DE102019103933A1 - Automated parking system for vehicles - Google Patents

Abstract

The invention relates to an automated parking system for a large number of vehicles to be parked next to and / or one behind the other on at least one parking deck, the vehicles each standing on pallets (30) which can be moved in the longitudinal and / or transverse direction. It is essential that the parking deck has a large number of permanently installed transport modules (1,2) which are arranged next to and / or one behind the other, that these transport modules (1, 2) have several upwardly projecting conveyor elements (4, 4a) with a horizontal axis of rotation which - at least insofar as they follow one another in the desired transport direction of a pallet - can be driven synchronously and are used for the movable support of one pallet (30) and for its transfer to an adjacent transport module, and that the conveyor elements (4, 4a) in at least some Transport modules (2) can be pivoted about a vertical axis with regard to their conveying direction.

Description

The invention relates to an automated parking system for a large number of vehicles to be parked next to and / or one behind the other on at least one parking deck, the vehicles each standing on pallets that can be moved in the longitudinal and / or transverse direction.

Such a parking system is through the DE 10 2014 112 269 and EP 3 094 796 became known by the same applicant. Raised pallets are used that can be driven under by a low-floor shunting vehicle in order to transport the pallet - empty or with a vehicle standing on the pallet - from a transfer station to a specific parking space or back. The maneuvering vehicle is controlled robotically and has an omnidirectional or differential drive so that it can automatically drive between the pallets arranged in the alleys with the help of a control unit and drive to the desired parking space or the transfer station.

The maneuvering vehicle is equipped with distance sensors with which it can determine its exact position within the parking deck at any time, but can also recognize and avoid any obstacles.

Next to it is from the US 2007/0098528 a multi-level parking system with an elevator is known in which each vehicle is parked on its own parking platform and in which all parking platforms can be moved and maneuvered autonomously. With a corresponding control, the parking platforms within a parking level can be maneuvered as required in the manner of a sliding puzzle, so that only a small amount of free maneuvering space is required to maneuver any platform to the elevator. However, since a separate, autonomously driven and controlled parking platform is required for each individual vehicle, this system is technically complex and expensive. In addition, if a parking platform fails due to a technical defect, an entire parking floor including the vehicles stored in it can be blocked, which increases the risk of this parking system failing.

A similar system shows the US 2005/0207876 . The vehicles are parked on autonomously maneuverable parking platforms and these platforms are moved to a specific parking position. The parking platforms have proximity sensors to avoid a collision with an obstacle.

Based on this, the object of the present invention is to improve the automated parking system described at the outset in such a way that it is on the one hand by high occupancy density, i.e. by a large number of vehicles to be stored in relation to the area of the parking deck, on the other hand by high operational reliability and low manufacturing costs excels.

This object is achieved according to the invention in that the parking deck has a large number of permanently installed transport modules, which are arranged next to and / or behind one another, that these transport modules have several upwardly projecting conveyor elements with a horizontal transport direction, which - at least as far as they are in the desired transport direction of a pallet one after the other - can be driven synchronously and are used to move a pallet and transfer it to an adjacent transport module, and that the conveyor elements in at least some transport modules can be pivoted about a vertical axis to change their transport direction.

As a result of these measures, a parking deck can be almost completely occupied with parking spaces, namely with transport modules. The free space (eg alleys) required in the parking system described above for moving at least one shunting vehicle is omitted. This gain in parking space for vehicles to be parked is considerable, like that 5 and 6th of the EP 3 094 796 demonstrate.

At the same time, the operational reliability of the new system increases, because every transport module can be used to move the pallets. If one module fails, only this one module has to be bypassed, which may increase the time it takes to store or remove a vehicle, but the function itself is retained. This system redundancy is essential for parking garages.

A person skilled in the art has various options for constructing the conveyor elements in the transport modules. So you can work with horizontally rotating endless conveyor belts, whereby only those conveyor belts that should be pivotable about a vertical axis with regard to their conveying direction should be vertically movable so that the pivoting movement of the conveyor belts does not take place under the load of a vehicle on the pallet.

It is structurally simpler and cheaper if the conveying elements are designed as rollers, preferably with a horizontal axis of rotation. Such rollers only rest on the pallet with a small contact area and can therefore be pivoted with regard to their transport direction even under load. This can be favored by the fact that you work with narrow rollers or rollers with a convex profile.

To pivot the rollers about a vertical axis of rotation, they can be driven synchronously by levers or a circulating chain.

So that the pallets can be reliably carried or moved by the transport modules, it is recommended that at least two pairs of rollers are arranged in each transport module in the longitudinal direction as well as in the transverse direction. This results in at least four-point support of the pallets and when a pallet is transferred to the adjacent transport module, it is ensured that it is always supported on at least four rollers.

In addition to the four-point bearing described, further rollers can be provided as support rollers that do not have to have their own drive.

The rollers designed as conveying elements can be driven hydraulically or mechanically, the drives of the individual rollers being appropriately networked with one another so that all rollers of a module and at least the adjacent module in the transport direction rotate synchronously.

The pallets are expediently guided on the transport modules by means of guide rails arranged in the longitudinal and / or transverse direction, and thus corresponding guide rollers. This ensures that the pallets are routed exactly in the x and / or y direction while maintaining their height position.

In principle, it does not matter whether the guide rails and guide rollers are arranged on the transport modules or on the pallets. For reasons of cost, it is also possible to arrange the guide rails on the pallets and the guide rollers on the transport modules, because the function of the guide rollers can then be taken over by the rollers that are already present and designed as conveying elements.

So that the vehicles can be parked on one pallet without any problems, the pallets can have a more or less continuous cover plate on their upper side. In general, however, for reasons of cost it is advisable to provide only two lanes running in the longitudinal direction of the pallet to accommodate the vehicle, which are positioned and dimensioned according to the usual vehicle track widths.

In a further development of the invention, each pallet has an individual identifier, preferably running in the longitudinal and transverse direction of the pallet, which can be read out externally, in particular on the transport module carrying the pallet, and fed to a central control unit of the parking system. This identifier can be a QR code, bar code or the like. Such a code can be attached to the underside of each pallet in the form of longitudinal and transverse code strips and, on the one hand, clearly identify the pallet and, on the other hand, represent a continuous position marking. Since the identifier comprises a continuous code extending over the longitudinal and / or transverse direction of the associated pallet, the position of each pallet can be determined individually on the basis of the identifier. In particular, a distance measurement can be carried out during the transport of a pallet, which in turn can serve to control the transport rollers that convey the pallet.

The central control unit thus expediently comprises a system for determining the position of each individual pallet. This continuously records which vehicle is parked at which parking space, whether and with which vehicle a transport is taking place and in which direction the transport is taking place. In addition, this control unit specifies the modules over which a pallet is to be moved through selective control of individual transport modules.

The identification of the individual pallets and their current location can be read out centrally. However, it is also possible to equip each transport module with a corresponding measuring system, in particular a path measuring system or a camera, and then to transmit the data to a central control unit.

A vehicle to be parked is usually parked on a pallet at a transfer point and then transported to a specific parking space with the aid of several transport modules. It is then recommended that the control unit contains a logistics program that controls the transport modules in such a way that the pallet is transported with the vehicle - preferably by the shortest route - to a free parking space, with the transport route being cleared by activating further transport modules if necessary

With regard to a method for storing vehicles in an automated parking system, in which a vehicle to be parked is parked on a pallet at a transfer station and the pallet is then taken over by a mechanical device and transported to a parking space, the invention provides that the mechanical device from a large number of permanently installed next to and / or behind one another arranged transport modules with upwardly protruding conveyor elements is that these conveyor elements, at least as far as they follow one another in the desired transport direction, are driven synchronously and transport at least one pallet from the transfer station to the parking space or back.

• 1 eine Draufsicht auf ein mit erfindungsgemäßen Transportmodulen belegtes Parkdeck von oben;
• 2 eine Seitenansicht auf ein einzelnes Transportmodul;
• 3 eine Draufsicht auf das Transportmodul gemäß 2;
• 4 eine Draufsicht auf ein Transportmodul mit durch Gestänge verschwenkbaren Rollen;
• 5 eine Ausschnittvergrößerung in Seitenansicht im Bereich einer Rolle aus 4 mit aufliegender Palette;
• 6 eine Draufsicht auf eine Komponente eines Transportmoduls mit durch Ketten verschwenkbaren Rollen;
• 7 eine Ausschnittsvergrößerung in Seitenansicht im Bereich einer Rolle aus 6 mit aufliegender Palette;
• 8 eine Seitenansicht auf ein Transportmodul mit aufliegender Palette;
• 8a den vergrößerten Ausschnitt A aus 8;
• 8b den vergrößerten Ausschnitt B aus 8;
• 9 ein Schrägbild eines Transportmoduls mit aus der Parkposition heraus gefahrener Palette und
• 10 eine Draufsicht von unten auf eine Palette.

Further features and advantages of the invention emerge from the following description of exemplary embodiments and from the drawing; thereby shows

• 1 a plan view of a parking deck occupied with transport modules according to the invention from above;
• 2 a side view of a single transport module;
• 3 a plan view of the transport module according to 2 ;
• 4th a plan view of a transport module with rollers pivotable by rods;
• 5 an enlarged detail in side view in the area of a roll 4th with pallet on top;
• 6th a plan view of a component of a transport module with rollers pivotable by chains;
• 7th an enlarged section in side view in the area of a roll 6th with pallet on top;
• 8th a side view of a transport module with a pallet on top;
• 8a the enlarged section A. 8th ;
• 8b the enlarged section B. 8th ;
• 9 an oblique image of a transport module with a pallet moved out of the parking position and
• 10 a bottom plan view of a pallet.

According to 1 is almost the entire area of a parking deck with transport modules 1 or. 2 occupied. The transport modules 1 and 2 are firmly mounted on the floor of the parking deck and arranged one behind the other and next to each other like a chessboard; only between the second and third row of modules, as seen from above, as well as between the fourth and fifth row of modules, a narrow passage is left free for operating personnel.

Vehicles can be stored and removed from storage at the edges of the parking deck, but also within the parking deck. In the exemplary embodiment, there is an elevator in one corner of the parking deck 3 intended. This elevator corresponds to the fourth row of modules seen from above.

About the elevator 3 the storage and retrieval of the vehicles on the pallets takes place. In the exemplary embodiment, only one pallet with a vehicle is provided for storage and retrieval, namely in or out of the fourth row of modules. However, it is entirely within the scope of the invention to store and retrieve two or three vehicles at the same time by using the elevator 3 is increased in capacity and also the module rows 3 and 5 can be used.

The transport modules 1 and 2 are designed so that they can each carry and transport one pallet with a vehicle. For this purpose, the modules are aligned in the longitudinal direction as well as in the transverse direction and are arranged closely adjacent to one another, wherein spacer frames R can be interposed, in particular as in FIG 1 shown between longitudinally adjacent modules.

The transport modules are used so that each pallet can be moved to the desired parking space on the parking deck 1 and 2 each with several upwardly protruding roles 4th (please refer 2 ), which allow the transport of a pallet at least in the longitudinal direction, but sometimes also in the transverse direction.

In the exemplary embodiment, the transport modules are 1 with roles 4th equipped, which can be pivoted about a vertical axis, so that their transport direction can be adjusted either in the longitudinal direction or in the transverse direction. In contrast, the transport modules 2 the roles 4th firmly oriented lengthways.

In the exemplary embodiment, the transport modules are 1 and 2 in the longitudinal direction shorter than the pallets and therefore arranged at a distance from one another. The space between the modules is bridged by spacer frames R. They facilitate the alignment and exact assembly of the transport modules.

The 2 and 3 show a transport module 2 in an enlarged view. The main feature of this transport module is that it has several rollers that protrude upwards 4th with a horizontal axis of rotation, which are used for storage and transport of the pallets.

So that the pallets can be moved from one transport module to the neighboring transport module without tilting, each module has four rollers near the corner area of a pallet it carries. There is also a fifth driven transport roller 4th in the middle of the transport module 2 . All roles are oriented in the same direction with regard to their running direction, in which in the 2 and 3 shown transport module in module longitudinal direction.

At least the roles 4th each transport module can be driven synchronously so that you can transfer a pallet on top of the adjacent transport module.

There is largely freedom in the structural design of the transport modules. In the exemplary embodiment, each module has a surrounding frame mounted on the floor of the parking deck 5 with crossbars 6th on which the upwardly protruding roles 4th and, if necessary, additional support rollers 4a are stored.

The frame 5 can also be achieved through vertical guide rails 5a serve to guide the pallets lengthways and crossways.

In 3 it is a transport module 2 , its roles 4th and 4a are not pivotable with regard to their direction of travel.

In contrast, shows 4th a module 1 , its roles 4th and 4a are pivotable with regard to their transport direction by the rollers 4th and 4a are mounted pivotably about a vertical axis.

5 shows an enlarged representation of the pivot bearing. You can see there that the roles 4th each with a drive motor 14th are connected, in turn on a flange ring 15th is mounted. This flange ring 15th is via a ball bearing on the transport module 1 , preferably rotatably mounted directly on the floor of the parking deck. This allows the roles 4th from the in 4th The shown longitudinal direction of the module can be pivoted by 90 degrees in the transverse direction, even if the module is loaded by a pallet loaded with a vehicle.

This pivoting takes place in the exemplary embodiment according to FIG 4th and 5 via a lever linkage, namely via a crank lever 16a , 16b and 16c . These crank levers are via further crank levers 17a and 17b (please refer 4th ) synchronized with each other so that all roles 4th and 4a always assume the same angular position, i.e. have the same transport direction.

The pivoting of the roles 4th and 4a is effected electrically or hydraulically, in the exemplary embodiment by a hydraulic cylinder 18th .

The rotary drive of the rollers 4th and 4a and, if necessary, their pivoting when the transport direction is changed are selectively controlled by a central control unit.

5 also shows how a pallet is carried by the transport module. You can see that the role 4th at its upwardly protruding periphery a partial pallet shown 30th wearing. The pallet indicates this 30th longitudinal beams running through in the longitudinal direction on their underside 31 and transverse beams 32 on. Are the roles 4th set in the longitudinal direction, they correspond to the side members 31 , otherwise with the vertical cross members 32 . In this way, the pallets are reliably supported on the at least four rollers 4th and their movability in the x or y direction is ensured.

The top of the pallet 30th can be used as a continuous plate 33 be trained; However, at least it must have two continuous lanes in the longitudinal direction of the pallet, the position and width of which are matched to the common track widths of the vehicles to be parked.

6th shows a plan view of a component of a transport module 1 , in which the pivoting of the rollers 4th and 4a not by a crank linkage, but by a common chain 20th he follows. That's the role for that 4th with their drive motor 14th bearing flange ring 15th with a ring gear 21st connected to the one with the chain 20th is engaged.

The chain 20th stands like this with all flange rings 15th your transport module engaged that all roles 4th and 4a can be pivoted in the same direction and synchronously by 90 °. The pivoting movement is triggered by an actuator 20a that moves the chain by a distance that corresponds to an adjustment angle of the sprockets 21st by 90 °.

Furthermore shows 7th that roles 4th can also be used to guide the pallets in a straight line. This is what the range has 30th in the area of their underside where they are on a roll 4th unrolls a guide rail 34 showing the end faces of the roll 4th encompassed on both sides. The guide rail 34 This ensures that the pallet is transported in a straight line and at the correct angle.

The two side walls of the support rail 34 must not run through to the ends of the pallet, but must go where the pallet is in the parking position on the rollers 4th and 4a rests, each have recesses so that the roles 4th then when the range 30th has reached their parking position, have enough space to be able to pivot about their vertical axis.

But it is also within the scope of the invention, the lateral guidance of the pallets 30th regardless of the roles 4th to undertake. Such an embodiment is in 5 pictured. You can see there that the pallet has guide rollers at its lower edge 35 having a vertical axis of rotation. These leadership roles 35 roll on a corresponding vertical guide rail 5a at the top of the frame 5 of your transport module.

Here, too, the guide bar must 5a end before the pallet's parking position on its module so that there is free space for the rollers 4th and 4a to pivot and to transport the pallet from the parking position both in the longitudinal direction and in the transverse direction. This is achieved in the exemplary embodiment in that the transport modules 1 , 2 Longer and laterally shorter than the pallets on it 30th are formed so that the guide rollers 35 in the parking position centered on the relevant transport module 1 , 2 placed pallet in front of the slightly rounded corners of the surrounding frame 5 of the module.

The described length measurement of the guide rails 5a relative to the leadership roles 35 is through the 8th and 9 clarified.

8th shows a palette 30th on a transport module 1 or 2 , but not in its parking position belonging to the module, but to the right in the drawing after it has already been shifted a bit in the longitudinal direction. You can see in particular in 8a that their marginal leadership role 35 already in contact with the guide rail 5a your module is. With the displacement path shown for the pallet, it is no longer freely displaceable in the longitudinal and transverse directions, but only in the same direction as the guide bar 5a pretends.

On the other hand, if you imagine that the pallet 30th in 8a is further to the left, namely in their parking position, roughly corresponding to their symmetrical assignment to the transport module 1 or. 2 so you can see that the leadership role 35 then no longer on the guide rail 5a so that the pallet can be moved from this position in both the longitudinal and transverse directions.

The corresponding relationships are given in 8b at the other end of the pallet: there is the guide roller 35 no longer in contact with the old guide rail 5a , but has already reached the free space to the neighboring transport module and, if the pallet is transported lengthways, will soon be in contact with the guide strips of the spacer frame R (see 1 ) and then the neighboring module.

The same connection also emerges 9 . There is the pallet 30th shown with its transport module in an oblique view and also already moved a bit out of its parking position.

10 shows a palette 30th seen from below. You can see a continuous cover plate 33 which is suitable for a vehicle on its upper side and which has three longitudinal profiles on its lower side 31 and five transverse profiles 32 is stiffened.

You can also see in 10 that the pallet is below the plate 33 the already mentioned guide rollers on both long sides 35 wearing. These guide rollers are arranged with a vertical axis of rotation on the two long sides of the pallet near their ends and protrude downwards over the pallet contour so that they are provided with guide strips 5a of the underlying transport modules correspond, compare 8a and 8b .

The guide rails 5a and the leadership roles 35 are positioned in such a way that they can take over the guidance of the pallets both in the longitudinal direction and in the transverse direction. The spacer frame R can also have corresponding guide strips; Instead, it can also be positioned so low that it is run over without a guide function

Finally shows 10 that the range 30th Code strip 38 for path length measurement and for recognizing the pallet. These code strips 38 run through the pallet in the longitudinal as well as in the transverse direction, so that the position and identity of each pallet can be identified and fed to a control unit even during the pallet transport. These code strips can be read out directly by reading heads on the transport modules.

The control unit controls the transport modules in such a way that a free parking space is assigned to a vehicle to be parked and its pallet is automatically transported from a transfer area to this parking space, or that a vehicle to be removed is transported back to the transfer area. The transport takes place in the manner of a sliding puzzle. At least one free transport module is required here, via which the stored pallets with vehicles are maneuvered until the vehicle to be removed has reached the transfer point.

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• DE 102014112269 [0002]
• EP 3094796 [0002, 0008]
• US 2007/0098528 [0004]
• US 2005/0207876 [0005]

Claims (15)

Automated parking system for a large number of vehicles to be parked next to and / or behind one another on at least one parking deck, the vehicles each standing on pallets (30) which can be moved in the longitudinal and / or transverse direction, characterized in that the parking deck has a large number of fixed installed transport modules (1, 2), which are arranged next to and / or one behind the other, so that these transport modules (1, 2) have several upwardly projecting conveyor elements (4, 4a) with horizontal transport direction, which - at least insofar as they are in the desired The transport direction of a pallet (30) follow one another - can be driven synchronously and are used to move a pallet (30) and to transfer it to an adjacent transport module (1,2), and that the conveyor elements (4, 4a) in at least some transport modules ( 2) are pivotable about a vertical axis to change their transport direction. Parking system according to Claim 1 , characterized in that the conveyor elements (4, 4a) are designed as rollers (4, 4a) with preferably a horizontal axis of rotation. Parking system according to Claim 2 , characterized in that the rollers (4, 4a) in at least some transport modules (2) can be pivoted about a vertical axis when a pallet (30) carrying a vehicle is loaded. Parking system according to 2 or 3, characterized in that at least two pairs of rollers (4) are arranged in each transport module (1, 2) in the longitudinal direction and in the transverse direction of the transport modules. Parking system according to one of the Claims 2 to 4th , characterized in that each transport module (1, 2) has at least one additional support roller (4a) for supporting a pallet (30). Parking system according to one of the Claims 2 to 5 , characterized in that the synchronous drive of the rollers (4) takes place hydraulically or electrically. Parking system according to one of the Claims 2 to 6th , characterized in that the rollers (4, 4a) mounted pivotably about a vertical axis are synchronized with regard to their transport direction by a lever linkage (16a, 16b, 16c, 17a, 17b) or a chain (20). Parking system according to one of the preceding claims, characterized in that the pallets (30) are guided on the transport modules (1, 2) by guide strips (5a, 34) arranged in the longitudinal and / or transverse direction and corresponding guide rollers (4, 35) he follows. Parking system according to Claim 8 , characterized in that the guide strips (5a) are arranged on the transport modules (1,2) and that the guide rollers (35) are arranged on the pallets (30). Parking system according to Claim 8 , characterized in that the guide rollers are the rollers (4) designed as conveying elements and the guide strips (34) are arranged on the pallets (30). Parking system according to one of the preceding claims, characterized in that each pallet has an individual identifier (38), in particular a QR code, bar code or the like, which can be read out externally, in particular on the transport module carrying the pallet, and fed to a control unit is. Parking system according to Claim 11 , characterized in that the identifier (38) comprises a continuous code extending over the longitudinal and / or transverse direction of the associated pallet and the control unit has a system for the individual position determination of each pallet (30) based on the identifier (38). Parking system according to Claim 11 or 12 , characterized in that the identification is read out on the transport module (1, 2) carrying the pallet (30) and this transport module forwards the identification read out to the central control unit, in particular that each transport module (1, 2) has a system for Position determination of the pallet (30) carried by it. Parking system according to one of the Claims 11 to 13th , wherein a vehicle to be parked is parked at a transfer point on a pallet (30) and transported to a parking space on the parking deck, characterized in that the control unit controls the transport modules (1,2) in such a way that the vehicle to be parked has a free space assigned and its pallet (30) is automatically transported to this parking space. A method for storing vehicles in an automated parking system, in which a vehicle to be parked is parked at a transfer point on a pallet (30) and the pallet (30) is then taken over by a mechanical device and transported to a parking space, characterized in that the Mechanical device consisting of a large number of transport modules (1, 2) permanently installed next to and / or one behind the other on the parking deck with upwardly protruding Conveyor elements (4, 4a) consists in that these conveyor elements (4, 4a) - at least as far as they follow one another in the desired conveying direction of the pallet (30) - are driven synchronously and transport at least one pallet (30) from the transfer point to the parking space or back .

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