BE1024979B1 - Method and device for automatic parking of a car - Google Patents

Abstract

The invention relates to a method and a device for automatically parking a car. The carriage is symmetrically positioned in an entrance area based on interrupted signals from optical sensors. A guide is slid under the carriage, lifts the carriage, and is slid onto a tray. The platform brings the car to a parking space. The guide is pushed into the parking space and the car is parked. In a preferred embodiment, the guide for each bearing wheel of the carriage comprises a pair of pivotally mounted support elements each comprising two rotatable rollers for lifting a wheel.

Description

(73) Holder (s):

B-SI BVBA 2600, BERCHEM Belgium (72) Inventor (s):

SCHEPERS Johan 2600 BERCHEM Belgium (54) Method and device for automatic parking of a car (57) The invention relates to a method and device for automatic parking of a car. The car is symmetrically positioned in an entrance area on the basis of interrupted signals from optical sensors. A guide is slid under the carriage, lifts the carriage, and is slid onto a platform. The platform takes the car to a parking space. The guide is pushed into the parking space and the car is dropped off. In a preferred embodiment, for each carrying wheel of the carriage, the guide comprises a pair of hingedly attached support elements, each comprising two rotatable rollers for lifting a wheel.

Fig. 1

BELGIAN INVENTION PATENT

FPS Economy, K.M.O., Self-employed & Energy

Publication number: 1024979 Filing number: BE2017 / 5452

Intellectual Property Office

International Classification: E04H 6/18 E04H 6/42 Date of Issue: 29/08/2018

The Minister of Economy,

Having regard to the Paris Convention of 20 March 1883 for the Protection of Industrial Property;

Having regard to the Law of March 28, 1984 on inventive patents, Article 22, for patent applications filed before September 22, 2014;

Having regard to Title 1 Invention Patents of Book XI of the Economic Law Code, Article XI.24, for patent applications filed from September 22, 2014;

Having regard to the Royal Decree of 2 December 1986 on the filing, granting and maintenance of inventive patents, Article 28;

Having regard to the application for an invention patent received by the Intellectual Property Office on 26/06/2017.

Whereas for patent applications that fall within the scope of Title 1, Book XI, of the Code of Economic Law (hereinafter WER), in accordance with Article XI.19, § 4, second paragraph, of the WER, the granted patent will be limited. to the patent claims for which the novelty search report was filed, when the patent application is the subject of a novelty search report indicating a lack of unity of invention as referred to in paragraph 1, and when the applicant does not limit his filing and does not file a divisional filing in accordance with the search report.

Decision:

Article 1

B-Sl BVBA, Grotesteenweg 602, 2600 BERCHEM Belgium;

represented by

BRANTS Johan Philippe Emile, Pauline Van Pottelsberghelaan 24, 9051, GHENT;

CRABBE Ellen, Pauline van Pottelsberghelaan 24, 9051, GHENT;

a Belgian invention patent with a term of 20 years, subject to payment of the annual fees as referred to in Article XI.48, § 1 of the Economic Law Code, for: Method and device for the automatic parking of a car.

INVENTOR (S):

SCHEPERS Johan, Grotesteenweg 602, 2600, BERCHEM;

PRIORITY:

BREAKDOWN:

Split from basic application:

Filing date of the basic application:

Article 2. - This patent is granted without prior investigation into the patentability of the invention, without warranty of the Merit of the invention, nor of the accuracy of its description and at the risk of the applicant (s).

Brussels, 29/08/2018,

With special authorization:

BE2017 / 5452

METHOD AND I NRI CHTI NG FOR AUTOMATIC PARKING OF A CAR

TECHNICAL DOMAIN N

The invention relates to a method and an apparatus for automatic parking of a car. The car is symmetrically positioned in an entrance area on the basis of interrupted signals from optical sensors. A guide is slid under the carriage, lifts the carriage, and is slid onto a platform. The platform takes the car to a parking space. The guide is pushed into the parking space and the car is dropped off. In a preferred embodiment, the guide for each carrying wheel of the carriage comprises a pair of hingedly mounted support elements each comprising two rotatable wheels for lifting a wheel.

STATE OF THE TECHNI EK

The available parking space is limited in cities. In traditional parking garages, a lot of space is also lost due to entrances and exits, lits, safety measures for people, lanes, and space between parking spaces for opening doors. Underground parking garages can also inspire fear among users. In addition, people can walk around freely in traditional car parks, which means there is a risk of vandalism or theft. Furthermore, the building above can often also be entered via an underground parking garage, eg via the staircase, even if this is not the intention. Furthermore, drivers lose a lot of time entering and leaving a parking garage and looking for a parking space in a parking garage.

BE 1 009 203 A7 describes an automated parking system comprising a lifting platform comprising a guide for lifting a car. The car can be centered because the entrance of the parking system comprises a movable floor in two or more parts and parallel bars can come out from the sides to detect the car. The guide comprises slidable bars comprising folding arms for lifting the straps. Two movable arms are required per wheel. The arms consist of conical cylinders.

BE2017 / 5452

EP 1 108 833 describes a process for automatic parking of a vehicle characterized in particular by registering the vehicle, positioning the vehicle correctly, lifting the vehicle from the floor, transporting the vehicle to a transfer station, moving from the vehicle through the transfer station to a suitable parking space, and removing the vehicle from the transfer station to the intended parking space. Furthermore, EP 1 108 833 describes a device for automatic parking of the vehicle comprising a reception area. The reception area may include feel sensors attached to telescopic arms on either side of a conveyor belt for correct vehicle positioning. The device further comprises a chassis with two rotatable arms per wheel of the vehicle for lifting the vehicle. Each of the arms includes one freely rotatable roller that can be pushed against the wheel.

The above documents describe mechanical feel sensors that can detect the position of the car through contact with a car. However, this is disadvantageous because mechanically moving elements are very susceptible to defects. Furthermore, contact with the vehicle can damage the sensors and / or the vehicle.

The above documents describe an undercarriage for lifting a vehicle. To this end, the chassis comprises two arms per wheel. One end of each arm is hinged. The other end rotates around the hinged mount. A wheel can be pushed up by moving a corresponding pair of arms towards each other. For this purpose, an arm comprises one freely rotatable roller that can be unrolled against the wheel. This is dangerous, however, because in the case of incorrect positioning of the chassis including the arms relative to a wheel, the wheel can be lifted over the rotatable roller. Then the wheel is not in between the arms, but on one side of both arms. Due to this position of the wheel, the arms can no longer be brought to the starting position and the vehicle can get stuck.

The present invention aims to find a solution to at least some of the aforementioned Problems.

BE2017 / 5452

SUMMARY OF THE INVENTION

In a first aspect, the invention relates to a method for the automatic parking of a car according to claim 1.

In a second aspect, the invention relates to a device for automatic parking of a car according to claim 6.

The method and the device are advantageous because the symmetrical positioning of the trolley in the entrance area is based on the number of optical signals interrupted by the trolley in at least two groups of optical sensors, the optical sensors generating optical signals according to the direction of entry of the entrance area . Optical sensors can be made simple, robust and inexpensive and are much less prone to defects than moving parts such as sensing sensors. They can also not damage the car. The positioning of the carriage in the transverse direction, i.e. the direction perpendicular to the drive-in direction, is determined by the number of interrupted optical signals in each group. Because the sensors in each group are positioned transversely and spaced according to previously known positions and distances, by detecting which optical signals are interrupted, the position and width of the carriage according to the transverse direction can be easily determined, and the carriage corresponding be centered.

The preferred embodiment of the method and the device as discussed in claims 2 and 7, respectively, comprises two elongate support elements for each supporting wheel of the car, each support element comprising two freely rotatable rollers suitable for contact with the wheel and rolling against the wheel.

This is advantageous because it provides additional stability against lifting a wheel over one of the support elements when the support elements move towards each other. Because both rollers of each of a pair of corresponding support members contact a wheel, the four rollers of the corresponding pair of support members enclose the contour of the wheel (rollers 21, 22 in Fig. 3B). One of the two rollers of each support element makes contact with the wheel at a higher point, i.e. higher than the other roller. In order for the wheel to be lifted over the support element, the wheel must not only come loose from the lower roller, but the wheel must also be raised additionally in order to

BE2017 / 5452 to be brought to the higher roi. The guide can be arranged so that the lower rollers in the supporting state of the wheel (rollers 22 in Fig. 3B) comprise a mutual distance according to the prior art. The higher rollers (rollers 21 in Fig. 3B) can thereby be spaced from the corresponding lower rollers (rollers 22 in Fig. 3B) that the wheel must bridge a considerable height before it can be lifted over the higher rollers. This provides the stability that is at stake.

DESCRIPTION OF THE FL GUREN

Figure 1 shows a schematic representation of an entrance space and a plateau comprising a guide according to a preferred embodiment of the present invention.

Figure 2 shows a schematic representation of a guide according to a preferred embodiment of the present invention.

Figure 3 shows a schematic representation of the operating principle of a corresponding pair of wheel lift support members.

Figure 4 shows a schematic representation of a portion of the guide according to a preferred embodiment of the present invention, comprising worms and worm wheels for rotating the support elements.

Figure 5 shows a schematic representation of the operating principle of folding platform plateau wheels according to a preferred embodiment of the present invention.

Figure 6 shows a schematic representation of a device according to a preferred embodiment of the present invention.

DETAILED DESCRIPTION

The invention relates to a method and an apparatus for automatic parking of a car. The invention has been summarized in the section provided for that purpose. In what follows, the invention is described in detail, preferred embodiments are illustrated, and examples are given for illustrative purposes.

BE2017 / 5452

Unless otherwise defined, all terms used in the description of the invention, including technical and scientific terms, have the meaning generally understood by those skilled in the art of the invention. For a better assessment of the description of the invention, the following terms are explicitly explained.

“A”, “the” and “it” refer to both singular and plural in this document unless the context clearly assumes otherwise. For example, "a segment" means one or more than a segment.

The terms "include", "include", "consist of", "consist of", "include", "contain", "contain", "manage", "manage", "contain", "contain" are synonyms and are inclusive or open terms that indicate the presence of what follows, and that do not exclude or prevent the presence of other components, features, elements, members, steps known from or described in the prior art.

The term “car” in this document refers to any type of vehicle that can make stable contact with a flat surface by means of wheels. Motorized vehicles are preferably intended, but the invention is not, however, limited to motorized vehicles. A non-exhaustive list of examples of a car includes a Passenger car, a car, a truck, a van, a van, a tractor, a bus, an ambulance, a fire truck, an all-terrain vehicle, a jeep, a bulldozer, a mobile crane. , a boom lift, a golf cart, a ride-on mower, a pram, a buggy, a quad, a forklift, a tanker, a carriage, a hay wagon and an airplane.

The term “parking space” in this document refers to a location where a car can be stored temporarily or permanently. A parking space can be open, eg when there are no partition walls between parking spaces. A parking space can also be closed, eg when there are partition walls between the parking spaces. A non-exhaustive list of examples of parking spaces includes a parking space, a parking space, a garage, a garage box, a container and a loading area.

In a first aspect, the invention relates to a method for automatically parking a car. In a second aspect, the invention includes a device

BE2017 / 5452 for automatic parking of a car. The carriage preferably includes front wheels and rear wheels. The interior includes an entrance area. The entrance space comprises a direction of entry and a transverse direction perpendicular to the direction of entry. The device further comprises at least one parking space and a movable platform comprising a sliding guide. The sliding guide is designed for lifting and carrying the car. The platform is suitable for transporting the car from the entrance area to each parking space of the at least one parking space. Furthermore, at least two groups of optical sensors are also provided for generating optical signals in the entrance space essentially according to the direction of entry. The car is positioned symmetrically in the entrance area. To this end, the number of optical signals interrupted by the vehicle is determined in each group of optical sensors. Preferably, each group of optical sensors comprises an equal number of optical sensors. Preferably, the optical sensors in each group are spaced along the transverse direction. Preferably, the optical sensors in each group are equally spaced. By determining the number of optical signals interrupted by the carriage in the groups, the width and position of the carriage can thus be determined. The carriage is then at least partially translated in the entrance space essentially in the transverse direction based on the number of optical signals interrupted by the carriage in each group. Preferably, the carriage is translated until the number of optical signals interrupted by the carriage in each group is substantially equal. The entrance space preferably comprises at least two conveyor belts or at least two transport plates for supporting the front and rear wheels of the car separately. Preferably, the conveyor belts or plates can move independently of one another in the transverse direction. If the guide of the platform cannot yet be slid under the trolley from the platform, the platform is first moved to a position adjacent to the entrance space so that the guide of the platform can be slid under the trolley. Once the guide is slid under the carriage, the carriage is lifted and carried by the guide. The guide is placed back on the platform with the carriage and the movable platform is moved to a position adjacent to a parking space of the at least one parking space so that the guide of the platform can be pushed into the parking space. The guide is then pushed into the parking space with the car and the car is deposited by the guide in the parking space.

The use of at least two groups of optical sensors for symmetrical positioning of the car in the entrance space in the transverse direction is advantageous

BE2017 / 5452 for various reasons. Optical sensors can be made simple, robust and inexpensive. They are much less prone to defects than moving parts such as feel sensors. They can also not damage the car. The positioning of the carriage in the transverse direction is determined by the number of interrupted optical signals in each group. Because the sensors in each group are positioned transversely and spaced according to previously known positions and distances, by detecting which optical signals are interrupted, the position and width of the carriage according to the transverse direction can be easily determined, and the carriage corresponding be centered. Preferably, each group of the at least two groups of optical sensors comprises at least three optical sensors.

In a preferred embodiment, the guide comprises two corresponding elongated support elements for each carrying wheel of the car (a spare tire in the carriage of the car, for example, is not included here). Each support element comprises two elongated and essentially parallel freely rotatable rollers. In this preferred embodiment, the carriage is lifted and carried by the guide by moving the two corresponding support elements towards each other for each wheel. The rollers come into contact with the wheel and are unrolled against the wheel. By moving the support elements towards each other in this way, the wheel is pushed by the rollers. Because each wheel of the car is pushed up, the car is lifted and carried by the guide.

Such support elements are advantageous because they provide additional stability. When a support element comprises one single roller, a wheel can be lifted over one of the support elements when the support elements move towards each other. Because both rollers of each of a pair of corresponding support members contact a wheel, the four rollers of the pair of corresponding support members enclose the contour of the wheel. One of the two rollers of each support element makes contact with the wheel at a higher point, i.e. higher than the other roller. In order for the wheel to be lifted over the support element, the wheel must not only come loose from the lower roller, but the wheel must also be raised additionally to be brought over the higher roller.

In a preferred embodiment a support element, and preferably each support element, comprises a rod essentially parallel to the two rollers around which the two rollers can rotate. In this way, the four roles of one

BE2017 / 5452 corresponding pair of support elements make contact with wheels of different sizes when bringing the support elements together for pushing a wheel.

In a preferred embodiment, the guide comprises four lifting elements. Each lifting element includes a support base and a pair of corresponding supporting elements. Each of the support members is hinged to the support base at one end. Moving a pair of corresponding support elements towards each other in this case involves rotating the support elements towards each other. The hinged attachment of a support element to the support base herein determines the axis of rotation of the support element. Preferably, the support elements rotate in a horizontal plane, i.e. preferably the axis of rotation is essentially perpendicular to the horizontal plane. Preferably, the horizontal plane is parallel to the running-in direction and the transverse direction. Preferably, the guide comprises actuators suitable for rotating the corresponding pair of support elements towards each other for each lifting element. Preferably the actuators are electric actuators, i.e. an actuator comprises an electric motor.

This is advantageous because the support elements of the lifting elements in that case comprise a folded and an unfolded position. In the collapsed state, all elongated support members are essentially parallel. When the guide is used in the entrance space, all elongated support elements in the collapsed position are preferably essentially parallel to the direction of entry. In that case, the guide can simply be slid under a wagon because the width of the guide (i.e. the size of the guide according to the transverse direction) is smaller than the space between the front or rear wheels. Once the guide is correctly positioned, the support elements can be folded out to lift the wheels.

In a preferred embodiment, the guide comprises a first and a second part. Each part of the guide includes a pair of lifting elements. The distance between the two parts can be adjusted in this preferred embodiment. This can for instance be realized by a folding arm comprising a forearm and an upper arm. The forearm is hinged to the first part of the guide and the upper arm is hinged to the second part of the guide. The front and upper arms are also hinged to each other and the angle between the front and back

BE2017 / 5452 upper arm can be adjusted to obtain different distances between the first and the second part of the guide.

This is advantageous because different cars can have different distances between the front and rear wheels. For example, a single guide is suitable for lifting the wheels of a wide range of vehicles.

In a preferred embodiment, the guide for each support element comprises a worm and an at least partial worm wheel. Preferably, the at least partial worm gear is suitable for rotating the support element through an angle of 90 degrees. More preferably, the at least partially worm gear includes teeth at an angle of at least 90 degrees and at most 120 degrees. The at least partial worm wheel is rigidly attached to the support element. The worm and the at least partially worm wheel hook together. The worm is further coupled to one of the actuators for rotating the support element. To this end, an actuator can drive and rotate the worm. The teeth of the at least partial worm wheel hooking into the worm are hereby displaced, and consequently the at least partial worm wheel and the supporting element attached thereto rotate.

This is advantageous because it allows an accurate rotation of the support elements. When a pneumatic actuator is used between a support element and the support base, the angle between the support element and the support base cannot be finely adjusted. This is possible with the realization above, comprising a worm and a worm wheel.

In a preferred embodiment, the guide is slidable from the platform in two directly opposite directions. The platform preferably comprises a rotatable turntable. The turntable is preferably rotatable by at least 180 degrees. A parking cycle comprises moving a car from the entrance space to a parking space through the platform and moving the car from the parking space to the entrance space through the platform. The turntable can rotate before or after parking the car in the parking space. This has the advantage that the car entering the entrance space before the parking cycle is turned after the parking cycle, and that the car can therefore also easily exit the entrance space again.

BE2017 / 5452

In a preferred embodiment, the device comprises a height direction perpendicular to the drive-in direction and the transverse direction and the device further comprises a height transport system comprising at least two forks for carrying and moving the platform in the height direction. Preferably, the height transport system comprises one or more steel cables for hoisting or celebrating the platform.

This is advantageous because in a multi-storey and / or mezzanine parking building, the height transport system allows a car to be moved automatically between the floors and / or mezzanines. Cars can be stacked in height in a multi-storey and / or mezzanine parking building.

In a preferred embodiment, the device comprises a recess comprising a pair of substantially parallel and mutually spaced rails. The rails are essentially orthogonal to the height direction. The platform includes at least four, and preferably four, collapsible platform wheels hingedly attached to the platform. The at least four platform wheels comprise a collapsed position in which the platform can be moved between the spaced rails in the height direction. With this displacement along the height direction, the plateau preferably remains horizontal, i.e. orthogonal to the height direction, preferably just as with all other displacements of the plateau. Furthermore, the at least four platform wheels also include a folded-out state for support of the platform on the rails. The platform includes at least one actuator for folding and unfolding the at least four platform wheels. The platform is also equipped for driving on the rails. The platform can comprise at least one actuator for driving at least two of the platform wheels. The platform can also comprise at least one actuator for this purpose to drive another propulsion mechanism such as, for example, two wheels which are brought laterally against the rails.

This is advantageous to translate the plateau between a plurality of horizontally (i.e. perpendicular to the height direction) spaced parking spaces. Preferably, the device is configured to simultaneously rotate the turntable and drive a pair of rails using the platform wheels. This is advantageous because performing multiple movements simultaneously is time-saving compared to

BE2017 / 5452 performing these movements sequentially. Preferably, each floor comprises at least one such pair of rails.

In a preferred embodiment, the device comprises a plurality of platforms. This makes it possible to transport several cars at the same time.

In a preferred embodiment, the device comprises one or more entrance areas. In a preferred embodiment, the device comprises one or more height transport systems. This makes it possible to offer several cars at the same time for parking.

In a preferred embodiment, the entrance space comprises a length sensor for generating an optical signal orthogonal to the drive-in direction. This optical signal can run in the transverse direction. When the guide moves the carriage up to the platform, the carriage interrupts the optical signal. On the basis of the displacement carried out by the guide during the interruption caused by the carriage, the length of the carriage, i.e. the size of the carriage according to the running-in direction, can then be determined.

In a preferred embodiment, the entrance space comprises a height group of optical sensors spaced along the height direction. This is advantageous to estimate the height of the carriage, i.e. the size of the carriage according to the height direction, by determining the optical signals of the height group interrupted by the carriage.

In a preferred embodiment, the length, width and height of the carriage is estimated by the center of the length sensor, the height group, and the at least two groups of optical sensors. The length sensor, the height group and the at least two groups may comprise common optical sensors. Based on the length, the width and the height, it can be determined whether a suitable parking space is available for the car. Based on the length, the width and the height, a parking space of the at least one parking space can be selected. This is advantageous because it allows to provide parking spaces of different sizes and to select a suitable parking space based on the dimensions of the car. This preferred embodiment thus allows additional space savings.

BE2017 / 5452

In a preferred embodiment, the device comprises a computer system for automatic parking of a car. The computer system includes a processor and a tangible non-transient storage medium. The tactile non-transient storage medium includes instructions for:

driving at least one of the conveyor belts or plates based on the optical signals interrupted by the carriage of each of the at least two groups of optical sensors, preferably to obtain a substantially equal number of optical signals interrupted by the carriage in each group;

- selecting a free parking space for parking the car;

- displacing the platform to a position adjacent to the entrance area;

- sliding the guide under the car in the entrance area;

- lifting and carrying the car through the guide;

- positioning the guide carrying the carriage on the platform;

- moving the platform to a position adjacent to the parking space;

- sliding the guide carrying the car into the parking space; and

- depositing the car through the guidance in the parking space.

In a preferred embodiment, the tactile non-transient storage medium includes instructions for positioning the first part of the guide between the front wheels and positioning the second part of the guide between the rear wheels. Furthermore, the tactile non-transient storage medium preferably also includes instructions for driving the actuators to rotate a pair of corresponding support members toward each other, preferably until the support members are substantially parallel.

In a preferred embodiment, the tactile non-transient storage medium includes instructions for:

- determining a length on the basis of a direction-displacement movement according to the running-in direction during an interruption of the optical signal of the length sensor caused by the carriage;

determining a width based on the optical signals interrupted by the car of the at least two groups of optical sensors;

determining a height based on the height group's optical signals interrupted by the car; and

BE2017 / 5452

- selecting a parking space from the plurality of parking spaces for parking the car on the basis of the length, the width and the height.

Preferably, the height group comprises at least two optical sensors.

A person of ordinary skill in the art will appreciate that the tangible non-transient storage medium includes instructions for reading sensors, interpreting readout sensor data, and actuating actuators based on the interpreted sensor data for any auto-performed motion parking a car by said actuators and controlled by said sensors.

In what follows, the invention is described by means of a non-limiting example illustrating the invention, which is not intended or should be construed to limit the scope of the invention.

BE2017 / 5452

EXAMPLE

Figure 1 shows a schematic representation of an embodiment of an entrance space and a movable platform according to the present invention. The entrance space comprises a drive-in section (1) into which a carriage can be driven in according to the drive-in direction (6). The drive-in section (1) comprises two movable plates (5a, 5b) for translating the front and / or rear wheels of the car in the transverse direction. The entrance area further comprises a rear wall with two groups (4a, 4b) of optical sensors spaced along the transverse direction. The groups comprise an equal number of sensors and the sensors are spaced by the same distance, i.e. they are equally spaced sensors. The sensors can generate optical signals according to the running-in direction. Reflectors mounted on a garage door (not shown) can reflect these optical Signals back to the sensors if not interrupted by a car. Based on the optical signals interrupted by the carriage, one or two of the movable plates can be displaced in the transverse direction for the central positioning of the carriage. Between the rear wall and the drive-in section (1), the entrance space comprises an opening in the floor where the platform (2) can be positioned adjacent to the drive-in section (1) of the entrance space. The platform (2) comprises a guide (3) that can be slid under the centrally placed carriage for lifting and carrying the carriage. The height of the platform (2) can be changed to bring the carriage-carrying guide to a lower floor. The entrance area furthermore comprises an intermediate gate (9) for shielding the opening in the floor where the platform (2) can be positioned from the entrance area (1).

Figure 2 shows a schematic representation of the guide (3) of Figure 1. The guide (3) comprises a first part (10a) and a second part (10b). Between the two parts, the guide (3) includes a hinged articulating arm (11) for adjusting the distance between the two parts (10a, 10b). Each of the parts comprises two pairs of corresponding support elements (12). Each support element (1) comprises a wheel (20) for support, a first freely rotatable roller (21), a second freely rotatable roller (22), and a rod (23) around which the two freely rotatable rollers (21, 22) can röteren.

Figure 3 illustrates the operating principle of a lifting element comprising a pair of corresponding supporting elements. In FIG. 3A, the lifting element is central

BE2017 / 5452 positioned relative to the wheel (30) that rests on the floor (31). The wheel (30) is placed in front of the support elements. The two support elements are hinged to a support base. By rotating the support elements around rotational axes determined by the hinged fixings, both rollers (21, 22) of both support elements come into contact with the wheel (30) and the wheel (30) is pushed up and lifted from the floor (31 ), see Fig. 3B. The support elements are supported by wheels (20). Each support element further comprises a rod (23) around which the rollers (21, 22) of the support element can rotate. By this freedom of rotation it can be ensured that, for wheels of different sizes, the four rollers (21, 22) of a pair of corresponding supporting elements always make contact with the wheel. The pair of support members includes lower positioned rollers (22) and higher positioned rollers (21). Due to the higher positioned rollers (21), the possibility that the wheel (30) comes to one side of both folded-out support elements is strongly inhibited. After all, the wheel (30) must be lifted over a higher roller (21) before this can happen.

Figure 4 shows a schematic representation of a part (10a) of the guide. For each support element, the guide comprises an electric actuator (42) for rotating a worm (41) hooked into an at least partial worm wheel (40). The support element is rigidly attached to the at least partial worm gear (40). The whole of the support element (20, 21, 22, 23) and the at least partial worm wheel (40) comprise a hinged attachment (43) around which the support element can rotate. Furthermore, the guide portion (10a) comprises an actuator (47) for driving the wheel axle (46) comprising wheels (13) via a pair of bevel gears (44, 45).

Figure 5 shows a schematic representation of a preferred embodiment of a folding platform wheel. The platform includes at least four folding platform wheels, one of which is shown in detail in this figure. A rail (54) is attached to a floor plate, on which the folding platform wheel (57) can rest. The platform (2) includes a support element (58) and a support element (55) for the platform wheel (57). The support element (55) is hingedly fastened (59) to the platform (2). In FIG. 5A supports the plateau wheel (57) on the rail (54) to support the plateau (2) and to move the plateau according to the rail direction (depth direction of the figure). To bring the platform to a lower level, the platform (2) is first lifted, see Fig. 5B. Then the

BE2017 / 5452 at least four platform wheels (57) folded in, and the platform can be lowered between the rails.

The entrance area, the platform, and the guide as discussed in Figures 1 to 5 are used in the example in a multi-storey car park, as schematically shown in Figure 6. The entrance area comprises a gate (7) with two groups in the transversely spaced reflectors (8) for reflecting optical signals generated by the two groups of optical sensors (4a, 4b). The parking garage comprises a plurality of parking spaces (66). The parking garage further comprises a height transport system comprising at least two forks (61) for carrying and moving the platform in the height direction. Preferably, the height transport system includes height rails (60) for moving the at least two forks (61) in height. Preferably, the height transport system comprises one or more steel cables and pulleys for hoisting and celebrating the at least two forks (2). The height transport system preferably comprises two steel cables.

When folding out the platform wheels (57), this folding out can be carried out in part to support the platform wheels (57) on the rails (54). After this partial fold-out, the platform (2) can be put on the rails (54), after which the platform wheels (57) can be completely unfolded by the weight of the platform (2) and the platform (2) correctly adjusted by its own weight. positions on the pair of rails (54) according to the drive-in direction (6).

BE2017 / 5452

Claims (15)

CONCLUSI ES Method for automatic parking of a car, comprising the steps of: - providing an entrance space comprising a drive-in direction, a platform comprising a sliding guide, and a parking space; - the symmetrical positioning of the car in the entrance area; - moving the platform to a position adjacent to the entrance area; - sliding the guide under the car in the entrance area; - lifting and carrying the car through the guide; - positioning the guide carrying the carriage on the platform; - moving the platform to a position adjacent to the parking space; - sliding the guide carrying the car into the parking space; and - depositing the car by the guide in the parking space, characterized in that the method comprises the steps of: - providing at least two groups of optical sensors for generating optical signals in the entrance space essentially in the direction of entry; and symmetrically positioning the carriage in the entrance space by at least partially translating the carriage in a direction substantially perpendicular to the drive-in direction based on the number of optical signals interrupted by the carriage in each of the at least two groups. A method according to the preceding claim 1, the carriage comprising a plurality of supporting wheels, characterized in that the guide for each wheel of the plurality of supporting wheels comprises two corresponding elongated support elements, each of the support elements being two elongated and essentially mutually parallel freely rotatable rollers, and the lifting and carrying of the carriage through the guide for each wheel of the plurality of supporting wheels comprises pushing the wheel by moving the two corresponding elongate support members together and thereby contacting with the wheel BE2017 / 5452 and rolling against the wheel of each of the two freely rotatable rollers of each of the two corresponding elongated support elements. Method according to the preceding claim 2, characterized in that each of the elongated support elements comprises a first end and a second end, moving the two corresponding elongated support elements towards each other for pushing the wheel, comprising simultaneously executing the next steps: hingedly holding the first end of each of the two corresponding elongated support members; and - rotating the second ends of the two corresponding elongated support elements together in a plane essentially parallel to the plateau. Method according to any one of the preceding claims 1 to 3, characterized in that the guide is slidable from the platform in two directly opposite directions, the method comprising the step of rotating the platform comprising the guide carrying the carriage. A method according to any one of the preceding claims 1 to 4, the trolley comprising a length, a width and a height, characterized in that the method comprises the steps of: - determining the length, width and height of the car; and - selecting a parking space for the car from a plurality of parking spaces based on the determined length, width and height. 6. Device for the automatic parking of a car, the car comprising two front wheels and two rear wheels, comprising the device - a plurality of parking spaces; an entrance space comprising a drive-in direction, a transverse direction perpendicular to the drive-in direction, a front transport plate for carrying and translating the front wheels, and a rear transport plate for carrying and translating the rear wheels, translating for both transport plates essentially in the transverse direction; and a movable platform comprising a sliding guide adapted to lift and carry the trolley and beyond BE2017 / 5452 suitable for transporting the car from the entrance space to each parking space of the plurality of parking spaces, characterized in that the device further comprises a pair of optical sensor groups for generating optical signals in the entrance space essentially according to the drive-in direction, the pair spaced along the transverse direction, each group of the pair comprising a plurality of optical sensors spaced along the transverse direction for determining the position of the carriage according to the transverse direction. Device according to previous claim 6, characterized in that the guide comprises two pairs of lifting elements, each lifting element comprising a supporting base and two elongated supporting elements, each of the supporting elements hinged to the supporting base at one end, each of the supporting elements comprising two elongated and essentially parallel freely rotatable cylindrical rollers for contact with a wheel, the guide further comprising actuators for rotating the support elements towards each other for each lifting element. Device according to the preceding claim 7, characterized in that the actuators comprise electric motors. Device according to any one of the preceding claims 7 and 8, characterized in that the guide for a support element comprises a worm and an at least partly worm wheel, the at least partly worm wheel rigidly attached to the support element, hooking the worm into the at least partial worm gear and coupled to one of the actuators for rotating the support element, preferably the guide comprising a worm and at least one partial worm gear for each support element, and preferably the at least partial worm gear suitable for rotating the support element over a 90 degree angle. Device according to any one of the preceding claims 6 to 9, characterized in that the device comprises a height direction orthogonal to the drive-in direction and the transverse direction of the entrance space, the device further comprising a height transport system comprising at least two forks for carrying and moving the platform in the height direction, preferably the height transport system comprising steel cables for hoisting and celebrating the platform. BE2017 / 5452 The device according to the preceding claim 10, characterized in that the guide is slidable from the platform in two directly opposite directions essentially orthogonal to the height direction. 12.1 device according to any one of the preceding claims 10 and 11, characterized in that the platform comprises a rotatable turntable, the turntable rotatable about an axis essentially parallel to the height direction. Device according to any one of the preceding claims 10 to 12, characterized in that the device comprises a recess comprising a pair of essentially parallel and mutually spaced rails, the rails essentially orthogonal to the height direction, the platform comprising at least four collapsible platform wheels pivotally attached to the platform, the at least four platform wheels comprising a collapsed state whereby the platform can be moved between the spaced rails in the height direction, the plateau remaining essentially orthogonal to the height direction, the at least four platform wheels further comprising an extended state for support of the platform on the rails. Device according to previous claims 12 and 13, characterized in that the device is configured for simultaneously rotating the turntable and driving the pair of rails using the platform wheels. Device according to any one of the preceding claims 6 to 14, characterized in that the device comprises a height direction orthogonal to the drive-in direction and the transverse direction of the entrance space, the entrance space comprising a height group of optical sensors spaced essentially according to the height direction, the device further comprising a length sensor for generating an optical signal orthogonal to the drive-in direction, the device configured for: determining a length on the basis of a displacement in the direction of drive-in carried out by the guide during an interruption of the optical signal of the length sensor caused by the carriage; determining a width based on the optical signals interrupted by the carriage of the pair of optical sensor groups; BE2017 / 5452 determining a height based on the height group's optical signals interrupted by the car; and selecting a parking space from the plurality of parking spaces for parking the car on the basis of the 5 length, width and height. BE2017 / 5452 Fl GUREN