can be operated to enter and exit the mechanical parking facility.

一方、本発明の機械式駐車設備の入出庫制御方法は、上記いずれかの機械式駐車設備の入出庫制御方法であって、前記リモコン送信機による前記入出庫口の外部から外部リモコン受信機への扉開信号を受信すると入出庫口の扉を開放し、該扉を開放した入出庫口から前記入出庫部内に車両を入庫させた後、該入出庫部から外に出た利用者のリモコン送信機による前記入出庫口の外部付近から前記入出庫部内の内部リモコン受信機への扉閉信号を受信すると入出庫口の扉を閉鎖するようにしている。この方法によっても、車両の入庫時には、入出庫口の外部の外部リモコン受信機がリモコン送信機の信号を受信すると扉を開け、入庫後は入出庫部の内部の内部リモコン受信機がリモコン送信機の信号を受信すると扉を閉めるので、入庫後の「扉閉」操作は入出庫口付近から入出庫部内に向けて行わなければならず、自ずと入出庫部内を確認しながら「扉閉」操作を行うようにできる。   On the other hand, the entry / exit control method for the mechanical parking facility according to the present invention is an entry / exit control method for any of the mechanical parking facilities described above, from the outside of the entrance / exit by the remote control transmitter to an external remote control receiver. When the door opening signal is received, the door of the entrance / exit is opened, and after the vehicle is entered into the entrance / exit from the entrance / exit where the door is opened, the remote controller of the user who has gone out of the entrance / exit When a door closing signal is received from the outside of the entrance / exit by the transmitter to the internal remote control receiver in the entrance / exit, the entrance / exit entrance door is closed. Even with this method, when the vehicle is received, the external remote control receiver outside the entry / exit port opens the door when it receives the signal from the remote control transmitter, and after entry, the internal remote control receiver inside the entry / exit section is used as the remote control transmitter. When the signal is received, the door is closed, so the `` door closing '' operation after warehousing must be performed from the vicinity of the warehousing entrance to the warehousing part, and the `` door closing '' operation is performed while checking the inside of the warehousing part. Can be done.

また、この入出庫制御方法において、前記入出庫口の扉が開放している状態では前記外部リモコン受信機の受信機能を遮断させるようにしてもよい。これにより、入出庫口の扉が開いた状態で誤ったリモコン送信機の操作をしたとしても、扉が開放した状態を確実に保つことができる。   In this storage / exit control method, the reception function of the external remote control receiver may be blocked when the door of the storage / exit is open. As a result, even when the remote control transmitter is erroneously operated with the door of the entrance / exit opened, the state where the door is opened can be reliably maintained.

本発明は、以上説明したような手段により、入出庫部から外部に出た利用者は、入出庫口の外部付近から入出庫部内に向けてリモコン操作をしなければ「扉閉」操作ができないので、リモコン送信機の車内置き忘れがなくなり、また、自ずと入出庫部内を目視確認して「扉閉」操作を行うようにすることが可能となる。   According to the present invention, by means as described above, a user who has gone outside from the loading / unloading section cannot perform a “door closing” operation unless a remote control operation is performed from the outside of the loading / unloading port toward the loading / unloading section. Therefore, the remote controller transmitter is not forgotten to be placed in the vehicle, and it is possible to perform a “door closing” operation by visually confirming the inside / outside of the warehouse.

以下、本発明の一実施の形態を図面に基づいて説明する。図１は、本発明の機械式駐車設備の一実施の形態に係る立体駐車設備の入出庫口付近を示す正面図であり、図２は、リモコン送信機の一例を示す平面図、図３は、図１に示す立体駐車設備の入出庫口外側上方部に設置した外部リモコン受信機ボックスの正面図、図４は、図３に示す外部リモコン受信機ボックスに備えられた外部リモコン受信機の検知範囲の一例を示す図面であり、(a) は垂直方向検知範囲、(b) は水平方向検知範囲を示した図である。図５は、図１に示す立体駐車設備における入出庫部内の正面図、図６は、本発明の立体駐車設備における制御ブロック図である。この実施の形態では、機械式駐車設備として、地下に設置された円形循環式の立体駐車設備を例に説明する。また、この明細書及び特許請求の範囲の書類中では、駐車設備の正面に向った状態で、右側、左側、入口側を前側、奥側を後側という。   Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a front view showing the vicinity of an entrance / exit of a multilevel parking facility according to an embodiment of the mechanical parking facility of the present invention, FIG. 2 is a plan view showing an example of a remote control transmitter, and FIG. FIG. 4 is a front view of an external remote control receiver box installed on the outer side of the entrance / exit of the multi-story parking facility shown in FIG. 1, and FIG. 4 is a detection of the external remote control receiver provided in the external remote control receiver box shown in FIG. It is drawing which shows an example of a range, (a) is a vertical direction detection range, (b) is a figure which showed the horizontal direction detection range. FIG. 5 is a front view inside the loading / unloading unit in the multilevel parking facility shown in FIG. 1, and FIG. 6 is a control block diagram in the multilevel parking facility of the present invention. In this embodiment, a circular circulation type multilevel parking facility installed underground is described as an example of a mechanical parking facility. Moreover, in the document of this specification and a claim, in the state which faced the front of the parking facility, the right side, the left side, the entrance side are referred to as the front side, and the back side is referred to as the rear side.

図１に示すように、立体駐車設備１としては、建物２の所定位置に、地上床３に連なる入出庫口５が設けられており、この入出庫口５には上方向に開放する扉６が設けられている。入出庫口５の内部の入出庫部（駐車室）７内には、車両Ｍを検知する車両検知器ＰＨ（人検知器兼用）が設けられている。この車両検知器ＰＨは、後述するように複数の検知器から構成されている。また、入出庫部７の右側部には管理ボックス８が設けられており、この管理ボックス８には管理者が入出庫部７内を覗く窓９が設けられている。この例では、管理ボックス８内に運転操作盤１０が設けられている。   As shown in FIG. 1, as the multilevel parking facility 1, an entrance / exit 5 connected to the ground floor 3 is provided at a predetermined position of the building 2, and a door 6 that opens upward at the entrance / exit 5. Is provided. A vehicle detector PH (also used as a human detector) for detecting the vehicle M is provided in a storage / reception unit (parking room) 7 inside the storage / exit 5. The vehicle detector PH is composed of a plurality of detectors as will be described later. A management box 8 is provided on the right side of the loading / unloading unit 7, and the management box 8 is provided with a window 9 through which an administrator looks into the loading / unloading unit 7. In this example, a driving operation panel 10 is provided in the management box 8.

上記入出庫部７内の乗入れ部１３（矩形開口）には、地下に設けられたパレット搬出入用リフト１２によってパレット１１が配置（着床）される。このパレット搬出入用リフト１２は、昇降路１４に設けられたリフト昇降機構１５によって昇降させられる。この昇降路１４の横方向には地下駐車空間１６が設けられ、この地下駐車空間１６には機械式駐車装置たる円形循環式駐車装置１７が設けられている。この円形循環式駐車装置１７は、地下駐車空間１６の横方向に設けられたパレット円形循環機構１８によってパレット１１を循環させるようになっている。   A pallet 11 is placed (landed) in a loading / unloading section 13 (rectangular opening) in the loading / unloading section 7 by a pallet loading / unloading lift 12 provided in the basement. The pallet carry-in / out lift 12 is raised and lowered by a lift raising / lowering mechanism 15 provided in the hoistway 14. An underground parking space 16 is provided in the lateral direction of the hoistway 14, and a circular circulation parking device 17 that is a mechanical parking device is provided in the underground parking space 16. The circular circulation parking device 17 circulates the pallet 11 by a pallet circular circulation mechanism 18 provided in the lateral direction of the underground parking space 16.

そして、上記入出庫口５の外側上方部には外部リモコン受信機２１が設置され、入出庫部７の内部には内部リモコン受信機２６が配置されている。この実施の形態の外部リモコン受信機２１は、呼番号表示部２２とリモコン受信表示灯２３と道路灯２４とが設けられた外部リモコン受信機ボックス２５に設けられている。また、内部リモコン受信機２６は、リモコン受信表示灯２７が設けられた内部リモコン受信機ボックス２８に設けられている。外部リモコン受信機２１がリモコン送信機３１（図２）からの信号を受信すると入出庫口５の扉６を開放し、内部リモコン受信機２６がリモコン送信機３１からの信号を受信すると入出庫口５の扉６を閉鎖するように、制御装置２９によって制御されている。   An external remote control receiver 21 is installed on the outer upper side of the loading / unloading port 5, and an internal remote control receiver 26 is arranged inside the loading / unloading unit 7. The external remote control receiver 21 of this embodiment is provided in an external remote control receiver box 25 provided with a call number display unit 22, a remote control reception indicator lamp 23, and a road lamp 24. The internal remote control receiver 26 is provided in an internal remote control receiver box 28 provided with a remote control reception indicator lamp 27. When the external remote control receiver 21 receives a signal from the remote control transmitter 31 (FIG. 2), the door 6 of the entrance / exit 5 is opened, and when the internal remote control receiver 26 receives a signal from the remote control transmitter 31, the entrance / exit is opened. It is controlled by the control device 29 so as to close the five doors 6.

このように、リモコン操作によって運転操作する立体駐車設備１において、入出庫口５の外部に扉６を開放する外部リモコン受信機２１を設置し、入出庫部７内の入出庫口５から見渡せる位置に扉６を閉鎖するため専用の内部リモコン受信機２６を設置することにより、利用者は、入出庫口５の外部付近から入出庫部７内に向けてリモコン操作をしなければ扉６の閉操作が行えないようになっている。   In this way, in the multi-story parking facility 1 that is operated by remote control, the external remote control receiver 21 that opens the door 6 is installed outside the entrance / exit 5 and the position can be seen from the entrance / exit 5 in the entrance / exit section 7. By installing a dedicated internal remote control receiver 26 to close the door 6, the user closes the door 6 unless remote control is performed from the outside of the entrance / exit 5 toward the entrance / exit 7. The operation cannot be performed.

図２に示すように、この実施の形態のリモコン送信機３１は、前面（図の上側）に送信窓３２が設けられ、上面には非常釦３３と安全確認釦３４とスタート釦３５とドア閉釦３６と３個の予備釦３７とが設けられている。また、この上面には、送信時のみ点灯する送信表示ランプ３８が設けられている。このリモコン送信機３１によれば、上記各釦３４〜３６を押すことにより、前面の送信窓３２から信号Ｓが発信される。この例では、リモコン送信機３１の上面下部に契約利用者ごとに付与された呼番号３９が記入されている。この呼番号３９としては、駐車契約したパレット番号でもよいが、任意の空パレットに入庫させるフリーロケーションの場合、契約番号としてもよい。この場合、入庫時に契約番号と入庫パレット番号とが対で記憶される。   As shown in FIG. 2, the remote control transmitter 31 of this embodiment is provided with a transmission window 32 on the front surface (upper side in the figure), and an emergency button 33, a safety confirmation button 34, a start button 35, and a door closed on the upper surface. A button 36 and three spare buttons 37 are provided. Further, a transmission display lamp 38 that is lit only at the time of transmission is provided on this upper surface. According to the remote control transmitter 31, the signal S is transmitted from the front transmission window 32 by pressing the buttons 34 to 36. In this example, the call number 39 assigned to each contract user is entered in the lower part of the upper surface of the remote control transmitter 31. The call number 39 may be a pallet number for which a parking contract has been made, but may be a contract number in the case of a free location where goods are stored in an arbitrary empty pallet. In this case, the contract number and the receipt pallet number are stored in pairs at the time of receipt.

図３に示すように、上記外部リモコン受信機ボックス２５は、前面に外部リモコン受信機２１と呼番号表示部２２とリモコン受信表示灯２３とが設けられ、上部に道路灯２４（回転灯）が設けられている。この外部リモコン受信機ボックス２５は、入出庫口５の外側上方部における建物２の外面に設けられている。この外部リモコン受信機ボックス２５の外部リモコン受信機２１が、上記リモコン送信機３１からの信号を受信して制御装置２９で受付られると、その呼番号３９が呼番号表示部２２に表示される。これにより、利用者が自身の呼番号３９であることを目視で確認することができる。   As shown in FIG. 3, the external remote control receiver box 25 is provided with an external remote control receiver 21, a call number display unit 22, and a remote control reception indicator lamp 23 on the front, and a road lamp 24 (rotating lamp) on the top. Is provided. The external remote control receiver box 25 is provided on the outer surface of the building 2 at the upper part outside the entrance / exit 5. When the external remote control receiver 21 of the external remote control receiver box 25 receives the signal from the remote control transmitter 31 and is received by the control device 29, the call number 39 is displayed on the call number display unit 22. Thereby, it can be visually confirmed that the user is his own call number 39.

図４(a),(b) に示すように、外部リモコン受信機ボックス２５に備えられた外部リモコン受信機２１の信号検知範囲は、(a) に示すように、垂直方向は、距離Ｌで角度θ１となっており、運転席の高さが異なっても受信可能で、駐車設備の前部の道路幅全体をカバーするような範囲となっている。また、(b) に示すように、水平方向は、距離Ｌで角度θ２となっており、駐車設備の前部の道路のいずれの車線からでも受信可能な範囲となっている。なお、これらの距離Ｌや角度θ１，θ２は、立体駐車設備１及び入出庫口５のレイアウトや周辺環境等に応じて適正な範囲とすればよい。また、上記内部リモコン受信機２６も同様の距離Ｌと角度θ１，θ２になっている。但し、内部リモコン受信機２６は、入出庫口５の外部付近から操作するリモコン送信機３１の信号を受信しやすいように入出庫口５に向けてられている。   As shown in FIGS. 4 (a) and 4 (b), the signal detection range of the external remote control receiver 21 provided in the external remote control receiver box 25 is the distance L in the vertical direction as shown in (a). The angle θ1 is such that reception is possible even when the height of the driver's seat is different, and the range covers the entire road width at the front of the parking facility. Further, as shown in (b), the horizontal direction is an angle θ2 at a distance L, and is in a range that can be received from any lane on the road in front of the parking facility. In addition, what is necessary is just to let these distance L and angle (theta) 1 and (theta) 2 be an appropriate range according to the layout of the multi-story parking equipment 1 and the entrance / exit 5 or the surrounding environment. The internal remote control receiver 26 also has the same distance L and angles θ1 and θ2. However, the internal remote control receiver 26 is directed to the entrance / exit 5 so that the signal of the remote control transmitter 31 operated from the outside of the entrance / exit 5 can be easily received.

図５に示すように、入出庫部７の内部の正面（後側）には、利用者が車内から車両Ｍの乗入れ姿勢を自身で確認するための鏡４１が設けられ、その上部には車両Ｍの進入状況に応じて「後進」「停止」「前進」が点灯する入庫案内灯４２が設けられている。この入庫案内灯４２は、案内放送スピーカ付としてもよい。この図にも示すように、入出庫部７の内部に設けられた上記内部リモコン受信機ボックス２８には、内部リモコン受信機２６とリモコン受信表示灯２７とが設けられている。   As shown in FIG. 5, a mirror 41 is provided on the front (rear side) inside the loading / unloading unit 7 so that the user can check the entry posture of the vehicle M from the inside of the vehicle. A warehousing guide lamp 42 that lights up “reverse”, “stop”, and “forward” in accordance with the state of entry of M is provided. The warehousing guide lamp 42 may be provided with a guidance broadcast speaker. As shown also in this figure, an internal remote control receiver 26 and a remote control reception indicator lamp 27 are provided in the internal remote control receiver box 28 provided inside the loading / unloading unit 7.

また、この入出庫部７内に設けられた車両検知器ＰＨは、後述する図７に示すように、入出庫部７の前端と後端とに設けられたワイド光電センサＰＨ２，ＰＨ４（多光軸センサ）を含めてセンサＰＨ１〜ＰＨ６が設けられている。ワイド光電センサＰＨ２，ＰＨ４は、人検知器兼用となっている。   In addition, as shown in FIG. 7 to be described later, the vehicle detector PH provided in the loading / unloading unit 7 includes wide photoelectric sensors PH2 and PH4 (multiple light sensors) provided at the front and rear ends of the loading / unloading unit 7. Sensors PH1 to PH6 including the axis sensor) are provided. The wide photoelectric sensors PH2 and PH4 are also used as human detectors.

さらに、上記乗入れ部１３の開口の周囲に形成された乗入床４４の左側と後側とが乗降通路４５となっており、この乗降通路４５には人検知用センサとなるマットスイッチ４６が設けられている。この例では車両Ｍを「後進」にて入庫する構成となっているため、運転席側の乗入床４４が乗降通路４５となり、この乗降通路４５にマットスイッチ４６が設けられている。乗降通路４５に設けられたマットスイッチ４６は必ずしも必要ではないが、人検知の一手段として設けられている。   Further, the left and rear sides of the boarding floor 44 formed around the opening of the boarding section 13 form a boarding / alighting passage 45, and a mat switch 46 serving as a human detection sensor is provided in the boarding / alighting path 45. It has been. In this example, since the vehicle M is stored in the “reversing direction”, the boarding floor 44 on the driver's seat side is a boarding / alighting passage 45, and a mat switch 46 is provided in the boarding / alighting path 45. The mat switch 46 provided in the boarding / alighting passage 45 is not necessarily required, but is provided as one means of human detection.

図６に示すように、上記制御装置２９は、ＲＯＭ（リード オンリー メモリ）、ＲＡＭ（ランダム アクセス メモリ）、ＣＰＵ（中央演算処理装置）を具備している。この制御装置２９は、Ｉ／Ｏ装置４７（入出力装置）を介して種々の信号を送受信している。このＩ／Ｏ装置４７は、外部リモコン受信機ボックス２５との間での信号送受信や、内部リモコン受信機ボックス２８との間での信号送受信を行っている。外部リモコン受信機ボックス２５との送受信は、外部リモコン受信機２１からの信号受信、リモコン受信表示灯２３への信号送信、道路灯２４への信号送信、呼番号表示部２２への信号送信が行われている。内部リモコン受信機ボックス２８との送受信は、内部リモコン受信機２６からの信号受信、リモコン受信表示灯２７への信号送信が行われている。これらのリモコン受信表示灯２３，２７は、リモコン受信機２１，２６が信号を受信すると、後述するように条件に応じて「緑 点滅」、「緑 点灯」、「赤 点滅」か「消灯」するようになっている。また、制御装置２９は、運転操作盤１０との間の信号送受信も行っている。   As shown in FIG. 6, the control device 29 includes a ROM (Read Only Memory), a RAM (Random Access Memory), and a CPU (Central Processing Unit). The control device 29 transmits and receives various signals via the I / O device 47 (input / output device). The I / O device 47 performs signal transmission / reception with the external remote control receiver box 25 and signal transmission / reception with the internal remote control receiver box 28. Transmission / reception with the external remote control receiver box 25 includes signal reception from the external remote control receiver 21, signal transmission to the remote control reception indicator lamp 23, signal transmission to the road lamp 24, and signal transmission to the call number display unit 22. It has been broken. For transmission / reception with the internal remote control receiver box 28, signal reception from the internal remote control receiver 26 and signal transmission to the remote control reception indicator lamp 27 are performed. When the remote control receivers 21 and 26 receive signals, these remote control reception indicator lamps 23 and 27 are “green flashing”, “green lighting”, “red flashing” or “off” depending on conditions as described later. It is like that. Further, the control device 29 also performs signal transmission / reception with the driving operation panel 10.

さらに、上記Ｉ／Ｏ装置４７は、上記以外に「パレット循環駆動部」や「入出庫口の扉開閉駆動部」等の駆動部４８との間での信号の入出力や、「入出庫部の車両・人検知器（センサＰＨ１〜ＰＨ６、マットスイッチ４６）」や「パレット駐車部の車両検知器」等の検知部４９（各種検知器）からの信号の入力や、入出庫部７内の入庫案内灯４２への信号出力を行っている。   In addition to the above, the I / O device 47 can input / output signals to / from the drive unit 48 such as a “pallet circulation drive unit” and a “door opening / closing door drive unit”, Input of signals from detectors 49 (various detectors) such as “vehicle / person detectors (sensors PH1 to PH6, mat switch 46)” and “vehicle detector of pallet parking unit”, The signal output to the warehousing guide lamp 42 is performed.

図７は、図１に示す立体駐車設備における入庫直前の入出庫部付近を示す作用説明の平面図であり、図８は、図１に示す立体駐車設備において入庫直後に利用者がリモコン操作により扉を閉める様子を示す作用説明の平面図である。これらの図面に基いて、車両の入出庫方法を以下に説明する。なお、上記説明と同一の構成には、同一符号を付して説明する。   FIG. 7 is a plan view of the operation description showing the vicinity of the loading / unloading unit immediately before the warehousing in the multi-story parking facility shown in FIG. 1, and FIG. 8 shows that the user can control the multi-story parking facility shown in FIG. It is a top view of action description which shows a mode that a door is closed. A vehicle loading / unloading method will be described below based on these drawings. In addition, the same code | symbol is attached | subjected and demonstrated to the structure same as the said description.

図７に示すように、この実施の形態の立体駐車設備１は、建物２と道路５１との間に歩道５２しかなく、入出庫口５の前に車両Ｍを一旦停車させる空地が無い例を示している。この例では、ターンテーブルを備えていないため、後進にて入庫し、前進にて出庫する構成である。また、建物２から道路側に運転操作盤１０を設置すると、歩道５２を歩く一般歩行者の通行に支障を来すため、運転操作盤１０を道路側に配置することができない例であり、建物２の内部に入出庫部７に隣接して管理ボックス８が配置され、この内部に運転操作盤１０が設置されている。   As shown in FIG. 7, the multi-story parking facility 1 of this embodiment has only a sidewalk 52 between a building 2 and a road 51, and there is no example of an open space where the vehicle M is temporarily stopped in front of the entrance / exit 5. Show. In this example, since the turntable is not provided, it is configured to enter in reverse and to output in advance. In addition, if the driving operation panel 10 is installed on the road side from the building 2, the driving operation panel 10 cannot be disposed on the road side because it impedes the passage of ordinary pedestrians walking on the sidewalk 52. 2, a management box 8 is arranged adjacent to the loading / unloading unit 7, and a driving operation panel 10 is installed therein.

管理ボックス８内には、駐車場管理人が駐在するようになっているが、原則的には利用者自身が入出庫の運転操作を行い、管理人は安全管理上駐在し、窓９から入出庫部７内の様子を窺い、トラブル発生時等に、例えば利用者に代わって運転操作盤１０にて必要な操作を代行する支援作業を行うようになっている。   In the management box 8, a parking lot manager is stationed, but in principle, the user himself performs the operation of entering and leaving, and the manager is stationed for safety management and enters through the window 9. When the trouble occurs, the operation in the delivery unit 7 is performed and, for example, a support operation is performed to perform a necessary operation on the operation panel 10 on behalf of the user.

図７は立体駐車設備１に車両Ｍを入庫させる状態を示しており、図の下方に実線で示す２台の車両Ｍ１，Ｍ２が入庫しようとしている状態を示している。今、入庫しようとする先行車両Ｍ１が外部リモコン受信機２１に向けてリモコン送信機３１で呼び送信し、制御装置２９で受付けられると、リモコン受信表示灯２３が点灯し、呼番号表示部２２に呼番号３９が表示され、利用者は自身の呼番号３９であることを視認し、扉６が開くのを待つ。この時、外部リモコン受信機２１のリモコン受信検知範囲Ｒ１は、予め、先行車両Ｍ１からの信号を受信できる範囲に制限されているので、入庫待ちの後続車両Ｍ２は検知範囲Ｒ１の外で待つことになり、先行車両Ｍ１に先立って後続車両Ｍ２から送信しても、受信されないようになっている。これにより、先行車両Ｍ１と後続車両Ｍ２との間で呼出しが逆転して利用者間でトラブルが発生するのを防止している。そして、扉６が開くと、利用者は車両Ｍ１を後進でパレット１１上に入庫させる。この入庫時には、上記図５の入庫案内灯４２の点灯状態を確認しながら行われる。   FIG. 7 shows a state in which the vehicle M is stored in the multi-story parking facility 1, and shows a state in which two vehicles M1 and M2 indicated by solid lines are about to enter in the lower part of the figure. Now, when the preceding vehicle M1 to enter the vehicle sends a call to the external remote control receiver 21 by the remote control transmitter 31 and is received by the control device 29, the remote control reception indicator lamp 23 is turned on, and the call number display unit 22 is displayed. The call number 39 is displayed, the user visually recognizes that the call number 39 is his / her own, and waits for the door 6 to open. At this time, since the remote control reception detection range R1 of the external remote control receiver 21 is limited in advance to a range in which a signal from the preceding vehicle M1 can be received, the following vehicle M2 waiting for entry waits outside the detection range R1. Thus, even if the vehicle is transmitted from the succeeding vehicle M2 prior to the preceding vehicle M1, it is not received. This prevents a call from being reversed between the preceding vehicle M1 and the following vehicle M2 and causing troubles between users. When the door 6 opens, the user moves the vehicle M1 backward onto the pallet 11. This warehousing is performed while confirming the lighting state of the warehousing guide lamp 42 in FIG.

図８に示すように、車両Ｍを入出庫部７のパレット１１上に入庫させた利用者は、降車して乗降通路４５から入出庫口５の外に出たところで入出庫部７内の無人を目視で確認した上で、リモコン送信機３１を内部リモコン受信機２６に向けて「安全確認」「ドア閉」釦を押して「扉閉」操作を行う。この時、パレット１１には入庫した車両Ｍが載置されているので、入出庫口５の右隅（反乗降通路側）から内部リモコン受信機２６にリモコン送信機３１を斜めに向けて信号を送信しても車両Ｍによって遮られて受信されないので、利用者は必然的に乗降通路４５を見通して送信操作を行うこととなり、自ずと入出庫部７内の目視による安全確認を励行することができる。   As shown in FIG. 8, the user who has loaded the vehicle M onto the pallet 11 of the loading / unloading unit 7 gets off the vehicle and exits from the loading / unloading passage 45 to the outside of the loading / unloading port 5. , The remote control transmitter 31 is pointed toward the internal remote control receiver 26 and the “safety check” and “door close” buttons are pressed to perform the “door close” operation. At this time, since the vehicle M that has entered the pallet 11 is placed, a signal is sent from the right corner of the loading / unloading port 5 (on the side opposite to the entrance / exit) to the internal remote control receiver 26 with the remote control transmitter 31 directed obliquely. Even if it is transmitted, it is blocked by the vehicle M and is not received, so the user inevitably performs the transmission operation while looking through the entrance / exit passage 45, and can naturally enforce safety confirmation by visual inspection in the entrance / exit section 7. .

また、この例では、内部リモコン受信機２６の信号受信可能な範囲Ｒ２の距離Ｌが最も遠い範囲で入出庫口５の外部に制限されており、遠方からの送信は受け付けられないようになっている。しかも、入出庫口５の外部の外部リモコン受信機２１と、入出庫部７内の後側（奥側）に配置された内部リモコン受信機２６とは、配置上数メートルの距離差が設けられているため受信範囲にも差があり、入庫後のリモコン送信機３１による「扉閉」操作は誤りなく行われる。   Further, in this example, the distance L of the range R2 in which the signal can be received by the internal remote control receiver 26 is limited to the outside of the entrance / exit 5 in the farthest range, and transmission from a distant place is not accepted. Yes. In addition, a distance difference of several meters is provided between the external remote control receiver 21 outside the entrance / exit 5 and the internal remote control receiver 26 arranged on the rear side (back side) in the entry / exit section 7. Therefore, there is a difference in the reception range, and the “door closing” operation by the remote control transmitter 31 after warehousing is performed without error.

さらに、この実施の形態では、入出庫口５の外部に運転操作盤１０が配設されていないため、利用者はリモコン送信機３１を使用することによってのみ入庫完了後の「扉閉」操作ができるので、リモコン送信機３１を車内に置き忘れることはあり得ず、置き忘れたとしても「扉閉」操作ができないことに直ぐに気付いて車内に取りに行くので、車両Ｍ内にリモコン送信機３１を置き忘れることがなくなる。   Further, in this embodiment, since the operation control panel 10 is not provided outside the entrance / exit 5, the user can perform the “door closing” operation after the completion of entry only by using the remote control transmitter 31. Since the remote control transmitter 31 can not be left in the car because it can be done, and even if it is left behind, it will be immediately noticed that the "door closing" operation cannot be performed, so the remote control transmitter 31 is left in the vehicle M. Nothing will happen.

また、この時、外部リモコン受信機２１の受信検知範囲Ｒ１に入った待機状態の後続車両Ｍからリモコン送信機３１によって「扉閉」操作が誤って行われたとしても、扉６が開放された状態では制御装置２９が外部リモコン受信機２１を受信不可の状態として、入庫完了した利用者による内部リモコン受信機２６への「扉閉」操作しか扉６の閉操作ができないようにしている。   At this time, even if the “door closing” operation is mistakenly performed by the remote control transmitter 31 from the standby vehicle M that has entered the reception detection range R1 of the external remote control receiver 21, the door 6 is opened. In this state, the control device 29 makes the external remote control receiver 21 unreceivable so that the door 6 can be closed only by the “door closing” operation to the internal remote control receiver 26 by the user who has finished warehousing.

図９は、図７に示す立体駐車設備における入庫時のフローチャートであり、図１０は、図８に示す立体駐車設備における出庫時のフローチャートである。これらのフローチャートに基いて上記入出庫方法をより詳しく説明する。なお、図１０，１１のフローチャートでは、「操作する人」と「リモコン受信機ボックス」と「駐車装置の動き」とを分けて説明している。また、上記説明と同一の構成には、同一符号を付して説明する。   9 is a flowchart at the time of warehousing in the multilevel parking facility shown in FIG. 7, and FIG. 10 is a flowchart at the time of warehousing in the multilevel parking facility shown in FIG. Based on these flowcharts, the loading / unloading method will be described in more detail. In the flowcharts of FIGS. 10 and 11, “operator”, “remote control receiver box”, and “movement of the parking device” are described separately. Further, the same components as those described above will be described with the same reference numerals.

図９に示すように、入庫時、利用者は入出庫口５の手前に車両Ｍを停車させ、車内（一且降車してもよい）から外部リモコン受信機ボックス２５のリモコン受信表示灯２３と呼番号表示部２２とを確認する。これらが消灯していれば、入出庫口５付近の安全を確認した上で、外部リモコン受信機２１に向けてリモコン送信機３１の安全確認釦３４を押す。これによりリモコン受信表示灯２３が「緑 点滅」する。その後、外部リモコン受信機２１に向けてリモコン送信機３１のスタート釦３５を押す。これにより制御装置２９は、外部リモコン受信機２１の受信信号を照合し、契約利用者の入庫要求であると判断すれば、リモコン受信表示灯２３が「緑 点灯」となり、呼番号表示部２２に「呼番号」が表示されて、空パレット１１が入出庫部７に呼び出される。空パレット１１が入出庫部７の乗入れ部１３に着床すると、入出庫口５の扉６が開かれて、呼番号表示部２２の呼番号が消灯する。この扉６が開くと、外部リモコン受信機２１は受信不可の状態となる。   As shown in FIG. 9, at the time of warehousing, the user stops the vehicle M before the loading / unloading port 5 and the remote control reception indicator lamp 23 of the external remote control receiver box 25 from the inside of the vehicle (may be dismounted once) The call number display unit 22 is checked. If these lights are off, the safety confirmation button 34 of the remote control transmitter 31 is pushed toward the external remote control receiver 21 after confirming the safety near the entrance / exit 5. As a result, the remote control reception indicator lamp 23 “flashes green”. Thereafter, the start button 35 of the remote control transmitter 31 is pushed toward the external remote control receiver 21. As a result, the control device 29 collates the received signal from the external remote control receiver 21 and determines that it is a contract user's warehousing request, the remote control reception indicator lamp 23 turns “green” and the call number display unit 22 The “call number” is displayed, and the empty pallet 11 is called to the loading / unloading unit 7. When the empty pallet 11 reaches the loading / unloading unit 13 of the loading / unloading unit 7, the door 6 of the loading / unloading port 5 is opened and the call number on the call number display unit 22 is turned off. When this door 6 is opened, the external remote control receiver 21 is in a state incapable of receiving.

そして、利用者は車両Ｍを後進運転して、入出庫口５から入出庫部７内に入る。車両Ｍが入出庫部７内に入るとリモコン受信表示灯２３，２７が「赤 点滅」となり、車両Ｍを空パレット１１の所定位置範囲に乗入れて、入庫案内灯４２の「停車」表示が点灯したら停車して降車する。その後、利用者は入出庫口５内の安全を確認しつつ入出庫口５から外に出たところで、入出庫部７の後側に配置された内部リモコン受信機２６に向け、リモコン送信機３１の安全確認釦３４を押す。これにより、リモコン受信表示灯２３，２７が消灯する。   Then, the user drives the vehicle M backward and enters the loading / unloading unit 7 through the loading / unloading port 5. When the vehicle M enters the entry / exit section 7, the remote control reception indicator lamps 23 and 27 are "red flashing", the vehicle M is put into a predetermined position range of the empty pallet 11, and the "stop" display of the entry guide lamp 42 is lit. Then stop and get off. Thereafter, when the user goes out of the entrance / exit 5 while confirming the safety in the entrance / exit 5, the remote control transmitter 31 is directed toward the internal remote control receiver 26 disposed on the rear side of the entrance / exit 7. The safety confirmation button 34 is pressed. Thereby, the remote control reception indicator lamps 23 and 27 are turned off.

さらに、内部リモコン受信機２６に向けてリモコン送信機３１のドア閉釦３６を押すと、入出庫口５の扉６が閉まる。この時、前記したように、入庫した車両Ｍによってリモコン受信機３１の信号が遮断されるので、自ずと乗降通路４５側から入出庫部７の奥に向けてリモコン送信機３１を操作することとなり、入出庫口５の外部付近から入出庫部７内を目視で確認しながらの「扉閉」操作となる。そして、扉６が閉まると、外部リモコン受信機２１が受信可能な状態となる。その後、入出庫口５の扉６が完全に閉まるのを見届けて車両Ｍの入出庫作業が終了する。   Further, when the door close button 36 of the remote control transmitter 31 is pushed toward the internal remote control receiver 26, the door 6 of the entrance / exit 5 is closed. At this time, as described above, since the signal of the remote control receiver 31 is cut off by the vehicle M that has been received, the remote control transmitter 31 will be operated from the entrance / exit passage 45 side toward the back of the loading / unloading section 7, The “door closing” operation is performed while visually confirming the inside of the entrance / exit section 7 from the outside of the entrance / exit 5. When the door 6 is closed, the external remote control receiver 21 is ready for reception. Thereafter, it is noticed that the door 6 of the entrance / exit 5 is completely closed, and the entry / exit operation of the vehicle M is completed.

一方、図１０に示すように、出庫時は、利用者は入出庫口５の付近まで歩いて行き、外部リモコン受信機ボックス２５のリモコン受信表示灯２３と呼番号表示部２２とを確認する。これらが消灯していれば、入出庫口５付近の安全を確認した上で、外部リモコン受信機２１に向けてリモコン送信機３１の安全確認釦３４を押す。これによりリモコン受信表示灯２３が「緑 点滅」し、その後、外部リモコン受信機２１に向けてリモコン送信機３１のスタート釦３５を押す。これにより制御装置２９は、外部リモコン受信機２１の受信信号を照合し、契約利用者の出庫要求であると判断すれば、リモコン受信表示灯２３が「緑 点灯」となり、呼番号表示部２２に「呼番号」が表示されて、出庫要求されたパレット１１が呼び出される。出庫要求されたパレット１１が乗入れ部１３に着床すると、入出庫口５の扉６が開かれて、呼番号表示部２２の呼番号が消灯する。この扉６が開くと、外部リモコン受信機２１は受信不可の状態となる。   On the other hand, as shown in FIG. 10, at the time of delivery, the user walks to the vicinity of the entrance / exit 5 and confirms the remote control reception indicator lamp 23 and the call number display unit 22 of the external remote control receiver box 25. If these lights are off, the safety confirmation button 34 of the remote control transmitter 31 is pushed toward the external remote control receiver 21 after confirming the safety near the entrance / exit 5. As a result, the remote control reception indicator lamp 23 “flashes green”, and then the start button 35 of the remote control transmitter 31 is pushed toward the external remote control receiver 21. As a result, the control device 29 collates the received signal from the external remote control receiver 21 and determines that it is a contract user's exit request, the remote control reception indicator lamp 23 becomes “green”, and the call number display unit 22 The “call number” is displayed, and the pallet 11 requested to leave is called. When the requested pallet 11 arrives at the loading section 13, the door 6 of the loading / unloading port 5 is opened, and the call number on the call number display section 22 is turned off. When this door 6 is opened, the external remote control receiver 21 is in a state incapable of receiving.

そして、利用者が入出庫部７内に入るとリモコン受信表示灯２３，２７が「赤 点滅」となり、利用者は車両Ｍに乗り込み、入出庫口５から出て、一旦停車する。その後、入出庫口５の付近に人が居ないことを確認し、車内又は一旦降車して車外から内部リモコン受信機２６に向けてリモコン送信機３１で安全確認釦３４を押すとリモコン受信表示灯２３，２７が消灯し、続けて内部リモコン受信機２６に向けてリモコン送信機３１でドア閉釦３６を押すと入出庫口５の扉６が閉まる。この「扉閉」操作も、入出庫口５の外部付近から入出庫部７内を目視で確認しながらの「扉閉」操作となる。そして、扉６が閉まると、外部リモコン受信機２１が受信可能な状態となる。その後、入出庫口５の扉６が完全に閉まるのを見届けて車両Ｍの出庫作業が終了する。   Then, when the user enters the entry / exit section 7, the remote control reception indicator lamps 23 and 27 become “red flashing”, the user gets into the vehicle M, exits the entrance / exit 5 and stops temporarily. Thereafter, it is confirmed that there is no person in the vicinity of the entrance / exit 5 and when the safety confirmation button 34 is pushed with the remote control transmitter 31 toward the internal remote control receiver 26 from the inside of the vehicle or once getting off the vehicle, the remote control reception indicator light is displayed. When the door closing button 36 is pushed by the remote control transmitter 31 toward the internal remote control receiver 26, the door 6 of the entrance / exit 5 is closed. This “door closing” operation is also a “door closing” operation while visually confirming the inside of the loading / unloading section 7 from the outside of the loading / unloading port 5. When the door 6 is closed, the external remote control receiver 21 is ready for reception. Thereafter, it is noticed that the door 6 of the entrance / exit 5 is completely closed, and the exit operation of the vehicle M is completed.

なお、これら図９，１０のフローチャートでは、外部リモコン受信機２１と内部リモコン受信機２６との配置上の距離差による受信距離Ｌの差に加え、上記した各フローチャートの「駐車装置の動き」に点線枠で示したように、入出庫口５の扉６が開いたのに伴い外部リモコン受信機２１が制御ソフト上「受信不可」となって受信機能を遮断するようにしている。これにより、入庫後、利用者が入出庫口５の外部の外部リモコン受信機２１に向けて、ドア閉釦３６を押してしまったとしても扉６閉まらず、入出庫部７内の目視安全確認を行わずに扉６を閉じる、という行為を確実に防止している。   In the flowcharts of FIGS. 9 and 10, in addition to the difference in the reception distance L due to the difference in the arrangement distance between the external remote control receiver 21 and the internal remote control receiver 26, the “movement of the parking device” in each of the flowcharts described above. As indicated by the dotted line frame, as the door 6 of the entrance / exit 5 is opened, the external remote control receiver 21 becomes “reception impossible” on the control software, and the reception function is cut off. As a result, even if the user presses the door close button 36 toward the external remote control receiver 21 outside the entrance / exit 5 after entering the warehouse, the door 6 is not closed and the visual safety confirmation in the entrance / exit section 7 is confirmed. The act of closing the door 6 without performing it is reliably prevented.

図１１は、図１に示す立体駐車設備において入庫要求か出庫要求かを判断するフローチャートである。上記図９は入庫時のフローチャートを示し、上記図１０は出庫時のフローチャートを示しているが、入庫要求か出庫要求かの判断を、外部リモコン受信機２１がリモコン送信機３１の信号を受信した時に制御装置２９で判断するようにしてもよい。   FIG. 11 is a flowchart for determining whether the entry request or the exit request in the multi-story parking facility shown in FIG. FIG. 9 shows a flow chart at the time of warehousing, and FIG. 10 shows a flow chart at the time of warehousing. The external remote control receiver 21 receives the signal from the remote control transmitter 31 in order to determine whether the warehousing request or the warehousing request has occurred. Sometimes, the control device 29 may make the determination.

すなわち、制御装置２９において、受信した信号が外部リモコン受信機２１で受信したものかが判断された後、その信号が正常な信号かが判断される。この正常な信号かの判断は、リモコン送信機３１の安全確認釦３４、スタート釦３５等の釦操作、及び同時に送信される呼番号３９の信号が正規かどうか等で判断される。   That is, after determining in the control device 29 whether the received signal is received by the external remote control receiver 21, it is determined whether the signal is a normal signal. Whether the signal is a normal signal is determined by operating the safety confirmation button 34 and the start button 35 of the remote control transmitter 31 and whether or not the signal of the call number 39 transmitted at the same time is normal.

そして、その呼番号３９に対応したパレット１１に車両Ｍが入庫済みか否かが判断される。そのパレット１１に入庫済みの場合は「出庫要求」と判断され、入庫していない場合は「入庫要求」と判断される。「入庫要求」と判断された場合は、上記図９のフローチャートに示すように、空パレット１１が特定されて、入出庫部７に呼び出されるフローへと進む。この空パレット１１の特定は、昇降路に近い空パレットを選択するようにすれば短時間で呼出すことができる。この「入庫要求」の場合、図９のフローチャートが終了すると入庫完了かが判断され、入庫完了と判断されると呼番号３９と入庫パレット１１の番号とが対で制御装置２９に記憶される。一方、「出庫要求」と判断された場合は、上記図１０のフローチャートに示すように、呼番号３９に対応するパレット１１が入出庫部７に呼び出されるフローへと進む。このように、「入庫要求」か「出庫要求」かを自動的に判断する機能を制御装置２９に備えさせてもよい。   Then, it is determined whether or not the vehicle M has been stored in the pallet 11 corresponding to the call number 39. If the pallet 11 has been received, it is determined as a “recall request”, and if it has not been received, it is determined as a “reception request”. When it is determined as “reception request”, as shown in the flowchart of FIG. 9, an empty pallet 11 is identified and the process proceeds to a flow called by the storage / removal unit 7. The specification of the empty pallet 11 can be called in a short time if an empty pallet close to the hoistway is selected. In the case of this “warehousing request”, it is determined whether the warehousing is completed when the flowchart of FIG. 9 is completed. When it is determined that the warehousing is completed, the call number 39 and the number of the pallet 11 are stored in the control device 29 as a pair. On the other hand, if it is determined that the “exit request”, the process proceeds to a flow in which the pallet 11 corresponding to the call number 39 is called by the in / out unit 7 as shown in the flowchart of FIG. As described above, the control device 29 may be provided with a function of automatically determining whether it is a “receipt request” or a “exit request”.

以上のように、上記立体駐車設備１によれば、入庫後の「扉閉」操作は、必然的に入出庫口５の直ぐ外の付近から入出庫部７内、特に乗降通路４５が見通せる位置から内部リモコン受信機２６に向けてリモコン送信機３１で扉６を閉じる操作をしなければ「扉閉」操作ができないので、入庫後の入出庫部７内の目視による安全確認が必然的に励行される。また、上記立体駐車設備１の場合は、リモコン送信機３１でしか入庫完了後の「扉閉」操作ができないので、リモコン送信機３１を入庫車内に置き忘れるのを自ずと防止できる。   As described above, according to the above-described multilevel parking facility 1, the “door closing” operation after warehousing inevitably has a position where the entrance / exit portion 7, particularly the entry / exit passage 45 can be seen from the vicinity immediately outside the entrance / exit 5. Since the “door closing” operation cannot be performed unless the door 6 is closed with the remote control transmitter 31 from the remote control to the internal remote control receiver 26, a safety check by visual inspection in the storage / removal unit 7 after warehousing is inevitably enforced. Is done. In the case of the multi-story parking facility 1, since the “door closing” operation after completion of warehousing can be performed only by the remote control transmitter 31, it is possible to automatically prevent the remote control transmitter 31 from being left in the warehousing vehicle.

なお、上記実施の形態では、地下に設置した円形循環式駐車装置を例に説明したが、駐車装置の種類は限定されず、エレベータ方式、垂直循環方式、スタッカークレーン方式、水平循環方式、箱形循環方式、平面往復方式等でもよく、さらには地上やピットに設置される多段式駐車装置でもよい。多段式駐車装置の場合、前面昇降柵が上記実施の形態における入出庫口５の扉６に相当する。また、上記実施の形態では、入出庫口５を地上に配置しているが、地下でも地上の高位置（屋上等）でもよい。   In the above embodiment, the circular circulation parking device installed in the basement has been described as an example. However, the type of the parking device is not limited, and is an elevator method, a vertical circulation method, a stacker crane method, a horizontal circulation method, a box shape. A circulation system, a plane reciprocation system, or the like may be used, and a multistage parking apparatus installed on the ground or in a pit may be used. In the case of a multistage parking apparatus, the front elevating fence corresponds to the door 6 of the entrance / exit 5 in the above embodiment. Moreover, in the said embodiment, although the entrance / exit 5 is arrange | positioned on the ground, it may be underground or a high position (the rooftop etc.) on the ground.

さらに、上記実施の形態は、道路上で入庫待機する特殊なレイアウトであるが、入出庫口５前面に充分なスペースがあれば、この前面空地に入庫車両を待機させてもよく、またこの空地に車両方向転換用ターンテーブルを設置したり、或いは入出庫部７内で車両方向転換のためのパレット旋回装置を設置してもよく、レイアウトは上記実施の形態に限定されるものではない。   Furthermore, although the said embodiment is a special layout which waits for goods storage on a road, if there is sufficient space in the front of the entrance / exit mouth 5, an incoming vehicle may be made to wait in this front space, and this space A turntable for changing the vehicle direction may be installed in the vehicle, or a pallet turning device for changing the vehicle direction may be installed in the loading / unloading unit 7, and the layout is not limited to the above embodiment.

また、上記実施の形態では、１つの入出庫部７に１つの入出庫口５としたが、１つの入出庫部７に２つの入出庫口５を有する立体駐車設備でも適用できる。この場合、外部リモコン受信機２１は個々の入出庫口５の外に設け、内部リモコン受信機２６は入出庫部７内に１個設けるか、また個々の入出庫口５に対応して２個設けるか、何れでも適用可能である。   Moreover, in the said embodiment, although it was set as one entrance / exit 5 in one entrance / exit part 7, it can apply also to the multilevel parking facility which has 2 entrances / exits 5 in 1 entrance / exit part. In this case, the external remote control receiver 21 is provided outside the individual loading / unloading port 5, and one internal remote control receiver 26 is provided in the loading / unloading unit 7 or two corresponding to each loading / unloading port 5. Either can be applied.

さらに、上記実施の形態では、管理ボックス８内に運転操作盤１０を設けているが、条件に応じて入出庫口５の外部に運転操作盤１０を設置してもよい。この場合、運転操作盤１０に設けられた「扉閉」スイッチを利用者は通常使用できないものとし、何らかのトラブルや保守点検時のみ駐車場管理人や保守員のみが扱えるものとすればよい。   Furthermore, in the said embodiment, although the driving operation panel 10 is provided in the management box 8, you may install the driving operation panel 10 in the exterior of the entrance / exit 5 according to conditions. In this case, the “door closed” switch provided on the operation panel 10 is not normally used by the user, and only the parking lot manager or the maintenance staff can handle only during some trouble or maintenance inspection.

また、上述した実施の形態は一例を示しており、本発明の要旨を損なわない範囲での種々の変更は可能であり、本発明は前述した実施の形態に限定されるものではない。   The above-described embodiment shows an example, and various modifications can be made without departing from the gist of the present invention. The present invention is not limited to the above-described embodiment.

本発明に係る機械式駐車設備は、入出庫部の内部確認を目視で行ってから「扉閉」操作をリモコン送信機で行うようにしたい駐車設備に利用できる。   The mechanical parking facility according to the present invention can be used for a parking facility in which it is desired to perform the “door closing” operation with a remote control transmitter after visually confirming the inside of the storage / exit section.

本発明の機械式駐車設備の一実施の形態に係る立体駐車設備の入出庫口付近を示す正面図である。It is a front view which shows the entrance / exit vicinity of the multilevel parking equipment which concerns on one embodiment of the mechanical parking equipment of this invention. リモコン送信機の一例を示す平面図である。It is a top view which shows an example of a remote control transmitter. 図１に示す立体駐車設備の入出庫口外側上方部に設置した外部リモコン受信機ボックスの正面図である。It is a front view of the external remote control receiver box installed in the entrance and exit outside upper part of the multilevel parking facility shown in FIG. 図３に示す外部リモコン受信機ボックスに備えられた外部リモコン受信機の検知範囲の一例を示す図面であり、(a) は垂直方向検知範囲、(b) は水平方向検知範囲を示した図である。It is drawing which shows an example of the detection range of the external remote control receiver with which the external remote control receiver box shown in FIG. 3 was equipped, (a) is a vertical direction detection range, (b) is a figure which showed the horizontal direction detection range. is there. 図１に示す立体駐車設備における入出庫部内の正面図である。It is a front view in the loading / unloading part in the multilevel parking facility shown in FIG. 本発明の立体駐車設備における制御ブロック図である。It is a control block diagram in the multilevel parking facility of the present invention. 図１に示す立体駐車設備における入庫直前の入出庫部付近を示す作用説明の平面図である。It is a top view of effect | action description which shows the entrance / exit part vicinity just before entering in the multilevel parking facility shown in FIG. 図１に示す立体駐車設備において入庫直後に利用者がリモコン操作により扉を閉める様子を示す作用説明の平面図である。It is a top view of effect | action description which shows a mode that a user closes a door by remote control operation immediately after warehousing in the multilevel parking facility shown in FIG. 図７に示す立体駐車設備における入庫時のフローチャートである。It is a flowchart at the time of warehousing in the multilevel parking facility shown in FIG. 図８に示す立体駐車設備における出庫時のフローチャートである。It is a flowchart at the time of leaving in the multistory parking equipment shown in FIG. 図１に示す立体駐車設備において入庫要求か出庫要求かを判断するフローチャートである。It is a flowchart which judges whether it is a warehouse request | requirement or a warehouse request | requirement in the multilevel parking facility shown in FIG. 従来の立体駐車設備における入出庫口付近を示す斜視図である。It is a perspective view which shows the entrance / exit vicinity in the conventional multi-story parking facility.

符号の説明Explanation of symbols

１…立体駐車設備
５…入出庫口
６…扉
７…入出庫部
１０…運転操作盤
１１…パレット
１２…パレット搬出入用リフト
１３…乗入れ部
１４…昇降路
１７…機械式駐車装置
２１…外部リモコン受信機
２２…呼番号表示部
２３…リモコン受信表示灯
２４…道路灯
２５…外部リモコン受信機ボックス
２６…内部リモコン受信機
２７…リモコン受信表示灯
２８…内部リモコン受信機ボックス
３１…リモコン送信機
３４…安全確認釦
３５…スタート釦
３６…ドア閉釦
３８…送信表示ランプ
３９…呼番号
４４…乗入床
４５…乗降通路
４７…Ｉ／Ｏ装置
４８…駆動部
４９…検知部
ＰＨ…車両検知器
Ｍ…車両 1 ... Multi-story parking facilities
5 ... Entry / exit entrance
6 ... door
DESCRIPTION OF SYMBOLS 7 ... Entry / exit part 10 ... Operation control panel 11 ... Pallet 12 ... Pallet carrying in / out lift 13 ... Entrance part 14 ... Hoistway 17 ... Mechanical parking device 21 ... External remote control receiver 22 ... Call number display part 23 ... Remote control reception Indicator light 24 ... Road light 25 ... External remote control receiver box 26 ... Internal remote control receiver 27 ... Remote control reception indicator 28 ... Internal remote control receiver box 31 ... Remote control transmitter 34 ... Safety confirmation button 35 ... Start button 36 ... Door close Button 38 ... Transmission display lamp 39 ... Call number 44 ... Boarding floor 45 ... Boarding passage 47 ... I / O device 48 ... Drive part 49 ... Detection part PH ... Vehicle detector
M ... Vehicle

Claims (6)

車両の入出庫部と、
該入出庫部への車両入出庫時に開閉する扉を有する入出庫口と、
該入出庫口の外部でリモコン送信機からの信号を受信する外部リモコン受信機と、
前記入出庫部の内部でリモコン送信機からの信号を受信する内部リモコン受信機と、
前記外部リモコン受信機が信号を受信すると前記入出庫口の扉を開放し、前記内部リモコン受信機が信号を受信すると前記入出庫口の扉を閉鎖する制御装置と、
を備えたことを特徴とする機械式駐車設備。 The vehicle entry / exit section,
A loading / unloading port having a door that opens and closes when the vehicle enters and leaves the loading / unloading unit;
An external remote control receiver for receiving a signal from a remote control transmitter outside the loading / unloading port;
An internal remote control receiver for receiving a signal from a remote control transmitter inside the loading / unloading unit;
When the external remote control receiver receives a signal, opens the door of the warehouse, and when the internal remote controller receiver receives a signal, the control device that closes the door of the warehouse.
A mechanical parking facility characterized by comprising: 前記入出庫部の側部に乗降通路を設け、
前記内部リモコン受信機を該乗降通路の後側に配置した請求項１に記載の機械式駐車設備。 A boarding passage is provided on the side of the warehouse.
The mechanical parking facility according to claim 1, wherein the internal remote control receiver is disposed on the rear side of the getting-on / off passage. 前記内部リモコン受信機の信号検知範囲を入出庫口の外部付近に制限した請求項１又は請求項２に記載の機械式駐車設備。   The mechanical parking facility according to claim 1 or 2, wherein a signal detection range of the internal remote control receiver is limited to the vicinity of the outside of the entrance / exit. 前記入出庫口の外部に運転操作盤を配置した請求項１〜３のいずれか１項に記載の機械式駐車設備。   The mechanical parking facility according to any one of claims 1 to 3, wherein a driving operation panel is disposed outside the entrance / exit. 機械式駐車設備の入出庫制御方法であって、
リモコン送信機による入出庫口の外部から外部リモコン受信機への扉開信号を受信すると入出庫口の扉を開放し、
該扉を開放した入出庫口から入出庫部内に車両を入庫させた後、
該入出庫部から外に出た利用者のリモコン送信機による前記入出庫口の外部付近から前記入出庫部内の内部リモコン受信機への扉閉信号を受信すると入出庫口の扉を閉鎖することを特徴とする機械式駐車設備の入出庫制御方法。 A method for controlling entry and exit of a mechanical parking facility,
When the door open signal to the external remote control receiver is received from the outside of the entrance / exit by the remote control transmitter, the door of the entrance / exit is opened,
After allowing the vehicle to enter the storage area from the entrance / exit where the door is opened,
When the door closing signal to the internal remote control receiver in the loading / unloading unit is received from the outside of the loading / unloading port by the remote control transmitter of the user who has left the loading / unloading unit, the door of the loading / unloading port is closed. An entry / exit control method for a mechanical parking facility. 前記入出庫口の扉が開放している状態では前記外部リモコン受信機の受信機能を遮断させる請求項５に記載の機械式駐車設備の入出庫制御方法。   The method for controlling entry / exit of a mechanical parking facility according to claim 5, wherein the receiving function of the external remote control receiver is shut off when the door of the entrance / exit is open.
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JP2012026121A (en) * 2010-07-21 2012-02-09 Mitsubishi Heavy Industries Parking Co Ltd Control method of mechanical multistory parking and mechanical multistory parking controlled by the same
JP2014139401A (en) * 2014-03-24 2014-07-31 Mitsubishi Heavy Industries Pariking Co Ltd Control method of mechanical multistory parking and mechanical multistory parking controlled by the same
JP2015048595A (en) * 2013-08-30 2015-03-16 三菱重工メカトロシステムズ株式会社 Mechanical parking device and control method for the same
JP2018025861A (en) * 2016-08-08 2018-02-15 Ｉｈｉ運搬機械株式会社 Leaving control device and leaving control method
JP2019094629A (en) * 2017-11-20 2019-06-20 住友重機械搬送システム株式会社 Mechanical parking facility
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012026121A (en) * 2010-07-21 2012-02-09 Mitsubishi Heavy Industries Parking Co Ltd Control method of mechanical multistory parking and mechanical multistory parking controlled by the same
JP2015048595A (en) * 2013-08-30 2015-03-16 三菱重工メカトロシステムズ株式会社 Mechanical parking device and control method for the same
JP2014139401A (en) * 2014-03-24 2014-07-31 Mitsubishi Heavy Industries Pariking Co Ltd Control method of mechanical multistory parking and mechanical multistory parking controlled by the same
JP2018025861A (en) * 2016-08-08 2018-02-15 Ｉｈｉ運搬機械株式会社 Leaving control device and leaving control method
JP2019094629A (en) * 2017-11-20 2019-06-20 住友重機械搬送システム株式会社 Mechanical parking facility
JP7051389B2 (en) 2017-11-20 2022-04-11 住友重機械搬送システム株式会社 Mechanical parking, mechanical parking system
JP2021098970A (en) * 2019-12-20 2021-07-01 新明和工業株式会社 Mechanical parking facility
JP7321921B2 (en) 2019-12-20 2023-08-07 新明和工業株式会社 mechanical parking equipment

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