CN116378488A - Control device, robot-side control unit, and robot-external control unit - Google Patents
Control device, robot-side control unit, and robot-external control unit Download PDFInfo
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- CN116378488A CN116378488A CN202310314948.3A CN202310314948A CN116378488A CN 116378488 A CN116378488 A CN 116378488A CN 202310314948 A CN202310314948 A CN 202310314948A CN 116378488 A CN116378488 A CN 116378488A
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- 238000004891 communication Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 description 12
- 230000007613 environmental effect Effects 0.000 description 10
- 238000000605 extraction Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004092 self-diagnosis Methods 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
- E04H6/36—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of freely-movable dollies
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
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- Architecture (AREA)
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Traffic Control Systems (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention relates to a control device for moving a motor vehicle (407) in a parking space, wherein the motor vehicle (407) has a front axle (405) and a rear axle (409), the control device being able to control a parking robot (201) such that the parking robot (201) lifts the front axle (405) or the rear axle (409) of the motor vehicle (407) and moves the motor vehicle (407) lifted at the front axle (405) or the rear axle (409) in the parking space. The invention also relates to a control unit for the outside of a robot of a parking robot and to a control unit for the robot side of a parking robot.
Description
The present application is a divisional application of the invention patent application with application number 201811375670.6, application date 2018, 11, 19, and the invention name "method and system for moving a motor vehicle in a parking lot" and a parking lot ".
Technical Field
The invention relates to a control device for moving a motor vehicle in a parking space. The invention also relates to a control unit at the robot side and a control unit outside the robot.
Background
Publication DE 39 17 A1 describes a transport system for a parking building. Here, the parking robot places the passenger car into a parking position and withdraws the passenger car therefrom to leave the parking building. The parking robot consists of a lockable platform with a movable lifting platform having four lifting devices for lifting, including passenger car wheels.
Publication DE 10 2012 101 601 A1 describes a parking building in which one or more parking robots are installed. The parking robots, as in overhead warehouse systems, operate by means of technical regulations of transport technology developed by this industry sector. For this purpose, any vehicle in the parking building may be driven onto a movable parking platform in the form of a pallet.
Publication DE 10 2014 221 770 A1 describes a method for operating a trailer robot. The trailer robot may be configured as a parking robot.
Disclosure of Invention
The object underlying the invention is to provide an efficient solution for moving a motor vehicle efficiently in a parking space.
This object is achieved by a method and a system for moving a motor vehicle in a parking space, a parking space for a motor vehicle and a computer program. Advantageous configurations of the invention are preferred embodiments.
According to one aspect, there is provided a method for moving a motor vehicle within a parking lot, wherein the motor vehicle has a front axle and a rear axle, the method comprising the steps of:
lifting the front axle or the rear axle of the motor vehicle by means of a parking robot,
-moving a motor vehicle lifted at a front axle or a rear axle in a parking space by means of a parking robot.
According to another aspect, there is provided a system for moving a motor vehicle within a parking lot, wherein the motor vehicle has a front axle and a rear axle, the system comprising:
-a parking robot, and
control means for controlling the parking robot in such a way that the parking robot lifts the front axle or the rear axle of the motor vehicle and moves the motor vehicle lifted at the front axle or the rear axle in the parking space.
According to another aspect, a parking lot for a motor vehicle is provided, the parking lot including a system for moving the motor vehicle within the parking lot.
According to one aspect, a computer program is provided, which comprises a program code for executing the method for moving a motor vehicle in a parking space, when the computer program is implemented on a computer, in particular on a control device of the system.
The invention is based on the following recognition: the above-mentioned object is achieved in that only one of the front axle and the rear axle of the motor vehicle is lifted. In the prior art described above, the motor vehicle is always lifted as a whole. That is, the aforementioned prior art proposes to always lift two axles, namely the front axle and the rear axle of the motor vehicle.
By means of the solution according to the invention, i.e. only lifting a single axle, i.e. the front axle or the rear axle, of the motor vehicle, the parking robot only needs to lift a part of the motor vehicle. That is, the parking robot requires less force than the aforementioned prior art in order to lift the motor vehicle at one axle. Accordingly, the parking robot according to the solution of the present invention may be more compact or smaller sized than the parking robot according to the aforementioned prior art. For example, the parking robot according to the embodiment of the invention accordingly does not need to be dimensioned very strongly for lifting devices or for batteries or drives.
Furthermore, the following technical advantages are achieved by the parking robot moving the motor vehicle lifted at the front axle or the rear axle: the corresponding movement of the motor vehicle can be performed with less force than in the prior art described above. Accordingly, less energy is also required, also because the motor vehicle is pulled or pushed on only one axle, i.e. on the axle which is not lifted.
In one embodiment, it is provided that before lifting, which of the front and rear axles is the drive shaft of the motor vehicle is determined, wherein the determined drive shaft is lifted by means of the parking robot.
Thus, for example, the following technical advantages result: the motor vehicle can be moved efficiently because if the drive shaft is not separated from the drive train of the motor vehicle, the axle as the drive shaft will exert resistance against the movement of the motor vehicle when it is moving.
The vehicle can thus be moved efficiently by means of the parking robot independently of whether the drive shaft is decoupled from the drive train, since the non-drive shaft of the vehicle is not lifted just according to this embodiment, but rather the drive shaft is lifted, that is to say the vehicle is moved on the non-drive shaft by means of the parking robot.
According to a further embodiment, it is provided that before lifting, it is checked whether the vehicle has an all-wheel drive, wherein if the vehicle has an all-wheel drive, neither the front axle nor the rear axle is lifted by means of the parking robot.
Thus, for example, the following technical advantages result: inefficient movement of the motor vehicle can be prevented by means of the parking robot, since both the front axle and the rear axle are coupled to the drive train of the motor vehicle in the case of all-wheel drive. In this case, the two drive shafts exert a resistance to the movement of the motor vehicle by means of the parking robot. Thus, moving the motor vehicle by means of the parking robot is very inefficient.
According to a further embodiment, the parking robot is remotely controlled in order to lift the front axle or the rear axle and to move the motor vehicle lifted at the front axle or the rear axle.
Thus, for example, the following technical advantages result: the problem possibly occurring when the parking robot runs autonomously can be effectively avoided. So-called "deadlocks" may occur in the autonomous operation of the parking robot. Such a "deadlock" refers to a situation in which the parking robot itself cannot solve a situation or problem and is thus, for example, standing still and no longer moving.
Such complications may occur, for example, when a traffic participant suddenly appears in front of the parking robot unpredictably. For example, such traffic participants come out of the corners of a parking lot.
Further, the remote control of the parking robot has the following technical advantages: a plurality of such parking robots can be efficiently operated.
For example, the cooperation of these parking robots can thereby be performed efficiently. This is especially because knowledge of the individual parking robots, i.e. for example their respective positions or their respective directions of travel or their respective target positions, is provided centrally.
According to a further embodiment, the system for moving the motor vehicle in the parking space is configured or designed for carrying out or executing a method for moving the motor vehicle in the parking space.
In one embodiment, a method for moving a motor vehicle in a parking space is provided, which is implemented or carried out by means of a system for moving a motor vehicle in a parking space.
The technical functionality of the method is similarly derived from the corresponding technical functionality of the system, and vice versa.
According to one embodiment, the control device is configured as a remote control device.
In a further embodiment, a determination device is provided, which is configured for determining which of the front axle and the rear axle is the drive shaft of the motor vehicle before the lifting, wherein the control device is configured for controlling the parking robot in such a way that the parking robot lifts the determined drive shaft.
In a further embodiment, a checking device is provided, which is configured for checking whether the motor vehicle has an all-wheel drive before lifting, wherein the control device is configured for controlling the parking robot in such a way that it lifts neither the front axle nor the rear axle if the motor vehicle has an all-wheel drive.
In one embodiment, a parking lot has a plurality of floors.
In one embodiment, the parking lot comprises a parking building and/or a parking garage.
In one embodiment, a plurality of parking robots are provided.
In one embodiment, the control device is configured for controlling a plurality of parking robots, respectively.
Implementations performed in connection with a parking robot are similarly applicable to multiple parking robots and vice versa.
In one embodiment, a parking lot includes an environmental sensor system.
The environmental sensor system includes one or more environmental sensors spatially distributed within the parking lot and sensorially monitoring their respective environments.
The plurality of environmental sensors are, for example, identically or, for example, differently configured.
An environmental sensor in the sense of the present specification is, for example, one of the following environmental sensors: video sensors, radar sensors, lidar sensors, ultrasonic sensors, magnetic field sensors, and infrared sensors.
According to one embodiment, the control of the parking robot is performed based on environmental sensor data of the environmental sensor. The environmental sensor data is based on the detected corresponding environment.
Moving the vehicle within the parking space by means of the parking robot, for example, includes the parking robot transferring the vehicle from a starting position to a target position.
The starting position is, for example, a parking position in which the driver of the motor vehicle parks his motor vehicle for automatic parking of the motor vehicle in the parking space.
The target location is, for example, a parking location, at which the motor vehicle is to be parked.
That is, according to this embodiment, the parking robot moves the motor vehicle from the parking position to the parking position and parks it or parks it there.
If the parking robot has moved the motor vehicle to the target position, it is provided according to one embodiment that the parking robot lowers the lifted front or rear axle.
In one embodiment, the starting position is a parking position, in which the motor vehicle is parked, wherein the target position is an extraction position, in which the motor vehicle is to be extracted.
That is, according to this embodiment, the parking robot parks out the parked motor vehicle and moves it to the extraction position.
In a target position, for example an extraction position, according to one embodiment, the parking robot lowers the lifted front or rear axle.
According to one embodiment, a parking robot is provided for moving a motor vehicle from a parking position to a parking position and parking it there. According to this embodiment, it is provided that the parking robot brings out and moves the motor vehicle parked in the parking position to the pick-up position at a later point in time.
According to one embodiment, the extraction position corresponds to a park position.
According to one embodiment, moving the vehicle lifted at the front axle or the rear axle within the parking space by means of the parking robot comprises pulling and/or pushing the vehicle.
The expression "also or" especially includes the expression "and/or".
Drawings
The invention is described in detail below with reference to preferred embodiments. Here, it is shown that:
figure 1 is a flow chart of a method for moving a motor vehicle in a parking lot,
figure 2 is a system for moving a motor vehicle in a parking lot,
fig. 3 parking lot and parking lot for motor vehicle
Fig. 4 a parking robot.
Detailed Description
Fig. 1 shows a flow chart of a method for moving a motor vehicle in a parking space.
The motor vehicle has a front axle and a rear axle.
The method comprises the following steps:
lifting 101 the front axle or the rear axle of the motor vehicle by means of a parking robot,
the motor vehicle lifted at the front axle or the rear axle is moved 103 in the parking space by means of the parking robot.
Fig. 2 shows a system 200 for moving a motor vehicle in a parking lot, wherein the motor vehicle has a front axle and a rear axle.
The system 200 includes:
A control device 203 for controlling the parking robot 201 in such a way that the parking robot 201 lifts the front axle or the rear axle of the motor vehicle and moves the motor vehicle lifted at the front axle or the rear axle in the parking space.
The control device 203 comprises, for example, a control unit on the side of the parking robot, i.e. a control unit comprised by the parking robot. The parking robot-side control unit is configured, for example, for autonomous or highly automated control of the parking robot 201. The parking robot-side control unit is configured, for example, to control the parking robot 201 based on a remote control instruction. The control commands are determined, for example, by a control unit external to the parking robot and are transmitted to the parking robot via the wireless communication interface. According to one embodiment, the control device comprises a control unit external to the parking robot. The control unit external to the parking robot is configured, for example, for remote control of the parking robot. The control unit external to the parking robot is configured, for example, to transmit a request for transferring the motor vehicle from the starting position into the target position by means of the wireless communication interface. The parking robot-side control unit is, for example, designed to autonomously or highly automatically control the parking robot based on the commitment such that the parking robot performs the commitment.
In one embodiment, a control unit external to the parking robot monitors the control of the parking robot by means of a parking robot control device of the parking robot and, if necessary, takes over the control from the parking robot-side control unit, i.e. overrides the control of the parking robot-side control unit. Such a need exists, for example, when a fault in the parking robot is detected. Such a need exists, for example, when one or more pedestrians are detected in the environment of a parking robot. Such a need exists, for example, when environmental sensors and/or wireless communication interfaces of the parking robot fail or are only functioning in a limited manner. As a result, the safety can be advantageously increased due to the redundant control unit, i.e. the control unit external to the parking robot.
Fig. 3 shows a parking lot 301 for a motor vehicle.
Fig. 4 shows a parking robot 201.
The parking robot 201 comprises a lifting platform 403, which in the present example only lifts the front axle 405 of the motor vehicle 407. The rear axle of the motor vehicle 407 is marked with reference numeral 409.
In this case, the lift table 403 lifts the motor vehicle 407 in such a way that the front axle 405 subsequently rests or falls on the lift table 403 after lifting.
The parking robot 201 then moves the lifted vehicle 407 on the rear axle 409.
In summary, the inventive solution is based on the following idea: only the single axle of the motor vehicle, i.e. only the front axle or the rear axle, is lifted. The parking robot thereby lifts only a part of the motor vehicle. Furthermore, since the motor vehicle is pushed or pulled on only one axle, the motor vehicle thus lifted can be moved with less force or less energy.
Further, such a parking robot may be dimensioned smaller than a parking robot that lifts the motor vehicle as a whole. Accordingly, the space requirements for such a parking robot may be smaller according to the inventive solution. In addition, such parking robots have a higher scheduling capability. For example, such a parking robot may travel on a ramp in an efficient manner, such that the parking robot may move a vehicle over multiple planes or floors of a parking lot.
Furthermore, the parking robot has the following advantages: the parking robot can be used in more parking spaces due to its small space requirement compared to a larger parking robot that lifts the motor vehicle as a whole.
The control device is according to one embodiment a remote control device and is according to another embodiment comprised by a parking lot management system. The remote control device corresponds, for example, to the aforementioned control unit external to the parking robot.
That is, according to this embodiment, the infrastructure, i.e., the parking lot management system, performs calculations necessary to lift and move the motor vehicle. Thus, for example, deadlock and the complexity of "identifying, for example, other traffic participants coming out from behind a corner" can be reduced or generally prevented in an advantageous manner.
In addition to the self-diagnosis of the parking robot, there is an additional possibility of finding a fault or danger, for example an excessively fast travel, an incorrect travel direction or an intersection of other traffic participants.
Claims (19)
1. A control device for moving a motor vehicle (407) within a parking space, wherein the motor vehicle (407) has a front axle (405) and a rear axle (409), the control device being capable of controlling a parking robot (201) such that the parking robot (201) lifts the front axle (405) or the rear axle (409) of the motor vehicle (407) and moves the motor vehicle (407) lifted at the front axle (405) or the rear axle (409) within the parking space.
2. The control device according to claim 1, wherein,
the control device comprises a control unit external to the robot, which can communicate with the parking robot (201) and send signals for the control of the parking robot (201); and/or
The control device comprises a robot-side control unit that can receive signals for controlling the parking robot (201).
3. The control device according to claim 2, wherein the control unit external to the robot is configured for remote control of the parking robot (201), wherein remote control instructions are retrieved by the control unit external to the robot and sent to the parking robot (201) via a wireless communication interface.
4. The control device according to claim 2, wherein the control unit external to the robot is configured for transmitting a request for transferring the motor vehicle (407) from a starting position into a target position by means of a wireless communication interface.
5. A control arrangement according to claim 2 or 3, wherein the control unit of the robot side receives remote control instructions and controls the parking robot (201) based on the remote control instructions.
6. The control device according to claim 2 or 4, wherein the robot-side control unit receives a commission for transferring the motor vehicle (407) from a starting position into a target position and controls the parking robot (201) autonomously or highly automatically based on the commission, such that the parking robot (201) implements the commission.
7. The control device according to any of claims 2 to 4, wherein a control unit external to the robot monitors the control of the parking robot (201) by means of the robot-side control unit.
8. The control device according to claim 6, wherein a control unit external to the robot takes over control from a control unit on the robot side.
9. The control device according to one of claims 1 to 4 and 8, wherein the control device is comprised by a parking lot management system.
10. The control device according to one of claims 1 to 4 and 8, wherein prior to lifting it is determined which of the front axle and the rear axle is the drive shaft of the motor vehicle (407), the control device being configured for controlling the parking robot (201) such that the parking robot (201) lifts the determined drive shaft.
11. The control device according to one of claims 1 to 4 and 8, wherein the control device is configured for controlling a plurality of parking robots (201) respectively.
12. A control unit for a robot exterior of a parking robot (201), wherein the control unit exterior of the robot is capable of communicating with the parking robot (201) and transmitting signals for control of the parking robot (201), the parking robot (201) being controlled such that the parking robot (201) lifts a front axle (405) or a rear axle (409) of a motor vehicle (407) and moves the motor vehicle (407) lifted at the front axle (405) or the rear axle (409) within a parking space.
13. The control unit external to the robot according to claim 12, wherein the control unit external to the robot is configured for remotely controlling the parking robot (201), wherein a remote control instruction is retrieved by the control unit external to the robot and sent to the parking robot (201) through a wireless communication interface.
14. The control unit external to the robot according to claim 12, wherein the control unit external to the robot is configured for transmitting a proxy for transferring the motor vehicle (407) from a starting position into a target position by means of a wireless communication interface.
15. The control unit external to the robot according to any of claims 12 to 14, wherein the control unit external to the robot monitors the control of the parking robot (201) by means of a control unit on the robot side.
16. The control unit external to the robot according to claim 12, wherein the control unit external to the robot takes over control from the control unit on the robot side.
17. A robot-side control unit for a parking robot (201), wherein the robot-side control unit is able to receive signals for control of the parking robot (201), the parking robot (201) being controlled such that the parking robot (201) lifts a front axle (405) or a rear axle (409) of a motor vehicle (407) and moves the motor vehicle (407) lifted at the front axle (405) or the rear axle (409) within a parking space.
18. The control unit external to the robot of claim 17, wherein the control unit at the robot side receives a remote control instruction and controls the parking robot (201) based on the remote control instruction.
19. The control unit external to the robot according to claim 17, wherein the robot-side control unit receives a commission for transferring the motor vehicle (407) from a starting position into a target position and controls the parking robot (201) autonomously or highly automatically based on the commission, such that the parking robot (201) implements the commission.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102017220587.3 | 2017-11-17 | ||
| DE102017220587.3A DE102017220587B4 (en) | 2017-11-17 | 2017-11-17 | Concept for moving a motor vehicle within a parking lot |
| CN201811375670.6A CN109798002A (en) | 2017-11-17 | 2018-11-19 | Method and system and parking lot for moving motor vehicle in parking lot |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811375670.6A Division CN109798002A (en) | 2017-11-17 | 2018-11-19 | Method and system and parking lot for moving motor vehicle in parking lot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116378488A true CN116378488A (en) | 2023-07-04 |
Family
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Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811375670.6A Pending CN109798002A (en) | 2017-11-17 | 2018-11-19 | Method and system and parking lot for moving motor vehicle in parking lot |
| CN202310314948.3A Pending CN116378488A (en) | 2017-11-17 | 2018-11-19 | Control device, robot-side control unit, and robot-external control unit |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811375670.6A Pending CN109798002A (en) | 2017-11-17 | 2018-11-19 | Method and system and parking lot for moving motor vehicle in parking lot |
Country Status (3)
| Country | Link |
|---|---|
| CN (2) | CN109798002A (en) |
| DE (1) | DE102017220587B4 (en) |
| FR (1) | FR3073879A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111155815A (en) * | 2020-01-13 | 2020-05-15 | 杨天燕 | Device and method for turning round and parking road vehicle |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3917475A1 (en) | 1989-05-30 | 1990-12-06 | Ingbuero Manfred Schnack | Parking robot for high density car park - is controlled by processor to park and remove vehicles from successive parking planes |
| JP2005290813A (en) * | 2004-03-31 | 2005-10-20 | Honda Motor Co Ltd | Parking guidance robot |
| IT1396216B1 (en) * | 2009-10-20 | 2012-11-16 | Nocentini | PARKING DEVICE |
| CH704525B1 (en) | 2011-02-28 | 2014-12-15 | Peter Gadient Junior | Park House. |
| DE102014221770A1 (en) | 2014-10-27 | 2016-04-28 | Robert Bosch Gmbh | Method for operating a towing tester |
| DE102015203506A1 (en) | 2015-02-27 | 2016-09-01 | Siemens Aktiengesellschaft | Automobile transport unit for positioning vehicles, methods for doing so and parking system |
| CN205344662U (en) * | 2015-12-31 | 2016-06-29 | 殷际良 | Special type removes rescue intelligent service car |
| CN107010560A (en) * | 2017-05-12 | 2017-08-04 | 肇庆威士海库房设备有限公司 | Step drives the front-wheel electrically propelled traction vehicle of formula four |
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2017
- 2017-11-17 DE DE102017220587.3A patent/DE102017220587B4/en active Active
-
2018
- 2018-11-14 FR FR1860475A patent/FR3073879A1/en active Pending
- 2018-11-19 CN CN201811375670.6A patent/CN109798002A/en active Pending
- 2018-11-19 CN CN202310314948.3A patent/CN116378488A/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| DE102017220587A1 (en) | 2019-05-23 |
| DE102017220587B4 (en) | 2022-06-23 |
| CN109798002A (en) | 2019-05-24 |
| FR3073879A1 (en) | 2019-05-24 |
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