EP2584119A1 - Method and device for aligning a vehicle - Google Patents

Method and device for aligning a vehicle Download PDF

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Publication number
EP2584119A1
EP2584119A1 EP20110185584 EP11185584A EP2584119A1 EP 2584119 A1 EP2584119 A1 EP 2584119A1 EP 20110185584 EP20110185584 EP 20110185584 EP 11185584 A EP11185584 A EP 11185584A EP 2584119 A1 EP2584119 A1 EP 2584119A1
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EP
European Patent Office
Prior art keywords
vehicle
adjusting plates
wheels
area
desired position
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP20110185584
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German (de)
French (fr)
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EP2584119B1 (en
Inventor
Michael Krane
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Lodige Systems GmbH
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Lodige Systems GmbH
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Publication date
Application filed by Lodige Systems GmbH filed Critical Lodige Systems GmbH
Priority to EP11185584.7A priority Critical patent/EP2584119B1/en
Publication of EP2584119A1 publication Critical patent/EP2584119A1/en
Application granted granted Critical
Publication of EP2584119B1 publication Critical patent/EP2584119B1/en
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Anticipated expiration legal-status Critical

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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
    • E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
    • E04H6/182—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions using car-gripping transfer means
    • 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
    • E04H6/422—Automatically operated car-parks
    • E04H6/424—Positioning devices

Definitions

  • the invention relates to a device for aligning a vehicle in a retraction area of a building, preferably a parking garage, are provided in the means for transporting the vehicle from the retraction area to a predetermined parking position, with a storage area, with a fixed frame in which the vehicle with his wheels is positionable, with a sensor unit for determining the position of contact points of the wheels on the shelf, with an alignment control unit for determining the positional deviation of the vehicle from a predetermined target position in which a vehicle longitudinal axis coincides with a reference axis pointing in the x direction, with a Actuator for moving the vehicle to the desired position in response to a control signal determined by the alignment control unit.
  • the invention relates to a method for aligning a vehicle in a retraction area of a building, preferably a parking garage, from which the vehicle is transported via means of transport to a predetermined parking position as soon as the vehicle is in a desired position.
  • a device for aligning a vehicle in a retraction area of a parking garage wherein in the parking garage transport means are provided for transporting the vehicle from the retraction area to a predetermined parking position.
  • the vehicle In order for the vehicle to be correctly detected by the means of transport, the vehicle must be in a predetermined alignment position (nominal position) in which a vehicle longitudinal axis must be aligned with an x-directional center reference axis of the retraction area.
  • the means of transport In order to determine the position of the parked vehicle, have a vehicle sensor, which forwards the current position data of the vehicle to a higher-level registration control unit.
  • the alignment control unit controls belts running in the transverse direction (y direction) and serving as a parking surface for wheels of the vehicle so as to bring the vehicle to the target position.
  • a disadvantage of the known device is that the alignment of the vehicle takes place with the aid of sensors which are integrated in means of transport which serve to distribute the vehicle outside the entrance area of the parking garage. It is desirable that in the retraction area a self-sufficient alignment of the vehicle can take place.
  • a device for aligning a vehicle in a retraction area of a parking garage in which a storage area on which the vehicle is pre-positioned with its wheels, is designed as a turntable.
  • a sensor unit for determining the current position of contact points of the wheels is integrated in the turntable.
  • a disadvantage of the known device is that to bring the vehicle into the desired position an alignment control not only an actuating unit for rotating the turntable, but also an actuating unit for moving an additional conveyor unit has to control. Otherwise, it would not be possible to compensate for a transverse offset of the vehicle in which the vehicle longitudinal axis is arranged parallel to the reference axis of the single region pointing in the x direction.
  • the object of the present invention is therefore to specify an apparatus and a method for aligning a vehicle in a retraction area of a building such that the alignment is carried out exclusively by means arranged in the retraction area and in a simple manner ensures safe movement of the vehicle into an area for removal into the vehicle Building required position is guaranteed.
  • the device according to the invention in conjunction with the preamble of claim 1, characterized in that the storage area has a number of transversely to the reference axis linearly displaceable adjusting plates for supporting each of a wheel of the vehicle.
  • the invention enables a reliable and self-sufficient alignment of vehicles in a retractable area of buildings, in particular of parking garages, so that the retraction area is to be regarded as a module which operates independently of other components of the parking garage.
  • the device according to the invention is thus designed as a retraction module, which operates independently of the other units of the parking garage. Alignment is easily achieved by means of positioning plates integrated with sensors, which can be displaced linearly and transversely to the reference axis (x-direction).
  • An alignment control unit evaluates the sensor data and has an alignment routine for controlling an actuating unit, by means of which the control panels are moved linearly in the transverse direction so far that the vehicle is moved directly to the desired position.
  • the inventive device is designed so that the desired position of the vehicle is achieved long-term stable and safe.
  • a display unit is arranged in the retraction area, which in dependence on the detected by the sensor unit current position of the vehicle to the driver of the vehicle signals how he can spend by steering the vehicle the same at least in a Vorpositions Kunststoff.
  • the display unit is activated, in particular, when the vehicle has been parked in a non-position state outside of a pre-position area, from which it can not be moved to the set position due to the limited displaceability of the positioning plates.
  • the driver of the vehicle is then requested by the display unit to steer the vehicle in the ancestor in a certain direction so that it can be parked at least in the Vorpositions Kunststoffe, a display unit is activated, in particular, when the vehicle has been parked in a non-position state outside of a pre-position area, from which it can not be moved to the set position due to the limited displaceability of the positioning plates.
  • the driver of the vehicle is then requested by the display unit to steer the vehicle in the ancestor in a certain direction so that it can be parked at least
  • a display unit for outputting notification signals for the vehicle driver, by means of which the vehicle is directed to a pre-positioning area. This can already take place when the vehicle enters the retraction area, provided that the vehicle's pre -position area has not yet been reached.
  • the display issues warning signals to the driver when the vehicle has been parked outside the pre-position area.
  • the position of the parked vehicle in Vorpositions Scheme is determined by comparing the coming to the target position, founded distance of the control panels with the maximum possible distance (maximum displacement S max ) of the footprint.
  • the vehicle If the distance to be traveled by the adjusting plates in order to bring the vehicle into the set position is greater than the maximum distance S max , the vehicle is outside the pre-positioning area or in the non-positioning area, so that an automatic alignment of the vehicle is not possible by the device.
  • the invention thus enables safe driving of the vehicle in the Vorpositions Kunststoff, even from untrained drivers, from which the orientation can be done automatically.
  • the storage area consists of a fixed frame, which has vertically adjustable frame members. If the frame elements and the adjusting plates run in a common plane, the device is in a starting position in which the vehicle can be parked on the shelves. By relative vertical adjustment of the frame element to the adjusting plates, the adjusting plates are "exposed", with a recess between the adjusting plates and the frame forms, so that the adjusting plates in the transverse direction (y-direction) are movable.
  • the frame elements or recesses are designed so that the adjusting plates can be moved in the then adopted alignment state by a predetermined maximum distance S max .
  • the setting unit can also be designed such that the height-offset to the frame positioning plates are so far transversely displaced that not only the vehicle is aligned with respect to the reference axis, but also beyond at least one vehicle width laterally offset to the retraction area is.
  • the vehicle from the transport module not are detected and transported away in a parking position only in the retraction area, but also by a transversely offset laterally place (transport position) to take into account structural conditions of the building.
  • the same adjusting means can be used to move the vehicle to the desired position on the one hand and into the lateral transport position on the other hand.
  • the Ausricht tenutician acts on the panels after removal of the vehicle in the parking garage in such a way that the panels are moved back to the starting position.
  • the adjusting plates are thus in a central position relative to the frame, so that a defined starting position is given for the next alignment process.
  • the sensor unit as position sensors on weighing elements for determining the center of gravity of the vehicle installation point. These are each located in a corner area of the positioning plate.
  • the contact point of the wheel can be determined in a simple manner.
  • the sensor unit is designed as an optical sensor unit, which is not integrated in the positioning plates, but provides optical detection devices which are arranged in the space of the retraction area so that a position determination the wheels is guaranteed.
  • this can be done a position determination, which is independent of the design of the adjusting plates.
  • the method according to the invention in conjunction with the preamble of claim 10 is characterized in that the driver of the vehicle is signaled during display of the vehicle in the retraction by display means, in which direction the vehicle is to be controlled in a Vorpositions Scheme for parking of the vehicle, and that the vehicle is adjusted by means of transversely adjustable linear displacement means from the Vorpositions Scheme in a target position in which the vehicle is removed by the transport means from the retraction area in the direction of the parking position.
  • the particular advantage of the method according to the invention is that the vehicle can be reliably parked in a pre-positioning area and moved to the desired position exclusively by linear adjusting means which can be adjusted in the transverse direction, in which the vehicle is automatically removed from the entry area by the means of transport.
  • a safe movement of the vehicle is spent in the desired position of the retraction area with little effort, so that then can be done by the transport of the further transport.
  • a device for aligning a vehicle in a retraction area 1 of a parking garage essentially serves for the automatic movement of the vehicle 2 into a desired position in which a vehicle longitudinal axis F L is brought into conformity with a reference axis R or vertical reference plane of the retraction area 1.
  • the reference axis R points in the x-direction and extends in the middle in the retraction area 1.
  • transport transport module
  • transport transport module
  • the retraction area 1 is formed like a garage with an openable gate, not shown, and a storage area 4, on which the driver of the vehicle 2 turns off the same and then leaves the vehicle so that it can be spent by the transport in the predetermined parking position after the vehicle through the Device has been spent in the designated position intended for this purpose.
  • the storage surface 4 has a fixed frame 5 with recesses 16, the vertically movable frame elements comprises, in an initial state, four square-shaped large-area adjusting plates 6, 6 ' encloses, wherein the two front parking plates 6 for supporting front wheels 3 and rear parking plates 6' serve to support rear wheels 3 'of the vehicle 2.
  • the frame elements and the adjusting plates 6, 6 ' are in a common plane, so that the vehicle 2 can be moved into the retraction area 1 and parked.
  • the control panels 6, 6 ' are each associated with sensors which form a sensor unit and determine the current contact point 7 of the wheels 3, 3' of the vehicle 2.
  • the sensors S are preferably arranged integrated in corner regions of the adjusting plates 6, 6 '.
  • the contact point 7 of the vehicle is defined by the location of the wheel 3, 3 'resting on the adjusting plate 6, 6'.
  • the position sensors S are preferably designed as weighing elements, which are able to determine the center of gravity of the wheel contact point 7. For example, this strain gauge sensors can be used. From the sensor values of the four position sensors assigned to each of the adjusting plates 6, 6 ', a center of gravity can be calculated at which the contact point 7 of the corresponding wheel 3, 3' is located. The calculation of the contact point 7 is preferably carried out in an alignment control unit 8, which contains a microprocessor and a memory for corresponding program means.
  • the adjusting plates 6, 6 ' are each arranged displaceably in the y direction, ie transversely to the reference axis R, by means of an actuating unit 9.
  • the adjusting unit 9 may for example be designed as a linear adjusting device, which is provided by means of hydraulic cylinders, spindles, chain drives and the like.
  • the adjusting plates 6, 6 ' are in a middle position, the front pair of adjusting plates 6 and the rear adjusting plate pair 6' being arranged symmetrically with respect to a central vertical plane through which the reference axis R passes.
  • FIGS. 1a to 2b are the adjusting plates 6, 6 'surrounding frame elements not shown. Instead, recesses 16 of the frame 5 are shown, which form when the frame elements are moved relative to the adjusting plates 6, 6 'in the vertical direction from the initial state downwards, so that a gap between the frame 5 and the adjusting plates 6, 6' exposed is for linear displacement of the same in the transverse direction (y-direction). If the frame elements are thus arranged offset in height relative to the adjusting plates 6, 6 ', so that the adjusting plates 6, 6' are displaceable in the transverse direction, the device is in an alignment state, in which the vehicle 2 can be brought into the desired position.
  • the adjusting unit 9 receives from the alignment control unit 8 an actuating signal ST, so that the vehicle 2 moves from a pre-position parked by the driver of the vehicle 2 (in a pre-positioning area) to the set position is, in which a removal can be done by the transport module.
  • the processing of the sensor signals supplied by the sensors S takes place, so that a positional deviation of the vehicle 2 from the predetermined desired position can be determined.
  • the vehicle longitudinal axis F L and the reference axis R extend in the desired position in a common vertical plane, which is also the center plane of the frame 5 and the retraction area 1.
  • FIG. 2b It can be seen that the front control panels 6 and the rear control panels 6 'have each been moved synchronously by the distance S 1 or S 2 from the initial state to the alignment state. The vehicle 2 is now in the desired position and can then be detected and transported away by the transport module. For the next alignment process, the frame elements are moved back to the initial state, so that a safe parking of the next vehicle 2 is guaranteed in the retraction area 1.
  • the linear adjustment of the actuator 9 may also be designed so that in height (in the z direction) offset from the frame 5 (frame members) arranged adjusting plates 6, 6 'with the vehicle so far in the transverse direction (y-direction) can be that the vehicle in the desired position by at least one vehicle width, for example, by 3 m, laterally offset from the retraction area 1 is arranged. A removal of the aligned in this transport position vehicle by the transport module can thus be done depending on the structural conditions of the building.
  • the relative movement of the adjusting plates 6, 6 'to the frame 5 takes place by superposing the alignment process on the one hand, in which the front adjusting plates 6 and the rear adjusting plates 6' are displaced relative to each other such that the vehicle longitudinal axis F L is brought into conformity with the reference axis R. and by a synchronous displacement of the front Stellplattenpares 6 and the rear Stellplattencrues 6 'in the transverse direction by at least one vehicle width on the other.
  • the front pair of adjusting plates 6 and the rear pair of adjusting plates 6 ' are individually controlled such that the vehicle is in the desired position at the end of the movement process, either in the retraction area 1 or in an area laterally offset by at least one vehicle width.
  • the alignment control unit 8 controls a display unit 13 by means of a pre-positioning routine 12, so that the display unit 13 outputs warning signals, for example optical and / or acoustic warning signals, which cause the driver to place the vehicle 2 within the pre -position area 10 or to turn it off.
  • the Vorpositionierroutine 12 can run at each shutdown of the vehicle 2, which is followed by the alignment routine 11 as soon as the vehicle 2 is located within the Vorpositions Kunststoffes 10.
  • Vorpositionierroutine 12 is based on the FIG. 4 described in more detail.
  • a first step 20 the location of the contact points 7 of the wheels 3, 3 'are determined by means of the sensors S.
  • the Ausricht tenutician 8 then the distances s 1 , s 2 of the adjusting plates 6, 6 'are calculated, which are required so that the vehicle 2 can be moved to the desired position, step 21st
  • a check is made as to whether the distances s 1 , s 2 traveled by the adjusting plates 6, 6 'are greater than a maximum displacement S max by which the adjusting plates 6, 6' reach the frame 5 up to the stop, respectively the struts are adjustable.
  • the maximum displacement S max indicates the pre-position range 10, within which the vehicle 2 is turned off shall be.
  • the maximum displacement S max for cars may typically be in a range between 10 and 40 cm, for example 20 cm.
  • step 24 If the calculated distance s 1 , S 2 is greater than the maximum displacement S max , the vehicle 2 is outside of the pre-position range 10, so that the display unit 13 is actuated with step 23 to output corresponding indication signals, step 24. As soon as the driver On the basis of the warning signals, which can represent, for example, arrow symbols, the vehicle 2 has brought into a different parking position, the current Aufstandshaft 7 of the wheels 3, 3 'are determined again in step 25.
  • the warning signals which can represent, for example, arrow symbols
  • the adjusting plates 6, 6 ' are moved back into the starting position by transverse displacement. After the frame elements have been moved into the positional plane of the adjusting plates 6, 6 ', the retraction region 1 is ready for receiving a further vehicle 2.
  • the display unit 13 can output sound and / or visual notification signals, for example text and / or direction symbols.
  • the frame members are pivoted about a horizontal axis of rotation up or down to to form the required for the alignment of the vehicle recesses 16.
  • the frame members are mounted on the frame via pivot bearings.
  • Corresponding adjusting means are provided so that the frame elements folded down, for example, due to its own weight by 90 ° and can be returned after removal of the vehicle in the plane to the frame position.
  • the frame members can also be folded upwards in order to ensure the sufficiently large lateral displaceability of the adjusting plates 6, 6 '.
  • the frame members may also be pivotally mounted on the pivot wall on the cabin wall.
  • the frame elements may be formed in one piece or in several parts. In multipart Execution of the frame elements, these can be folded together.
  • the sensor unit may be formed as an optical sensor unit comprising a number of optical detection devices arranged in the retraction region 1.
  • the optical detection devices are preferably designed as cameras for image acquisition, so that the distance can be determined by comparing the current image data stored in the Ausrichtberichtbericht room reference data by which the adjusting plates 6, 6 'must be moved so that the vehicle can be moved to the desired position ,
  • the alignment control unit generates a corresponding actuating signal which acts as an input variable on the setting unit.
  • a plurality of optical detection means are provided which are each aligned with a wheel or on a longitudinal side of the vehicle arranged wheels.
  • the optical detection devices are preferably arranged stationary in a middle or high space portion of the retraction area.
  • the image data acquired by the optical detection devices enable the position of the vehicle wheels to be determined with respect to a center offset and with respect to a horizontal rotation angle about the vertical axis (Z-direction) of the vehicle (relative to a vertical reference axis (vertical reference plane R)).
  • the device for aligning the vehicle with the optical sensor unit for position determination thus differs in comparison to the previously described embodiment in that the position sensors are not integrated in the control panels, but are arranged in the space of the retraction area.

Abstract

The apparatus has a transport unit for transporting a vehicle (2) from the insertion zone (1) to a predetermined parking position, a shelf (4), a stationary frame (5) in which the vehicle is positioned with its wheels, and a sensor unit for determining the position of rising point (7) of the wheels on the shelf. The orientation control unit comprises an orientation routine which is applied with an actuating signal, such that the actuating plates (6,6') are moved relative to the stationary frame by the distances (S1,S2), so that the vehicle is in the desired position. The apparatus has a transport unit for transporting a vehicle from the insertion zone to a predetermined parking position, a shelf, a stationary frame in which the vehicle is positioned with its wheels, and a sensor unit for determining the position of rising point of the wheels on the shelf. An orientation control unit determines the positional deviation of vehicle, when the predetermined reference position in a vehicle longitudinal axis (FL) faces the x-direction of the reference axis (R). A control unit moves the vehicle in the desired position in response to an actuating signal output by the orientation control unit. The shelf has several linearly displaceable actuating plates arranged transversely to the reference axis, for supporting a respective wheel of the vehicle. The actuating plates are associated with the position sensors of the sensor unit for determining the position of the rising point of the wheels to the respective actuating plates. The orientation control unit comprises an orientation routine which is applied with the actuating signal, such that the actuating plates are moved relative to the stationary frame by predetermined distances, so that the vehicle is in the desired position. An independent claim is included for a method for alignment of vehicle in insertion zone such as parking garage of building.

Description

Die Erfindung betrifft eine Vorrichtung zur Ausrichtung eines Fahrzeugs in einem Einfahrbereich eines Gebäudes, vorzugsweise eines Parkhauses, in dem Mittel zum Transport des Fahrzeugs von dem Einfahrbereich zu einer vorgegebenen Parkposition vorgesehen sind, mit einer Abstellfläche, mit einem ortsfesten Rahmen, in dem das Fahrzeug mit seinen Rädern positionierbar ist, mit einer Sensoreinheit zur Ermittlung der Position von Aufstandspunkten der Räder auf der Abstellfläche, mit einer Ausrichtsteuereinheit zur Bestimmung der Positionsabweichung des Fahrzeugs von einer vorgegebenen Sollposition, in der eine Fahrzeuglängsachse mit einer in x-Richtung weisenden Referenzachse übereinstimmt, mit einer Stelleinheit zum Bewegen des Fahrzeugs in die Sollposition in Abhängigkeit von einem durch die Ausrichtsteuereinheit bestimmten Stellsignal.The invention relates to a device for aligning a vehicle in a retraction area of a building, preferably a parking garage, are provided in the means for transporting the vehicle from the retraction area to a predetermined parking position, with a storage area, with a fixed frame in which the vehicle with his wheels is positionable, with a sensor unit for determining the position of contact points of the wheels on the shelf, with an alignment control unit for determining the positional deviation of the vehicle from a predetermined target position in which a vehicle longitudinal axis coincides with a reference axis pointing in the x direction, with a Actuator for moving the vehicle to the desired position in response to a control signal determined by the alignment control unit.

Ferner betrifft die Erfindung ein Verfahren zur Ausrichtung eines Fahrzeugs in einem Einfahrbereich eines Gebäudes, vorzugsweise eines Parkhauses, von dem das Fahrzeug über Transportmittel zu einer vorgegebenen Parkposition transportiert wird, sobald das Fahrzeug sich in einer Sollposition befindet.Furthermore, the invention relates to a method for aligning a vehicle in a retraction area of a building, preferably a parking garage, from which the vehicle is transported via means of transport to a predetermined parking position as soon as the vehicle is in a desired position.

Aus der US 2010/0034626 A1 ist eine Vorrichtung zur Ausrichtung eines Fahrzeugs in einem Einfahrbereich eines Parkhauses bekannt, wobei in dem Parkhaus Transportmittel zum Transportieren des Fahrzeugs von dem Einfahrbereich zu einer vorgegebenen Parkposition vorgesehen sind. Damit das Fahrzeug von den Transportmitteln korrekt erfasst werden kann, muss sich das Fahrzeug in einer vorgegebenen Ausrichtposition (Sollposition) befinden, in der eine Fahrzeuglängsachse mit einer in x-Richtung weisenden mittleren Referenzachse des Einfahrbereichs in Übereinstimmung gebracht sein muss. Zur Bestimmung der Lage des abgestellten Fahrzeugs weisen die Transportmittel einen Fahrzeugsensor auf, der die aktuellen Positionsdaten des Fahrzeugs an eine übergeordnete Ausrichtsteuereinheit weitergibt. Die Ausrichtsteuereinheit steuert in Querrichtung (y-Richtung) laufende und als Abstellfläche für Räder des Fahrzeugs dienende Bänder so an, dass das Fahrzeug in die Sollposition gebracht wird. Nachteilig an der bekannten Vorrichtung ist, dass die Ausrichtung des Fahrzeugs unter Zuhilfenahme von Sensoren erfolgt, die in Transportmitteln integriert sind, die zur Verteilung des Fahrzeugs außerhalb des Einfahrbereichs des Parkhauses dienen. Es ist wünschenswert, dass im Einfahrbereich eine autarke Ausrichtung des Fahrzeugs erfolgen kann.From the US 2010/0034626 A1 a device for aligning a vehicle in a retraction area of a parking garage is known, wherein in the parking garage transport means are provided for transporting the vehicle from the retraction area to a predetermined parking position. In order for the vehicle to be correctly detected by the means of transport, the vehicle must be in a predetermined alignment position (nominal position) in which a vehicle longitudinal axis must be aligned with an x-directional center reference axis of the retraction area. In order to determine the position of the parked vehicle, the means of transport have a vehicle sensor, which forwards the current position data of the vehicle to a higher-level registration control unit. The alignment control unit controls belts running in the transverse direction (y direction) and serving as a parking surface for wheels of the vehicle so as to bring the vehicle to the target position. A disadvantage of the known device is that the alignment of the vehicle takes place with the aid of sensors which are integrated in means of transport which serve to distribute the vehicle outside the entrance area of the parking garage. It is desirable that in the retraction area a self-sufficient alignment of the vehicle can take place.

Aus der EP 0 933 493 A1 ist eine Vorrichtung zur Ausrichtung eines Fahrzeugs in einem Einfahrbereich eines Parkhauses bekannt, bei der eine Abstellfläche, auf der das Fahrzeug mit seinen Rädern vorpositioniert wird, als ein Drehteller ausgebildet ist. Zwar ist eine Sensoreinheit zur Ermittlung der aktuellen Position von Aufstandspunkten der Räder in dem Drehteller integriert. Nachteilig an der bekannten Vorrichtung ist allerdings, dass zum Verbringen des Fahrzeugs in die Sollposition eine Ausrichtsteuereinheit nicht nur eine Stelleinheit zur Verdrehung des Drehtellers, sondern darüber hinaus auch eine Stelleinheit zum Verschieben einer zusätzlichen Fördereinheit ansteuern muss. Andernfalls wäre der Ausgleich eines Querversatzes des Fahrzeugs, in der die Fahrzeuglängsachse parallel zu der in x-Richtung weisenden Referenzachse des Einfachbereiches angeordnet ist, nicht möglich.From the EP 0 933 493 A1 a device for aligning a vehicle in a retraction area of a parking garage is known in which a storage area on which the vehicle is pre-positioned with its wheels, is designed as a turntable. Although a sensor unit for determining the current position of contact points of the wheels is integrated in the turntable. A disadvantage of the known device, however, is that to bring the vehicle into the desired position an alignment control not only an actuating unit for rotating the turntable, but also an actuating unit for moving an additional conveyor unit has to control. Otherwise, it would not be possible to compensate for a transverse offset of the vehicle in which the vehicle longitudinal axis is arranged parallel to the reference axis of the single region pointing in the x direction.

Aufgabe der vorliegenden Erfindung ist es daher, eine Vorrichtung und ein Verfahren zur Ausrichtung eines Fahrzeugs in einem Einfahrbereich eines Gebäudes derart anzugeben, dass die Ausrichtung ausschließlich durch im Einfahrbereich angeordnete Mittel ausgeführt und auf einfache Weise ein sicheres Verbringen des Fahrzeugs in eine zum Abtransport in das Gebäude erforderliche Sollposition gewährleistet ist.The object of the present invention is therefore to specify an apparatus and a method for aligning a vehicle in a retraction area of a building such that the alignment is carried out exclusively by means arranged in the retraction area and in a simple manner ensures safe movement of the vehicle into an area for removal into the vehicle Building required position is guaranteed.

Zur Lösung der Aufgabe ist die erfindungsgemäße Vorrichtung in Verbindung mit dem Oberbegriff des Patentanspruchs 1 dadurch gekennzeichnet, dass die Abstellfläche eine Anzahl von quer zur Referenzachse linear verschiebbare Stellplatten aufweist zur Abstützung von jeweils einem Rad des Fahrzeugs.To achieve the object, the device according to the invention in conjunction with the preamble of claim 1, characterized in that the storage area has a number of transversely to the reference axis linearly displaceable adjusting plates for supporting each of a wheel of the vehicle.

Die Erfindung ermöglicht eine betriebssichere und autarke Ausrichtung von Fahrzeugen in einem Einfahrbereich von Gebäuden, insbesondere von Parkhäusern, so dass der Einfahrbereich als ein unabhängig von weiteren Bestandteilen des Parkhauses arbeitendes Modul anzusehen ist. Die erfindungsgemäße Vorrichtung ist damit als ein Einfahrmodul ausgebildet, das unabhängig von den anderen Baueinheiten des Parkhauses arbeitet. Die Ausrichtung erfolgt auf einfache Weise durch mit Sensoren integrierten Stellplatten, die linear und in Querrichtung zur Referenzachse (x-Richtung) verschiebbar sind. Eine Ausrichtsteuereinheit wertet die Sensordaten aus und weist eine Ausrichtroutine zur Ansteuerung einer Stelleinheit auf, mittels derer die Stellplatten in Querrichtung linear so weit verfahren werden, dass das Fahrzeug direkt in die Sollposition verbracht wird. Die erfindungsgemäße Vorrichtung ist so ausgelegt, dass die Sollposition des Fahrzeugs langzeitstabil und sicher erreicht wird.The invention enables a reliable and self-sufficient alignment of vehicles in a retractable area of buildings, in particular of parking garages, so that the retraction area is to be regarded as a module which operates independently of other components of the parking garage. The device according to the invention is thus designed as a retraction module, which operates independently of the other units of the parking garage. Alignment is easily achieved by means of positioning plates integrated with sensors, which can be displaced linearly and transversely to the reference axis (x-direction). An alignment control unit evaluates the sensor data and has an alignment routine for controlling an actuating unit, by means of which the control panels are moved linearly in the transverse direction so far that the vehicle is moved directly to the desired position. The inventive device is designed so that the desired position of the vehicle is achieved long-term stable and safe.

Nach einer bevorzugten Ausführungsform der Erfindung ist in dem Einfahrbereich eine Anzeigeeinheit angeordnet, die in Abhängigkeit von der mittels der Sensoreinheit erfassten aktuellen Position des Fahrzeugs dem Fahrer des Fahrzeugs signalisiert, wie er durch Lenkung des Fahrzeugs dasselbe zumindest in einen Vorpositionsbereich verbringen kann. Die Anzeigeeinheit wird insbesondere dann aktiviert, wenn das Fahrzeug in einem Nichtpositionszustand außerhalb eines Vorpositionsbereichs abgestellt worden ist, von dem es aufgrund der beschränkten Verschiebbarkeit der Stellplatten nicht in die Sollposition verfahrbar ist. Der Fahrer des Fahrzeugs wird dann mittels der Anzeigeeinheit aufgefordert, das Fahrzeug beim Vorfahren in eine bestimmte Richtung zu lenken, damit es zumindest in dem Vorpositionsbereich abgestellt werden kann.According to a preferred embodiment of the invention, a display unit is arranged in the retraction area, which in dependence on the detected by the sensor unit current position of the vehicle to the driver of the vehicle signals how he can spend by steering the vehicle the same at least in a Vorpositionsbereich. The display unit is activated, in particular, when the vehicle has been parked in a non-position state outside of a pre-position area, from which it can not be moved to the set position due to the limited displaceability of the positioning plates. The driver of the vehicle is then requested by the display unit to steer the vehicle in the ancestor in a certain direction so that it can be parked at least in the Vorpositionsbereich.

Nach einer Weiterbildung der Erfindung ist eine Anzeigeeinheit zur Ausgabe von Hinweissignalen für den Fahrzeugfahrer vorgesehen, mittels derer das Fahrzeug in einen Vorpositionsbereich gewiesen wird. Dies kann bereits beim Einfahren des Fahrzeugs in den Einfahrbereich erfolgen, sofern der Vorpositionsbereich des Fahrzeugs noch nicht erreicht ist. Alternativ gibt die Anzeige Hinweissignale an den Fahrer aus, wenn das Fahrzeug außerhalb des Vorpositionsbereichs abgestellt worden ist. Die Lage des abgestellten Fahrzeugs im Vorpositionsbereich wird durch Vergleich der, um in die Sollposition zu kommenden, zurückzulegenden Wegstrecke der Stellplatten mit der maximal möglichen Wegstrecke (maximaler Verstellweg Smax) der Stellfläche ermittelt. Ist die zurückzulegende Wegstrecke der Stellplatten, um das Fahrzeug in die Sollposition zu bringen, größer als die maximale Wegstrecke SMax, befindet sich das Fahrzeug außerhalb des Vorpositionsbereichs bzw. im Nichtpositionierbereich, so dass eine selbsttätige Ausrichtung des Fahrzeugs durch die Vorrichtung nicht möglich ist. Die Erfindung ermöglicht somit auch bei nicht geübten Fahrern ein sicheres Verbringen des Fahrzeugs in den Vorpositionsbereich, von dem aus die Ausrichtung selbsttätig erfolgen kann.According to a development of the invention, a display unit is provided for outputting notification signals for the vehicle driver, by means of which the vehicle is directed to a pre-positioning area. This can already take place when the vehicle enters the retraction area, provided that the vehicle's pre -position area has not yet been reached. Alternatively, the display issues warning signals to the driver when the vehicle has been parked outside the pre-position area. The position of the parked vehicle in Vorpositionsbereich is determined by comparing the coming to the target position, zurückzulegenden distance of the control panels with the maximum possible distance (maximum displacement S max ) of the footprint. If the distance to be traveled by the adjusting plates in order to bring the vehicle into the set position is greater than the maximum distance S max , the vehicle is outside the pre-positioning area or in the non-positioning area, so that an automatic alignment of the vehicle is not possible by the device. The invention thus enables safe driving of the vehicle in the Vorpositionsbereich, even from untrained drivers, from which the orientation can be done automatically.

Nach einer Weiterbildung der Erfindung besteht die Abstellfläche aus einem feststehenden Rahmen, der über vertikal verstellbare Rahmenelemente verfügt. Verlaufen die Rahmenelemente und die Stellplatten in einer gemeinsamen Ebene, befindet sich die Vorrichtung in einer Ausgangsstellung, in der das Fahrzeug auf den Stellflächen abgestellt werden kann. Durch relative vertikale Verstellung des Rahmenselementes zu den Stellplatten werden die Stellplatten "freigelegt", wobei sich eine Ausnehmung zwischen den Stellplatten und dem Rahmen bildet, so dass die Stellplatten in Querrichtung (y-Richtung) verfahrbar sind. Die Rahmenelemente bzw. Ausnehmungen sind so ausgelegt, dass die Stellplatten in dem dann eingenommenen Ausrichtzustand um eine vorgegebene maximale Wegstrecke Smax bewegt werden können.According to a development of the invention, the storage area consists of a fixed frame, which has vertically adjustable frame members. If the frame elements and the adjusting plates run in a common plane, the device is in a starting position in which the vehicle can be parked on the shelves. By relative vertical adjustment of the frame element to the adjusting plates, the adjusting plates are "exposed", with a recess between the adjusting plates and the frame forms, so that the adjusting plates in the transverse direction (y-direction) are movable. The frame elements or recesses are designed so that the adjusting plates can be moved in the then adopted alignment state by a predetermined maximum distance S max .

Nach einer Weiterbildung der Erfindung kann die Stelleinheit auch derart ausgebildet sein, dass die zur Ausrichtung höhenversetzt zu dem Rahmen positionierten Stellplatten so weit in Querrichtung verschiebbar sind, dass nicht nur das Fahrzeug bezüglich der Referenzachse ausgerichtet ist, sondern auch darüber hinaus um mindestens eine Fahrzeugbreite seitlich versetzt zu dem Einfahrbereich ist. Hierdurch kann das Fahrzeug von dem Transportmodul nicht nur in dem Einfahrbereich erfasst und abtransportiert werden in eine Parkposition, sondern auch von einem in Querrichtung seitlich versetzten Ort (Transportstellung), um baulichen Gegebenheiten des Gebäudes Rechnung zu tragen. Vorteilhaft können die gleichen Verstellmittel zum Verbringen des Fahrzeugs in die Sollposition einerseits und in die seitliche Transportstellung andererseits genutzt werden.According to a development of the invention, the setting unit can also be designed such that the height-offset to the frame positioning plates are so far transversely displaced that not only the vehicle is aligned with respect to the reference axis, but also beyond at least one vehicle width laterally offset to the retraction area is. As a result, the vehicle from the transport module not are detected and transported away in a parking position only in the retraction area, but also by a transversely offset laterally place (transport position) to take into account structural conditions of the building. Advantageously, the same adjusting means can be used to move the vehicle to the desired position on the one hand and into the lateral transport position on the other hand.

Nach einer Weiterbildung der Erfindung wirkt die Ausrichtsteuereinheit auf die Stellplatten nach Wegtransport des Fahrzeugs in das Parkhaus derart ein, dass die Stellplatten zurück in die Ausgangsstellung verfahren werden. In der Ausgangsstellung befinden sich die Stellplatten somit in einer mittleren Position zu dem Rahmen, so dass für den nächsten Ausrichtvorgang eine definierte Startposition gegeben ist.According to a development of the invention, the Ausrichtsteuereinheit acts on the panels after removal of the vehicle in the parking garage in such a way that the panels are moved back to the starting position. In the initial position, the adjusting plates are thus in a central position relative to the frame, so that a defined starting position is given for the next alignment process.

Nach einer Weiterbildung der Erfindung weist die Sensoreinheit als Positionssensoren Wägeelemente zur Feststellung des Schwerpunktes des Fahrzeugaufstellpunktes auf. Diese befinden sich jeweils in einem Eckbereich der Stellplatte. Vorteilhaft kann auf einfache Weise der Aufstandspunkt des Rades ermittelt werden.According to a development of the invention, the sensor unit as position sensors on weighing elements for determining the center of gravity of the vehicle installation point. These are each located in a corner area of the positioning plate. Advantageously, the contact point of the wheel can be determined in a simple manner.

Nach einer Weiterbildung der Erfindung ist die Sensoreinheit als eine optische Sensoreinheit ausgebildet, die nicht in den Stellplatten integriert ist, sondern optische Erfassungseinrichtungen vorsieht, die im Raum des Einfahrbereiches so angeordnet sind, dass eine Positionsbestimmung der Räder gewährleistet ist. Vorteilhaft kann hierdurch eine Positionsbestimmung erfolgen, die unabhängig von der Bauform der Stellplatten ist.According to a development of the invention, the sensor unit is designed as an optical sensor unit, which is not integrated in the positioning plates, but provides optical detection devices which are arranged in the space of the retraction area so that a position determination the wheels is guaranteed. Advantageously, this can be done a position determination, which is independent of the design of the adjusting plates.

Zur Lösung der Aufgabe ist das erfindungsgemäße Verfahren in Verbindung mit dem Oberbegriff des Patentanspruchs 10 dadurch gekennzeichnet, dass dem Fahrer des Fahrzeugs während des Verbringens des Fahrzeugs in den Einfahrbereich durch Anzeigemittel signalisiert wird, in welche Richtung das Fahrzeug in einen Vorpositionsbereich gesteuert werden soll zum Abstellen des Fahrzeugs, und dass das Fahrzeug mittels in Querrichtung verstellbarer linearer Verstellmittel aus dem Vorpositionsbereich verstellt wird in eine Sollposition, in der das Fahrzeug durch die Transportmittel aus dem Einfahrbereich in Richtung der Parkposition entfernt wird.To solve the problem, the method according to the invention in conjunction with the preamble of claim 10 is characterized in that the driver of the vehicle is signaled during display of the vehicle in the retraction by display means, in which direction the vehicle is to be controlled in a Vorpositionsbereich for parking of the vehicle, and that the vehicle is adjusted by means of transversely adjustable linear displacement means from the Vorpositionsbereich in a target position in which the vehicle is removed by the transport means from the retraction area in the direction of the parking position.

Der besondere Vorteil des erfindungsgemäßen Verfahrens besteht darin, dass das Fahrzeug zum einen zuverlässig in einem Vorpositionsbereich abgestellt und zum anderen ausschließlich durch in Querrichtung verstellbare lineare Stellmittel in die Sollposition verbracht werden kann, in der das Fahrzeug durch die Transportmittel aus dem Einfahrbereich selbsttätig entfernt wird. Vorteilhaft wird mit geringem Aufwand ein sicheres Verbringen des Fahrzeugs in Sollposition des Einfahrbereichs verbracht, so dass dann durch die Transportmittel der Weitertransport erfolgen kann.The particular advantage of the method according to the invention is that the vehicle can be reliably parked in a pre-positioning area and moved to the desired position exclusively by linear adjusting means which can be adjusted in the transverse direction, in which the vehicle is automatically removed from the entry area by the means of transport. Advantageously, a safe movement of the vehicle is spent in the desired position of the retraction area with little effort, so that then can be done by the transport of the further transport.

Weitere Vorteile der Erfindung ergeben sich aus den weiteren Unteransprüchen.Further advantages of the invention will become apparent from the further subclaims.

Ein Ausführungsbeispiel der Erfindung wird nachfolgend anhand der Zeichnungen näher erläutert.An embodiment of the invention will be explained in more detail with reference to the drawings.

Es zeigen:

Figur 1a
eine perspektivische Darstellung eines Fahrzeugs im Einfahrbereich eines Parkhauses, wobei sich das Fahrzeug in einem Vorpositionsbereich befindet,
Figur 1b
eine perspektivische Darstellung des Fahrzeugs gemäß Figur 1a nach Ausrichtung des Fahrzeugs in einer Sollposition, wobei eine Fahrzeuglängsachse und eine Referenzachse des Einlassbereichs eine gemeinsame vertikale Ebene aufspannen,
Figur 2a
eine Draufsicht auf das auf einer Abstellfläche des Einfahrbereichs abgestellte Fahrzeug gemäß Figur 1a,
Figur 2b
eine Draufsicht auf das auf der Abstellfläche des Einfahrbereichs abgestellte Fahrzeug gemäß Figur 1b,
Figur 3
ein Blockschaltbild der erfindungsgemäßen Vorrichtung und
Figur 4
ein Ablaufplan des erfindungsgemäßen Verfahrens.
Show it:
FIG. 1a
1 is a perspective view of a vehicle in the entrance area of a parking garage, wherein the vehicle is in a pre-position area,
FIG. 1b
a perspective view of the vehicle according to FIG. 1a after alignment of the vehicle in a target position, wherein a vehicle longitudinal axis and a reference axis of the inlet region span a common vertical plane,
FIG. 2a
a plan view of the parked on a parking area of the retraction area vehicle according to FIG. 1a .
FIG. 2b
a plan view of the parked on the shelf of the retraction area vehicle according to FIG. 1b .
FIG. 3
a block diagram of the device according to the invention and
FIG. 4
a flowchart of the method according to the invention.

Eine Vorrichtung zur Ausrichtung eines Fahrzeugs in einem Einfahrbereich 1 eines Parkhauses dient im Wesentlichen zum selbsttätigen Verbringen des Fahrzeugs 2 in eine Sollposition, in der eine Fahrzeuglängsachse FL in Übereinstimmung gebracht ist mit einer Referenzachse R bzw. vertikalen Referenzebene des Einfahrbereichs 1. Die Referenzachse R weist in x-Richtung und verläuft mittig in dem Einfahrbereich 1. Nur wenn sich das Fahrzeug 2 mit seiner Fahrzeuglängsachse in der Referenzachse R befindet, sind nicht dargestellte Transportmittel (Transportmodul) in der Lage, sich in Längsrichtung (x-Richtung) unter das Fahrzeug zu bewegen und mit gegenüberliegenden Greifern jeweils eine Rad 3 des Fahrzeugs 2 zu erfassen, um danach das Fahrzeug 2 anzuheben und in x-Richtung in das Parkhaus zu transportieren, bis das Fahrzeug 2 die vorgegebene Parkposition erreicht hat.A device for aligning a vehicle in a retraction area 1 of a parking garage essentially serves for the automatic movement of the vehicle 2 into a desired position in which a vehicle longitudinal axis F L is brought into conformity with a reference axis R or vertical reference plane of the retraction area 1. The reference axis R points in the x-direction and extends in the middle in the retraction area 1. Only when the vehicle 2 is with its vehicle longitudinal axis in the reference axis R, not shown transport (transport module) are able to move in the longitudinal direction (x-direction) under the vehicle to move and to grasp each wheel 3 of the vehicle 2 with opposite grippers to then lift the vehicle 2 and to transport in the x-direction in the parking garage until the vehicle 2 has reached the predetermined parking position.

Der Einfahrbereich 1 ist garagenartig ausgebildet mit einem nicht dargestellten öffenbaren Tor sowie einer Abstellfläche 4, auf der der Fahrer des Fahrzeugs 2 dasselbe abstellt und dann das Fahrzeug verlässt, damit es durch die Transportmittel in die vorgegebene Parkposition verbracht werden kann, nachdem das Fahrzeug durch die Vorrichtung in die hierfür vorgesehene Sollposition verbracht worden ist.The retraction area 1 is formed like a garage with an openable gate, not shown, and a storage area 4, on which the driver of the vehicle 2 turns off the same and then leaves the vehicle so that it can be spent by the transport in the predetermined parking position after the vehicle through the Device has been spent in the designated position intended for this purpose.

Die Abstellfläche 4 weist einen feststehenden Rahmen 5 mit Ausnehmungen 16 auf, der vertikal bewegbare Rahmenelemente umfasst, die in einem Ausgangszustand vier rechteckförmig ausgebildete großflächige Stellplatten 6, 6' umschließt, wobei die beiden vorderen Stellplatten 6 zur Auflage von vorderen Rädern 3 und hintere Stellplatten 6' zur Auflage von hinteren Rädern 3' des Fahrzeugs 2 dienen. In dem Ausgangszustand befinden sich die Rahmenelemente und die Stellplatten 6, 6' in einer gemeinsamen Ebene, so dass das Fahrzeug 2 in den Einfahrbereich 1 hinein gefahren und abgestellt werden kann.The storage surface 4 has a fixed frame 5 with recesses 16, the vertically movable frame elements comprises, in an initial state, four square-shaped large-area adjusting plates 6, 6 ' encloses, wherein the two front parking plates 6 for supporting front wheels 3 and rear parking plates 6' serve to support rear wheels 3 'of the vehicle 2. In the initial state, the frame elements and the adjusting plates 6, 6 'are in a common plane, so that the vehicle 2 can be moved into the retraction area 1 and parked.

Den Stellplatten 6, 6' sind jeweils Sensoren zugeordnet, die eine Sensoreinheit bilden und den aktuellen Aufstandspunkt 7 der Räder 3, 3' des Fahrzeugs 2 ermitteln. Die Sensoren S sind vorzugsweise in Eckbereichen der Stellplatten 6, 6' integriert angeordnet. Der Aufstandspunkt 7 des Fahrzeugs ist definiert durch den Ort des auf der Stellplatte 6, 6' aufliegenden Rades 3, 3'.The control panels 6, 6 'are each associated with sensors which form a sensor unit and determine the current contact point 7 of the wheels 3, 3' of the vehicle 2. The sensors S are preferably arranged integrated in corner regions of the adjusting plates 6, 6 '. The contact point 7 of the vehicle is defined by the location of the wheel 3, 3 'resting on the adjusting plate 6, 6'.

Die Positionssensoren S sind vorzugsweise als Wägeelemente ausgebildet, die in der Lage sind, den Schwerpunkt des Radaufstandspunktes 7 zu bestimmen. Beispielsweise können hierzu Dehnungsmessstreifensensoren eingesetzt werden. Aus den Sensorwerten der vier jeweils den Stellplatten 6, 6' zugeordneten Positionssensoren lässt sich ein Schwerpunkt errechnen, an dem sich der Aufstandspunkt 7 des entsprechenden Rades 3, 3' befindet. Die Berechnung des Aufstandspunktes 7 wird vorzugsweise in einer Ausrichtsteuereinheit 8 vorgenommen, die einen Mikroprozessor sowie einen Speicher für entsprechende Programmmittel enthält.The position sensors S are preferably designed as weighing elements, which are able to determine the center of gravity of the wheel contact point 7. For example, this strain gauge sensors can be used. From the sensor values of the four position sensors assigned to each of the adjusting plates 6, 6 ', a center of gravity can be calculated at which the contact point 7 of the corresponding wheel 3, 3' is located. The calculation of the contact point 7 is preferably carried out in an alignment control unit 8, which contains a microprocessor and a memory for corresponding program means.

Die Stellplatten 6, 6' sind mittels einer Stelleinheit 9 jeweils ausschließlich in y-Richtung, also quer zur Referenzachse R verschiebbar angeordnet. Die Stelleinheit 9 kann beispielsweise als eine Linearverstelleinrichtung ausgebildet sein, die mittels Hydraulikzylindern, Spindeln, Kettentrieben und dergleichen versehen ist.The adjusting plates 6, 6 'are each arranged displaceably in the y direction, ie transversely to the reference axis R, by means of an actuating unit 9. The adjusting unit 9 may for example be designed as a linear adjusting device, which is provided by means of hydraulic cylinders, spindles, chain drives and the like.

In dem Ausgangszustand befinden sich die Stellplatten 6, 6' in einer mittleren Position, wobei das vordere Stellplattenpaar 6 und das hintere Stellplattenpaar 6' symmetrisch bezüglich einer mittleren Vertikalebene, durch die die Referenzachse R verläuft, angeordnet sind. In den Figuren 1a bis 2b sind die die Stellplatten 6, 6' umgebenden Rahmenelemente nicht dargestellt. Stattdessen sind Ausnehmungen 16 des Rahmens 5 dargestellt, die sich ausbilden, wenn die Rahmenelemente relativ zu den Stellplatten 6, 6' in vertikaler Richtung aus dem Ausgangszustand nach unten bewegt werden, damit ein Zwischenraum zwischen dem Rahmen 5 und den Stellplatten 6, 6' freigelegt ist zum linearen Verschieben derselben in Querrichtung (y-Richtung). Sind die Rahmenelemente somit höhenversetzt zu den Stellplatten 6, 6' angeordnet, so dass die Stellplatten 6, 6' in Querrichtung verschiebbar sind, befindet sich die Vorrichtung in einem Ausrichtzustand, in dem das Fahrzeug 2 in die Sollposition verbracht werden kann.In the initial state, the adjusting plates 6, 6 'are in a middle position, the front pair of adjusting plates 6 and the rear adjusting plate pair 6' being arranged symmetrically with respect to a central vertical plane through which the reference axis R passes. In the FIGS. 1a to 2b are the adjusting plates 6, 6 'surrounding frame elements not shown. Instead, recesses 16 of the frame 5 are shown, which form when the frame elements are moved relative to the adjusting plates 6, 6 'in the vertical direction from the initial state downwards, so that a gap between the frame 5 and the adjusting plates 6, 6' exposed is for linear displacement of the same in the transverse direction (y-direction). If the frame elements are thus arranged offset in height relative to the adjusting plates 6, 6 ', so that the adjusting plates 6, 6' are displaceable in the transverse direction, the device is in an alignment state, in which the vehicle 2 can be brought into the desired position.

Die Stelleinheit 9 erhält von der Ausrichtsteuereinheit 8 ein Stellsignal ST, so dass das Fahrzeug 2 von einer durch den Fahrer des Fahrzeugs 2 abgestellten Vorposition (in einem Vorpositionsbereich) in die Sollposition bewegt wird, in der ein Abtransport durch das Transportmodul erfolgen kann. In der Ausrichtsteuereinheit 8 erfolgt die Verarbeitung der von den Sensoren S gelieferten Sensorsignale, so dass eine Positionsabweichung des Fahrzeugs 2 von der vorgegebenen Sollposition ermittelt werden kann.The adjusting unit 9 receives from the alignment control unit 8 an actuating signal ST, so that the vehicle 2 moves from a pre-position parked by the driver of the vehicle 2 (in a pre-positioning area) to the set position is, in which a removal can be done by the transport module. In the alignment control unit 8, the processing of the sensor signals supplied by the sensors S takes place, so that a positional deviation of the vehicle 2 from the predetermined desired position can be determined.

Wurde das Fahrzeug 2 durch den Fahrer in einem Vorpositionsbereich 10, wie beispielsweise in den Figuren 1a und 2a dargestellt, abgestellt, werden mittels einer Ausrichtroutine 11 der Ausrichteinheit 8 die Wegstrecken der Stellplatten 6, 6' berechnet. Hierbei werden jeweils den Vorderrädern 3 zugeordnete Stellplatten 6 und den Hinterrädern 3' zugeordnete Stellplatten 6' synchron in y-Richtung bewegt. Wie aus dem Vergleich zwischen den Figuren 2a und 2b ersichtlich ist, wird das vordere Stellplattenpaar 6 nach links um die Wegstrecke S1 und das hintere Stellplattenpaar 6' um die Wegstrecke S2 nach rechts verschoben, bis die Fahrzeuglängsachse FL in Übereinstimmung mit der Referenzachse R gebracht worden ist. Die Fahrzeuglängsachse FL und die Referenzachse R erstrecken sich in der Sollposition in einer gemeinsamen vertikalen Ebene, die zugleich die Mittelebene des Rahmens 5 bzw. des Einfahrbereiches 1 ist. Aus Figur 2b ist ersichtlich, dass die vorderen Stellplatten 6 und die hinteren Stellplatten 6' jeweils synchron um die Wegstrecke S1 bzw. S2 von dem Ausgangszustand in den Ausrichtzustand verschoben worden sind. Das Fahrzeug 2 befindet sich nun in der Sollposition und kann dann von dem Transportmodul erfasst und abtransportiert werden. Für den nächsten Ausrichtvorgang werden die Rahmenelemente wieder in den Ausgangszustand bewegt, damit ein gefahrfreies Abstellen des nächsten Fahrzeugs 2 in dem Einfahrbereich 1 gewährleistet ist.Was the vehicle 2 by the driver in a Vorpositionsbereich 10, such as in the FIGS. 1a and 2a shown, turned off, the distances of the adjusting plates 6, 6 'are calculated by means of an alignment routine 11 of the alignment unit 8. Here, each of the front wheels 3 associated adjusting plates 6 and the rear wheels 3 'associated adjusting plates 6' synchronously moved in the y direction. As from the comparison between the FIGS. 2a and 2b it can be seen, the front pair of parking plates 6 is shifted to the left by the distance S 1 and the rear pair of adjusting plates 6 'by the distance S 2 to the right until the vehicle longitudinal axis F L has been brought into accordance with the reference axis R. The vehicle longitudinal axis F L and the reference axis R extend in the desired position in a common vertical plane, which is also the center plane of the frame 5 and the retraction area 1. Out FIG. 2b It can be seen that the front control panels 6 and the rear control panels 6 'have each been moved synchronously by the distance S 1 or S 2 from the initial state to the alignment state. The vehicle 2 is now in the desired position and can then be detected and transported away by the transport module. For the next alignment process, the frame elements are moved back to the initial state, so that a safe parking of the next vehicle 2 is guaranteed in the retraction area 1.

Alternativ kann die Linearverstelleinrichtung der Stelleinheit 9 auch so ausgebildet sein, dass die in der Höhe (in z-Richtung) versetzt zu dem Rahmen 5 (Rahmenelemente) angeordneten Stellplatten 6, 6' mit dem Fahrzeug so weit in Querrichtung (y-Richtung) verschoben werden können, dass das Fahrzeug in der Sollposition um mindestens eine Fahrzeugbreite, beispielsweise um 3 m, seitlich versetzt zu dem Einfahrbereich 1 angeordnet ist. Ein Abtransport des in dieser Transportstellung ausgerichteten Fahrzeugs durch das Transportmodul kann somit in Abhängigkeit von den baulichen Gegebenheiten des Gebäudes erfolgen. Die relative Bewegung der Stellplatten 6, 6' zu dem Rahmen 5 erfolgt durch Überlagerung des Ausrichtvorgangs einerseits, bei dem die vorderen Stellplatten 6 und die hinteren Stellplatten 6' relativ zueinander so verschoben werden, dass die Fahrzeuglängsachse FL in Übereinstimmung mit der Referenzachse R gebracht worden ist, und durch eine synchrone Verschiebung des vorderen Stellplattenpaares 6 und des hinteren Stellplattenpaares 6' in Querrichtung um mindestens eine Fahrzeugbreite andererseits. Vorzugsweise wird das vordere Stellplattenpaar 6 und das hintere Stellplattenpaar 6' jeweils einzeln so angesteuert, dass das Fahrzeug sich mit Ende des Bewegungsvorgangs derselben in der Sollposition befindet, und zwar entweder in dem Einfahrbereich 1 oder in einem um mindestens eine Fahrzeugbreite seitlich versetzten Bereich.Alternatively, the linear adjustment of the actuator 9 may also be designed so that in height (in the z direction) offset from the frame 5 (frame members) arranged adjusting plates 6, 6 'with the vehicle so far in the transverse direction (y-direction) can be that the vehicle in the desired position by at least one vehicle width, for example, by 3 m, laterally offset from the retraction area 1 is arranged. A removal of the aligned in this transport position vehicle by the transport module can thus be done depending on the structural conditions of the building. The relative movement of the adjusting plates 6, 6 'to the frame 5 takes place by superposing the alignment process on the one hand, in which the front adjusting plates 6 and the rear adjusting plates 6' are displaced relative to each other such that the vehicle longitudinal axis F L is brought into conformity with the reference axis R. and by a synchronous displacement of the front Stellplattenpaares 6 and the rear Stellplattenpaares 6 'in the transverse direction by at least one vehicle width on the other. Preferably, the front pair of adjusting plates 6 and the rear pair of adjusting plates 6 'are individually controlled such that the vehicle is in the desired position at the end of the movement process, either in the retraction area 1 or in an area laterally offset by at least one vehicle width.

Wurde das Fahrzeug 2 nicht in dem Vorpositionsbereich 10 abgestellt, innerhalb dessen die als Stellplatten 6, 6' ausgebildeten linearen Verstellmittel das Fahrzeug 2 in die Sollposition verbringen können, ist vorgesehen, dass die Ausrichtsteuereinheit 8 mittels einer Vorpositionierroutine 12 eine Anzeigeeinheit 13 ansteuert, so dass die Anzeigeeinheit 13 Hinweissignale, beispielsweise optische und/oder akustische Hinweissignale, abgibt, die den Fahrer veranlassen, das Fahrzeug 2 innerhalb des Vorpositionsbereiches 10 zu platzieren bzw. abzustellen. Die Vorpositionierroutine 12 kann bei jedem Abstellvorgang des Fahrzeugs 2 ablaufen, woran sich die Ausrichtroutine 11 anschließt, sobald das Fahrzeug 2 innerhalb des Vorpositionsbereiches 10 angeordnet ist.If the vehicle 2 has not been parked in the pre-position area 10, within which the linear adjusting means designed as adjusting plates 6, 6 'can move the vehicle 2 into the desired position, it is provided that the alignment control unit 8 controls a display unit 13 by means of a pre-positioning routine 12, so that the display unit 13 outputs warning signals, for example optical and / or acoustic warning signals, which cause the driver to place the vehicle 2 within the pre -position area 10 or to turn it off. The Vorpositionierroutine 12 can run at each shutdown of the vehicle 2, which is followed by the alignment routine 11 as soon as the vehicle 2 is located within the Vorpositionsbereiches 10.

Der Ablauf der Vorpositionierroutine 12 wird anhand der Figur 4 näher beschrieben. In einem ersten Schritt 20 werden mittels der Sensoren S der Ort der Aufstandspunkte 7 der Räder 3, 3' ermittelt. In der Ausrichtsteuereinheit 8 werden dann die Wegstrecken s1, s2 der Stellplatten 6, 6' berechnet, die erforderlich sind, damit das Fahrzeug 2 in die Sollposition verbracht werden kann, Schritt 21.The sequence of Vorpositionierroutine 12 is based on the FIG. 4 described in more detail. In a first step 20, the location of the contact points 7 of the wheels 3, 3 'are determined by means of the sensors S. In the Ausrichtsteuereinheit 8 then the distances s 1 , s 2 of the adjusting plates 6, 6 'are calculated, which are required so that the vehicle 2 can be moved to the desired position, step 21st

In einem weiteren Schritt 22 wird überprüft, ob die von den Stellplatten 6, 6' zurückzulegenden Wegstrecken s1, s2 größer sind als ein maximaler Verschiebeweg Smax, um den die Stellplatten 6, 6' maximal bis zum Anschlag an den Rahmen 5 bzw. der Verstrebung desselben verstellbar sind. Der maximale Verschiebeweg Smax gibt den Vorpositionsbereich 10 an, innerhalb dessen das Fahrzeug 2 abgestellt werden soll. Der maximale Verschiebeweg Smax kann für PKWs typischerweise in einem Bereich zwischen 10 und 40 cm liegen, beispielsweise 20 cm.In a further step 22, a check is made as to whether the distances s 1 , s 2 traveled by the adjusting plates 6, 6 'are greater than a maximum displacement S max by which the adjusting plates 6, 6' reach the frame 5 up to the stop, respectively the struts are adjustable. The maximum displacement S max indicates the pre-position range 10, within which the vehicle 2 is turned off shall be. The maximum displacement S max for cars may typically be in a range between 10 and 40 cm, for example 20 cm.

Ist die berechnete Wegstrecke s1, S2 größer als der maximale Verschiebeweg Smax, befindet sich das Fahrzeug 2 au-βerhalb des Vorpositionsbereichs 10, so dass mit Schritt 23 die Anzeigeeinheit 13 angesteuert wird zur Ausgabe entsprechender Hinweissignale, Schritt 24. Sobald der Fahrer aufgrund der Hinweissignale, die beispielsweise Pfeilsymbole darstellen können, das Fahrzeug 2 in eine andere Abstellposition gebracht hat, werden im Schritt 25 erneut die aktuellen Aufstandspunkte 7 der Räder 3, 3' ermittelt.If the calculated distance s 1 , S 2 is greater than the maximum displacement S max , the vehicle 2 is outside of the pre-position range 10, so that the display unit 13 is actuated with step 23 to output corresponding indication signals, step 24. As soon as the driver On the basis of the warning signals, which can represent, for example, arrow symbols, the vehicle 2 has brought into a different parking position, the current Aufstandspunkte 7 of the wheels 3, 3 'are determined again in step 25.

Es erfolgt dann eine erneute Wegstreckenberechnung 21 sowie Überprüfung 22, ob sich das Fahrzeug 2 innerhalb des Vorpositionsbereiches 10 befindet. Sind die neu berechneten Wegstrecken s1, s2 wiederum größer als der maximale Verschiebeweg Smax, muss die oben genannte Schleife erneut durchlaufen werden, und zwar so lange, bis im Schritt 22 erkannt wird, dass die berechneten Wegstrecken s1, s2 nicht größer sind als der maximale Verschiebeweg Smax. In diesem Fall erfolgt in dem nachfolgenden Schritt 26 die Ansteuerung der Stelleinheit 9 entsprechend der Ausrichtroutine 11. Durch Drehung und gegebenenfalls Querverschiebung des Fahrzeugs 2 wird dasselbe dann in die Sollposition 27 verschoben, so dass es in einem weiteren Schritt durch die Transportmittel in Richtung der Parkposition abtransportiert werden kann.There is then a new route calculation 21 and check 22, whether the vehicle 2 is within the Vorpositionsbereiches 10. If the newly calculated distances s 1 , s 2 are again greater than the maximum displacement S max , the above-mentioned loop must be run through again, until it is detected in step 22 that the calculated distances s 1 , s 2 are not are greater than the maximum displacement S max . In this case, in the following step 26, the actuation of the actuator 9 corresponding to the alignment routine 11. By rotation and optionally transverse displacement of the vehicle 2, the same is then moved to the desired position 27 so that it in a further step by the transport in the direction of the parking position can be removed.

Nachdem das Fahrzeug 2 aus dem Einfahrbereich 1 entfernt worden ist, werden die Stellplatten 6, 6' durch Querverschiebung in die Ausgangsstellung zurück verfahren. Nachdem die Rahmenelemente in die Positionsebene der Stellplatten 6, 6' verfahren worden sind, ist der Einfahrbereich 1 zur Aufnahme eines weiteren Fahrzeugs 2 bereit.After the vehicle 2 has been removed from the retraction area 1, the adjusting plates 6, 6 'are moved back into the starting position by transverse displacement. After the frame elements have been moved into the positional plane of the adjusting plates 6, 6 ', the retraction region 1 is ready for receiving a further vehicle 2.

Die Anzeigeeinheit 13 kann klangliche und/oder optische Hinweissignale abgeben, beispielsweise Text und/oder Richtungssymbole.The display unit 13 can output sound and / or visual notification signals, for example text and / or direction symbols.

Nach einer alternativen Ausführungsform der Erfindung kann es vorgesehen sein, statt der relativen Verschiebbarkeit des Rahmens 5 bzw. der Rahmenelemente zu den Stellplatten 6, 6' durch eine Linearbewegung in z-Richtung die Rahmenelemente um eine horizontale Drehachse nach oben oder unten verschwenkt werden, um die für die Ausrichtung des Fahrzeugs erforderliche Ausnehmungen 16 auszubilden. Zu diesem Zweck sind die Rahmenelemente über Drehlager an dem Rahmen gelagert. Entsprechende Stellmittel sind vorgesehen, damit die Rahmenelemente beispielsweise aufgrund des Eigengewichtes um 90° heruntergeklappt und nach Abtransport des Fahrzeugs wieder in die zu dem Rahmen ebene Position verbracht werden können. Gegebenfalls können die Rahmenelemente auch nach oben hochgeklappt werden, um die ausreichend große seitliche Verschiebbarkeit der Stellplatten 6, 6' zu gewährleisten. Alternativ können die Rahmenelemente auch über das Drehlager an der Kabinenwand schwenkbar gelagert sein. Die Rahmenelemente können einstückig oder mehrteilig ausgebildet sein. Bei mehrteiliger Ausführung der Rahmenelemente können diese zusammenfaltbar sein.According to an alternative embodiment of the invention, it may be provided, instead of the relative displaceability of the frame 5 or the frame members to the adjusting plates 6, 6 'by a linear movement in the z direction, the frame members are pivoted about a horizontal axis of rotation up or down to to form the required for the alignment of the vehicle recesses 16. For this purpose, the frame members are mounted on the frame via pivot bearings. Corresponding adjusting means are provided so that the frame elements folded down, for example, due to its own weight by 90 ° and can be returned after removal of the vehicle in the plane to the frame position. Optionally, the frame members can also be folded upwards in order to ensure the sufficiently large lateral displaceability of the adjusting plates 6, 6 '. Alternatively, the frame members may also be pivotally mounted on the pivot wall on the cabin wall. The frame elements may be formed in one piece or in several parts. In multipart Execution of the frame elements, these can be folded together.

Nach einer nicht dargestellten alternativen Ausführungsform kann die Sensoreinheit als eine optische Sensoreinheit ausgebildet ein, die eine Anzahl von in dem Einfahrbereich 1 angeordnete optische Erfassungseinrichtungen umfasst. Die optischen Erfassungseinrichtungen sind vorzugsweise als Kameras zur Bilderfassung ausgebildet, so dass durch Vergleich der aktuellen Bilddaten mit in der Ausrichtsteuereinheit gespeicherten Raumreferenzdaten die Wegstrecke ermittelbar ist, um die die Stellplatten 6, 6' verfahren werden müssen, damit das Fahrzeug in die Sollposition verbracht werden kann. Hierfür erzeugt die Ausrichtsteuereinheit ein entsprechendes Stellsignals, das als Eingangsgröße auf die Stelleinheit einwirkt. Vorzugsweise sind mehrere optische Erfassungseinrichtungen vorgesehen, die jeweils auf ein Rad oder auf zwei einer Längssseite des Fahrzeugs angeordneten Räder ausgerichtet sind. Die optischen Erfassungseinrichtungen sind vorzugsweise in einem mittleren oder hohen Raumabschnitt des Einfahrbereichs ortsfest angeordnet. Die von den optischen Erfassungseinrichtungen erfassten Bilddaten ermöglichen die Positionsbestimmung der Fahrzeugräder zum einen bezüglich eines Mittenversatzes und zum anderen bezüglich eines horizontalen Drehwinkels um die Hochachse (Z-Richtung) des Fahrzeugs (bezogen auf eine vertikale Referenzachse (vertikale Referenzebene R)). Die Vorrichtung zur Ausrichtung des Fahrzeugs mit der optischen Sensoreinheit zur Positionsbestimmung unterscheidet sich somit im Vergleich zu der vorher beschriebenen Ausführungsform dadurch, dass die Positionssensoren nicht in den Stellplatten integriert, sondern im Raum des Einfahrbereiches angeordnet sind.According to an alternative embodiment not shown, the sensor unit may be formed as an optical sensor unit comprising a number of optical detection devices arranged in the retraction region 1. The optical detection devices are preferably designed as cameras for image acquisition, so that the distance can be determined by comparing the current image data stored in the Ausrichtsteuereinheit room reference data by which the adjusting plates 6, 6 'must be moved so that the vehicle can be moved to the desired position , For this purpose, the alignment control unit generates a corresponding actuating signal which acts as an input variable on the setting unit. Preferably, a plurality of optical detection means are provided which are each aligned with a wheel or on a longitudinal side of the vehicle arranged wheels. The optical detection devices are preferably arranged stationary in a middle or high space portion of the retraction area. The image data acquired by the optical detection devices enable the position of the vehicle wheels to be determined with respect to a center offset and with respect to a horizontal rotation angle about the vertical axis (Z-direction) of the vehicle (relative to a vertical reference axis (vertical reference plane R)). The device for aligning the vehicle with the optical sensor unit for position determination thus differs in comparison to the previously described embodiment in that the position sensors are not integrated in the control panels, but are arranged in the space of the retraction area.

Claims (14)

Vorrichtung zur Ausrichtung eines Fahrzeugs (2) in einem Einfahrbereich (1) eines Gebäudes, vorzugsweise eines Parkhauses, in dem Mittel zum Transport des Fahrzeugs (2) von dem Einfahrbereich (1) zu einer vorgegebenen Parkposition vorgesehen sind, - mit einer Abstellfläche (4), - mit einem ortsfesten Rahmen (5), in dem das Fahrzeug (2) mit seinen Rädern (3, 3') positionierbar ist, - mit einer Sensoreinheit (S) zur Ermittlung der Position von Aufstandspunkten (7) der Räder (3, 3') auf der Abstellfläche (4), - mit einer Ausrichtsteuereinheit (8) zur Bestimmung der Positionsabweichung des Fahrzeugs (2) von einer vorgegebenen Sollposition, in der eine Fahrzeuglängsachse (FL) mit einer in x-Richtung weisenden Referenzachse (R) übereinstimmt, - mit einer Stelleinheit (9) zum Bewegen des Fahrzeugs (2) in die Sollposition in Abhängigkeit von einem durch die Ausrichtsteuereinheit (8) bestimmten Stellsignal (ST), dadurch gekennzeichnet, dass die Abstellfläche (4) eine Anzahl von quer zur Referenzachse (R) linear verschiebbare Stellplatten (6, 6') aufweist zur Abstützung von jeweils einem Rad (3, 3') des Fahrzeugs (2), - dass den Stellplatten (6, 6') jeweils Positionssensoren der Sensoreinheit zugeordnet sind zur Lagebestimmung des Aufstandspunktes (7) der Räder (3, 3') auf den jeweiligen Stellplatten (6, 6'), - dass die Ausrichtsteuereinheit (8) eine Ausrichtroutine (11) umfasst, die mit einem solchen Stellsignal (ST) auf die Stelleinheit (9) einwirkt, dass die Stellplatten (6, 6') relativ zu dem Rahmen (5) um eine Wegstrecke (S1, S2) bewegbar sind, so dass das Fahrzeug (2) die Sollposition einnimmt. Device for aligning a vehicle (2) in a retraction area (1) of a building, preferably a parking garage, in which means are provided for transporting the vehicle (2) from the retraction area (1) to a predetermined parking position, - with a storage area (4), - With a stationary frame (5) in which the vehicle (2) with its wheels (3, 3 ') can be positioned, - With a sensor unit (S) for determining the position of Aufstandspunkte (7) of the wheels (3, 3 ' ) on the shelf (4), - With an alignment control unit (8) for determining the positional deviation of the vehicle (2) from a predetermined desired position in which a vehicle longitudinal axis (F L ) coincides with a reference axis (R) pointing in the x direction, with an actuating unit (9) for moving the vehicle (2) into the desired position as a function of a control signal (ST) determined by the alignment control unit (8), characterized in that the storage surface (4) has a number of transverse to the reference axis (R) linearly displaceable adjusting plates (6, 6 ') for supporting in each case a wheel (3, 3') of the vehicle (2), that the positioning plates (6, 6 ') are each assigned position sensors of the sensor unit for determining the position of the contact point (7) of the wheels (3, 3') on the respective positioning plates (6, 6 ' ), in that the alignment control unit (8) comprises an alignment routine (11) which acts on the control unit (9) with such a control signal (ST) that the control panels (6, 6 ') are moved by a distance (6) relative to the frame (5). S 1 , S 2 ) are movable, so that the vehicle (2) assumes the desired position. Vorrichtung nach Anspruch 1, dadurch gekennzeichnet, dass innerhalb des Einfahrbereiches (1) eine Anzeigeeinheit (13) angeordnet ist zur Ausgabe von einem optischen und/oder akustischen Hinweismittel für den Fahrer, so dass das Fahrzeug (2) aus einem Nichtpositionsbereich, in dem das Fahrzeug (2) durch die Stellplatten (6, 6') nicht in die Sollposition verschiebbar ist, in den Vorpositionsbereich (10) bewegbar ist, in dem durch Verschieben der Stellplatten (6, 6') das Fahrzeug (2) in die Sollposition bringbar ist.Apparatus according to claim 1, characterized in that within the retraction area (1) a display unit (13) is arranged for output from an optical and / or audible warning means for the driver, so that the vehicle (2) from a non-position area in which the Vehicle (2) by the adjusting plates (6, 6 ') is not displaced into the desired position, in the Vorpositionsbereich (10) is movable, in which by moving the adjusting plates (6, 6') the vehicle (2) can be brought into the desired position is. Vorrichtung nach Anspruch 2, dadurch gekennzeichnet, dass die Ausrichtsteuereinheit (8) eine Vorpositionierroutine (12) aufweist zur Ansteuerung der Anzeigeeinheit (13), wobei mittels der Vorpositionierroutine (12) ein Vergleich zwischen den durch die Stellplatten (6, 6') zurückzulegende Wegstrecke (S1, S2), um das Fahrzeug (2) in die Sollposition zu verbringen, und einer durch die Stellplatten (6, 6') maximal zurückzulegende maximale Wegstrecke (Smax) erfolgt, so dass das Fahrzeug (2) in den Vorpositionsbereich bringbar ist.Apparatus according to claim 2, characterized in that the alignment control unit (8) has a Vorpositionierroutine (12) for driving the display unit (13), wherein by means of Vorpositionierroutine (12) a comparison between the by the adjusting plates (6, 6 ') to be traveled distance (S 1 , S 2 ) to spend the vehicle (2) in the desired position, and by the adjusting plates (6, 6') maximum zurückzulegende maximum distance (S max ) so that the vehicle (2) can be brought into the pre-position area. Vorrichtung nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass an dem feststehenden Rahmen (5) Ausnehmungen (16) ausbildbar sind, so dass die Stellplatten (6, 6') in Querrichtung verschiebbar sind.Device according to one of claims 1 to 3, characterized in that on the fixed frame (5) recesses (16) can be formed, so that the adjusting plates (6, 6 ') are displaceable in the transverse direction. Vorrichtung nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, dass der Rahmen (5) Rahmenelemente aufweist, die relativ zu den Stellplatten (6, 6') vertikal bewegbar sind zwischen einem Ausgangszustand, in dem die Rahmenelemente die Stellplatten (6, 6') in einer gemeinsamen Ebene umgeben, und einem Ausrichtzustand, in der die Stellplatten (6, 6') durch die Ausnehmungen (16) umgeben sind zur Verschiebbarkeit der Stellplatten (6, 6') um eine maximale Wegstrecke (Smax).Device according to one of claims 1 to 4, characterized in that the frame (5) comprises frame elements which are vertically movable relative to the adjusting plates (6, 6 ' ) between an initial state in which the frame elements, the adjusting plates (6, 6 ' ) in a common plane, and an alignment state in which the adjusting plates (6, 6 ' ) are surrounded by the recesses (16) for displaceability of the adjusting plates (6, 6') by a maximum distance (S max ). Vorrichtung nach Anspruch 5, dadurch gekennzeichnet, dass die Stelleinheit (9) derart ausgebildet ist, dass die in dem Ausrichtzustand höhenversetzt zu dem Rahmen (5) angeordneten Stellplatten (6, 6') in Querrichtung (y-Richtung) so weit verschiebbar sind, dass sich das Fahrzeug zum einen bezüglich der Referenzachse (R) und zum anderen um mindestens eine Fahrzeugbreite seitlich versetzt zu dem Einfahrbereich (1) in der Sollposition befindet.Apparatus according to claim 5, characterized in that the setting unit (9) is designed such that in the alignment state offset in height to the frame (5) arranged adjusting plates (6, 6 ') in the transverse direction (y-direction) are so far displaceable, that the vehicle with respect to a the reference axis (R) and on the other hand by at least one vehicle width laterally offset from the retraction area (1) in the desired position. Vorrichtung nach einem der Ansprüche 1 bis 6, dadurch gekennzeichnet, dass die Positionssensoren (S) der Sensoreinheit jeweils als Wägeelemente ausgebildet sind, die jeweils in Eckbereichen der Stellplatten (6, 6') angeordnet sind.Device according to one of claims 1 to 6, characterized in that the position sensors (S) of the sensor unit are each formed as weighing elements, which are each arranged in corner regions of the adjusting plates (6, 6 '). Vorrichtung zur Ausrichtung eines Fahrzeugs (2) in einem Einfahrbereich (1) eines Gebäudes, vorzugsweise eines Parkhauses, in dem Mittel zum Transport des Fahrzeugs (2) von dem Einfahrbereich (1) zu einer vorgegebenen Parkposition vorgesehen sind, - mit einer Abstellfläche (4), - mit einem ortsfesten Rahmen (5), in dem das Fahrzeug (2) mit seinen Rädern (3, 3') positionierbar ist, - mit einer Sensoreinheit (S) zur Ermittlung der Position von Aufstandspunkten (7) der Räder (3, 3') auf der Abstellfläche (4), - mit einer Ausrichtsteuereinheit (8) zur Bestimmung der Positionsabweichung des Fahrzeugs (2) von einer vorgegebenen Sollposition, in der eine Fahrzeuglängsachse (FL) mit einer in x-Richtung weisenden Referenzachse (R) übereinstimmt, - mit einer Stelleinheit (9) zum Bewegen des Fahrzeugs (2) in die Sollposition in Abhängigkeit von einem durch die Ausrichtsteuereinheit (8) bestimmten Stellsignal (ST), dadurch gekennzeichnet, dass die Abstellfläche (4) eine Anzahl von quer zur Referenzachse (R) linear verschiebbare Stellplatten (6, 6') aufweist zur Abstützung von jeweils einem Rad (3, 3') des Fahrzeugs (2), - dass die Sensoreinheit als eine optische Sensoreinheit ausgebildet ist, wobei in dem Einfahrbereich mindestens eine optische Erfassungseinrichtung angeordnet ist zur Positionsbestimmung der Aufstandspunkte (9) der Räder (3, 3'), - dass in Abhängigkeit von dem mittels der optischen Sensoreinheit ermittelten Positionsdaten in der Ausrichtsteuereinheit (8) ein Stellsignal erzeugt wird, mittels dessen die Stelleinheit (9) die Stellplatten (6, 6') relativ zu dem Rahmen (5) so bewegt, dass das Fahrzeug (2) in die Sollposition verbracht wird. Device for aligning a vehicle (2) in a retraction area (1) of a building, preferably a parking garage, in which means are provided for transporting the vehicle (2) from the retraction area (1) to a predetermined parking position, - with a storage area (4), - With a stationary frame (5) in which the vehicle (2) with its wheels (3, 3 ') can be positioned, - With a sensor unit (S) for determining the position of Aufstandspunkte (7) of the wheels (3, 3 ') on the shelf (4), - With an alignment control unit (8) for determining the positional deviation of the vehicle (2) from a predetermined desired position in which a vehicle longitudinal axis (F L ) coincides with a reference axis (R) pointing in the x direction, - With an actuating unit (9) for moving the vehicle (2) in the desired position in response to a by the Ausrichtsteuereinheit (8) certain Actuating signal (ST), characterized in that the storage surface (4) has a number of transversely to the reference axis (R) linearly displaceable adjusting plates (6, 6 ' ) for supporting in each case a wheel (3, 3') of the vehicle (2), in that the sensor unit is designed as an optical sensor unit, wherein in the retraction area at least one optical detection device is arranged for determining the position of the contact points (9) of the wheels (3, 3 '), in that in dependence on the position data determined by means of the optical sensor unit in the alignment control unit (8) an actuating signal is generated, by means of which the setting unit (9) moves the positioning plates (6, 6 ') relative to the frame (5) such that Vehicle (2) is moved to the target position. Vorrichtung nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass die Stelleinheit (9) eine Anzahl von Linearverstelleinrichtungen aufweist zur Verstellung der Stellplatten (6, 6').Device according to one of claims 1 to 8, characterized in that the adjusting unit (9) has a number of linear adjustment devices for adjusting the adjusting plates (6, 6 '). Verfahren zur Ausrichtung eines Fahrzeugs (2) in einem Einfahrbereich (1) eines Gebäudes, insbesondere eines Parkhauses, von dem das Fahrzeug (2) über Transportmittel zu einer vorgegebenen Parkposition transportiert wird, sobald das Fahrzeug (2) sich in einer Sollposition befindet, dadurch gekennzeichnet, dass dem Fahrer des Fahrzeugs (2) während des Verbringens des Fahrzeugs (2) in den Einfahrbereich (1) durch Anzeigemittel (13) signalisiert wird, in welche Richtung das Fahrzeug (2) in einen Vorpositionsbereich (10) gesteuert werden soll zum Abstellen des Fahrzeugs (2), und dass das Fahrzeug (2) mittels in Querrichtung verstellbarer linearer Verstellmittel (6, 6') aus dem Vorpositionsbereich verstellt wird in eine Sollposition, in der das Fahrzeug (2) durch die Transportmittel aus dem Einfahrbereich (1) in Richtung der Parkposition entfernt wird.A method for alignment of a vehicle (2) in an insertion zone (1) of a building, in particular a car park, is transported from the vehicle (2) via transport means to a predetermined parking position when the vehicle (2) is in a desired position, characterized in in that the driver of the vehicle (2) is signaled by display means (13) during the transfer of the vehicle (2) into the entry area (1) in which direction the vehicle (2) is to be controlled into a pre-position area (10) for parking the vehicle Vehicle (2), and that the vehicle (2) is adjusted by means of transversely adjustable linear displacement means (6, 6 ') from the Vorpositionsbereich in a target position in which the vehicle (2) by the transport from the retraction area (1) in Direction of parking position is removed. Verfahren nach Anspruch 10, dadurch gekennzeichnet, dass dem Fahrer durch die Anzeigemittel (13) signalisiert wird, ob das Fahrzeug (2) aus der aktuellen Position in x-Richtung und/oder in y-Richtung in den Vorpositionsbereich (10) oder in die Sollposition bewegt werden soll.A method according to claim 10, characterized in that the driver is signaled by the display means (13), whether the vehicle (2) from the current position in the x-direction and / or in the y-direction in the Vorpositionsbereich (10) or in the Target position to be moved. Verfahren nach Anspruch 10 oder 11, dadurch gekennzeichnet, dass dem Fahrer durch die Anzeigemittel angezeigt wird, in welche Richtung das Fahrzeug (2) in den Vorpositionsbereich (10) oder in die Sollposition bewegt werden soll.A method according to claim 10 or 11, characterized in that the driver is indicated by the display means, in which direction the vehicle (2) in the Vorpositionsbereich (10) or in the desired position to be moved. Verfahren nach einem der Ansprüche 10 bis 12, dadurch gekennzeichnet, dass die Anzeigeeinheit (13) zur Ausgabe von Hinweissignalen angesteuert wird, sofern das Fahrzeug (2) außerhalb des Vorpositionsbereichs (10) abgestellt worden ist oder sofern die Räder (3, 3') des Fahrzeugs (2) die Stellplatten (6, 6') befahren und somit die aktuelle Position der Räder (3, 3') durch die Sensoreinheit (S) ermittelbar ist.Method according to one of Claims 10 to 12, characterized in that the display unit (13) is actuated for outputting indication signals if the vehicle (2) is outside the pre-positioning range (10) has been turned off or if the wheels (3, 3 ') of the vehicle (2) the parking plates (6, 6 ' ) travel and thus the current position of the wheels (3, 3 ') by the sensor unit (S) determined is. Verfahren nach einem der Ansprüche 10 bis 13, dadurch gekennzeichnet, dass die linearen Verstellmittel (6, 6') und dieselben in einer Ausgangsstellung umgebende Rahmenelemente nach Erreichen des Vorpositionsbereiches durch das Fahrzeug (2) in vertikaler Richtung relativ zueinander derart verschoben werden, so dass die linearen Verstellmittel (6, 6') in horizontaler Richtung entlang einer Wegstrecke (S1, S2) in eine Ausrichtstellung verschoben werden können, in der sich das Fahrzeug in der Sollposition befindet.Method according to one of claims 10 to 13, characterized in that the linear adjusting means (6, 6 ' ) and the same surrounding frame elements in a starting position after reaching the Vorpositionsbereiches by the vehicle (2) in the vertical direction relative to each other are moved so that the linear adjustment means (6, 6 ' ) in the horizontal direction along a path (S 1 , S 2 ) can be moved to an alignment position in which the vehicle is in the desired position.
EP11185584.7A 2011-10-18 2011-10-18 Method and device for aligning a vehicle Not-in-force EP2584119B1 (en)

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CN103711346A (en) * 2013-12-26 2014-04-09 东莞市伟创东洋自动化设备有限公司 Automobile rotary table centering lifting device and centering dropping prevention method thereof
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CN109441167A (en) * 2018-12-14 2019-03-08 聊城大学 It is a kind of without evacuation stereo parking facility and working method
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CN110331880A (en) * 2019-05-14 2019-10-15 绍兴欢歌智能科技有限公司 A kind of Public Parking vehicle stops reminding intelligent robot partially
CN110331880B (en) * 2019-05-14 2020-12-08 江苏奇捷机器人智能科技有限公司 Intelligent robot for reminding vehicle deviation stopping in public parking lot

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