EP3455434B1 - Device and method for parking a vehicle - Google Patents

Description

The content of the German patent application DE 10 2016 208 235.3 is incorporated herein by reference.

The invention relates to a device for parking a vehicle according to the preamble of claim 1. The invention also relates to a method for parking a vehicle.

From the DE 38 23 728 A1 (corresponds to U.S. 5,066,187 A ) a device for the automatic parking of motor vehicles is known, which has a plurality of horizontal conveying devices arranged next to one another in an x and a y direction on two parking levels arranged one above the other. By means of the horizontal conveying devices, pallets on which motor vehicles can or are parked are conveyed in the x or y direction as required. Depending on whether or not a motor vehicle is parked on a pallet and depending on which motor vehicle is parked on a pallet, the masses to be conveyed by means of the horizontal conveying devices vary greatly. As a result, it is difficult to position the respective pallet quickly and precisely on one of the horizontal conveying devices.

The JP 2014 080793 A discloses an automated parking facility comprising a plurality of storage racks and pallets.

The WO2015 / 177718 A1 discloses a vehicle transfer device for an automatic mechanical parking system.

The invention is based on the object of creating a device for parking a vehicle which enables a pallet to be quickly and precisely positioned relative to a horizontal conveyor in a simple and reliable manner.

This object is achieved by a device with the features of claim 1. The at least one detection element is attached to the support element and / or to at least one guide element of the pallet. The at least two measuring sensors arranged one after the other in the conveying direction can provide the control device with measuring signals which can be used in a simple and reliable manner for fast and exact positioning of a pallet on the respective horizontal conveying device. The at least two measuring sensors include, for example, a stop measuring sensor and a control measuring sensor. The stop measurement sensor provides the control device with a stop measurement signal when the at least one detection element is detected by the stop measurement sensor. On the basis of the stop measurement signal, the control device controls the at least one drive motor of the horizontal conveyor device conveying the pallet by means of a stop control signal and thus initiates a stop process. If the conveying of the pallet is stopped, the actual position of the pallet is compared with a predefined target position by means of the control measuring sensor and, if there is an undesirably high deviation, a repositioning process or a fine positioning process is initiated. The control measurement sensor provides the control device, for example, with a control measurement signal when the actual position is sufficiently accurate corresponds to the target position. The process of positioning the pallet relative to the associated horizontal conveyor is then completed. If the control measurement sensor does not provide the control measurement signal to the control device after a stopping process, the control device detects that the actual position of the pallet does not correspond to the desired position with the desired accuracy and initiates the repositioning process. For this purpose, the control device generates a positioning control signal and controls the at least one electric drive motor for repositioning or fine positioning of the pallet. The repositioning process is ended by means of the control device when the control measuring sensor provides the control measurement signal to the control device during repositioning. The at least two measuring sensors and the at least one detection element are preferably arranged in the center of the respective horizontal conveyor device and the respective pallet. With the at least two measuring sensors and the at least one detectable detection element, fast and exact positioning relative to a horizontal conveyor can be achieved in a simple and reliable manner despite a strongly varying mass of the pallet and a possibly parked vehicle.

A device according to claim 2 ensures an exact positioning of a pallet relative to a horizontal conveyor in a simple and reliable manner. The control measuring sensor is arranged, for example, in the conveying direction before or after the stop measuring sensor. The control measuring sensor is preferably arranged in front of the stop measuring sensor in the conveying direction.

A device according to claim 3 ensures, in a simple and reliable manner, a quick and exact positioning of a pallet relative to a horizontal conveyor. The braking measurement sensor provides the control device with a braking measurement signal. When the braking measurement signal is present, a conveying speed of the pallet is reduced from a maximum conveying speed to a lower conveying speed. For this purpose, the control device controls the at least one drive motor accordingly by means of a braking control signal. The deceleration measuring sensor is in front of the stop measuring sensor in the conveying direction arranged. This ensures on the one hand that the pallet is conveyed as long as possible at the maximum conveying speed and, on the other hand, when the at least one detection element is detected by the stop measuring sensor and the stop measuring signal is provided, the conveying speed is already reduced to such an extent that after initiation of the stopping process, the pallet is stopped promptly and the desired target position is reached as precisely as possible. The conveying speed can for example be reduced linearly from a maximum first conveying speed to a lower second conveying speed. As a result, the delay of the pallet is constant.

A device according to claim 4 ensures high reliability. The at least two non-contact measuring sensors are wear-free. The at least two contactless measuring sensors are preferably designed to be inductive or capacitive, so that their function is not impaired by contamination.

A device according to claim 5 ensures high reliability in a simple manner. The at least one metallic detection element is robust and wear-free. The at least one detection element can preferably be detected by means of inductive and / or capacitive measuring sensors.

A device according to claim 6 ensures, in a simple and reliable manner, a quick and exact positioning of a pallet relative to a horizontal conveyor. Because the respective horizontal conveying device has the at least two measuring sensors, a power supply and signal transmission of the at least two measuring sensors is possible in a simple and reliable manner. At least one The detection element is robust, so that the conveyance of the respective pallet does not impair the function of the at least one detection element.

A device according to claim 7 ensures high reliability in a simple manner. Because the at least two measuring sensors are designed to be break-proof, the control device detects a possible malfunction of a measuring sensor. The faulty measuring sensor can on the one hand be identified and displayed. On the other hand, the respective pallet can be stopped and positioned on the basis of the measurement signal of the at least one functional measurement sensor and on the basis of an error-case-stopping process predetermined by the control device, so that collisions of pallets are reliably avoided.

A device according to claim 8 ensures, in a simple and reliable manner, a quick and exact positioning of a pallet relative to a horizontal conveyor. When conveying a pallet, the at least one detection element first reaches the control measuring sensor, which initially only detects that the pallet has reached the measuring sensor arrangement. The braking measurement sensor then detects the at least one detection element and provides the control device with a braking measurement signal, which then initiates a braking process for the pallet and carries out a transport speed of the pallet from a maximum transport speed to a reduced transport speed. If the stop measurement sensor then detects the at least one detection element, a stop measurement signal is provided to the control device so that it stops the at least one drive motor of the horizontal conveyor device. If the pallet is very inert and a vehicle is parked on it, the pallet does not stop immediately, but continues to be conveyed in the conveying direction. By that the length or detection length of the at least one detection element corresponds to the measuring sensor distance between the control measuring sensor and the stop measuring sensor, a comparison of the actual position with the desired target position is possible in a simple and reliable manner. If the control measuring sensor still detects the at least one detection element, the actual position corresponds to the desired position with sufficient accuracy and the stopping process is complete. If, on the other hand, the pallet has been conveyed too far in the conveying direction, the control measuring sensor no longer detects the at least one detection element and accordingly no longer provides the control measuring signal to the control device. The control device recognizes this and initiates a repositioning process or fine positioning process. For this purpose, the pallet is conveyed backwards by means of the at least one drive motor at a very low conveying speed until the control measuring sensor detects the at least one detection element again and provides the control device with the control measuring signal. When the control measurement signal is made available again, the repositioning process is ended and the actual position now corresponds to the target position with sufficient accuracy.

A device according to claim 9 increases the reliability in a simple manner. Because at least two successively arranged measuring sensors are provided for a forward conveying direction and an opposite backward conveying direction, a function is permanently assigned to each measuring sensor, for example the provision of a stop measurement signal or the provision of a control measurement signal or, if necessary, the provision of one Deceleration measurement signal. If one of the measuring sensors fails, it is easier, for example, to use the at least two measuring sensors provided for the opposite conveying direction and the failed function can be replaced in a reliable manner. The at least two measuring sensors and the at least one detection element for the forward conveying direction and the backward conveying direction are preferably arranged in the center of the associated horizontal conveyor and the associated pallet.

A device according to claim 10 ensures in a simple way a quick and exact positioning of a pallet relative to a horizontal conveyor. By providing the braking measurement signal, the control device initiates a braking process so that a conveying speed of the pallet is reduced from a maximum conveying speed to a lower conveying speed. As a result, the pallet can be conveyed as long as possible at the maximum conveying speed and, on the other hand, is braked to a reduced conveying speed in good time before stopping, so that an actual position after stopping corresponds as precisely as possible to a desired target position.

A device according to claim 11 ensures, in a simple manner, an exact positioning of a pallet relative to a horizontal conveyor. With the provision of the stop measurement signal, the at least one drive motor and thus the conveying of the pallet are stopped immediately.

A device according to claim 12 ensures exact positioning in a simple and reliable manner. When the control measurement signal is provided, the control device recognizes in a simple and reliable manner that the actual position corresponds to the setpoint position with sufficient accuracy.

A device according to claim 13 ensures exact positioning in a simple and reliable manner. If the control measurement signal is not provided, the control device recognizes that repositioning is necessary and automatically initiates a repositioning process or a fine positioning process for the at least one pallet. The repositioning is stopped automatically or immediately by means of the control device when the control measurement sensor provides the control measurement signal.

The invention is also based on the object of creating a method for parking a vehicle which enables a pallet to be quickly and precisely positioned relative to a horizontal conveyor in a simple and reliable manner.

This object is achieved by a method with the steps according to claim 14. The advantages of the method according to the invention correspond to the advantages of the device according to the invention already described. The method can in particular also be further developed by the features of at least one of claims 1 to 13. The at least two measuring sensors are in particular a stop measuring sensor and a control measuring sensor.

A method according to claim 15 ensures, in a simple and reliable manner, a quick and exact positioning of a pallet relative to a horizontal conveyor device. The braking measuring sensor is arranged in front of a stop measuring sensor in the conveying direction. If the braking measurement sensor detects the at least one detection element, a control device initiates a braking process. This allows the at least a pallet can be conveyed at a maximum conveying speed for as long as possible and, on the other hand, is decelerated to a reduced conveying speed in good time before stopping, so that after stopping an actual position corresponds as precisely as possible to a target position.

Fig. 1

eine Prinzipdarstellung einer Vorrichtung zum Parken eines Fahrzeuges mit mehreren Horizontal-Fördereinrichtungen und darauf angeordneten Paletten,

Fig. 2

eine seitliche Teilansicht der Vorrichtung mit einer Horizontal-Fördereinrichtung und einer darauf angeordneten Palette,

Fig. 3

eine perspektivische Ansicht einer als Quer-und-Längs-Fördereinrichtung ausgebildeten Horizontal-Fördereinrichtung mit drei Messsensoren je Förderrichtung,

Fig. 4

eine perspektivische Ansicht einer als Längs-Fördereinrichtung ausgebildeten Horizontal-Fördereinrichtung mit drei Messsensoren je Förderrichtung,

Fig. 5

eine perspektivische Ansicht einer als Quer-Fördereinrichtung ausgebildeten Horizontal-Fördereinrichtung mit drei Messsensoren je Förderrichtung,

Fig. 6

eine Draufsicht auf eine mittels der Horizontal-Fördereinrichtung förderbare Palette mit einem Detektionselement je Förderrichtung,

Fig. 7

einen ersten Teilschnitt durch die Palette entlang der Schnittlinie VII-VII in Fig. 6,

Fig. 8

einen zweiten Teilschnitt durch die Platte entlang der Schnittlinie VIII-VIII in Fig. 6,

Fig. 9

eine Prinzipdarstellung von drei in der Förderrichtung nacheinander angeordneten Messsensoren und eines zugehörigen Detektionselements in einer ersten Förderposition der Palette,

Fig. 10

eine Prinzipdarstellung der drei Messsensoren und des Detektionselements in einer zweiten Förderposition der Palette,

Fig. 11

eine Prinzipdarstellung der drei Messsensoren und des Detektionselements in einer dritten Förderposition der Palette,

Fig. 12

eine Prinzipdarstellung der drei Messsensoren und des Detektionselements in einer vierten Förderposition der Palette, und

Fig. 13

eine zeitliche Darstellung der Fördergeschwindigkeit einer Palette beim Fördern von einer Horizontal-Fördereinrichtung zu einer in der Förderrichtung benachbarten Horizontal-Fördereinrichtung.

Further features, advantages and details of the invention emerge from the following description of an exemplary embodiment. Show it:

Fig. 1

a schematic diagram of a device for parking a vehicle with several horizontal conveyor devices and pallets arranged on them,

Fig. 2

a partial side view of the device with a horizontal conveyor and a pallet arranged on it,

Fig. 3

a perspective view of a horizontal conveyor designed as a transverse and longitudinal conveyor with three measuring sensors per conveying direction,

Fig. 4

a perspective view of a horizontal conveyor designed as a longitudinal conveyor with three measuring sensors per conveying direction,

Fig. 5

a perspective view of a horizontal conveyor designed as a transverse conveyor with three measuring sensors per conveying direction,

Fig. 6

a top view of a pallet that can be conveyed by means of the horizontal conveying device with a detection element per conveying direction,

Fig. 7

a first partial section through the pallet along the section line VII-VII in Fig. 6 ,

Fig. 8

a second partial section through the plate along the section line VIII-VIII in Fig. 6 ,

Fig. 9

a schematic diagram of three measuring sensors arranged one after the other in the conveying direction and an associated detection element in a first conveying position of the pallet,

Fig. 10

a schematic diagram of the three measuring sensors and the detection element in a second conveying position of the pallet,

Fig. 11

a schematic diagram of the three measuring sensors and the detection element in a third conveying position of the pallet,

Fig. 12

a schematic diagram of the three measuring sensors and the detection element in a fourth conveying position of the pallet, and

Fig. 13

a time representation of the conveying speed of a pallet when conveying from a horizontal conveying device to a horizontal conveying device adjacent in the conveying direction.

A device 1 for automatically parking a vehicle or vehicles comprises horizontal conveying devices H and pallets P arranged thereon. The horizontal conveying devices H are in a horizontal position x-direction and arranged side by side in a horizontal and perpendicular to the x-direction running y-direction. The horizontal conveying devices H are arranged in several planes lying one above the other in a vertical z-direction. In Fig. 1 only one of the levels is shown schematically. The levels are connected to one another by means of vertical-horizontal conveying devices V _H. The vertical-horizontal conveyor devices V _H comprise a vertical conveyor device V, on which a horizontal conveyor device H is arranged. The x, y and z directions form a Cartesian coordinate system.

The device 1 also has at least one rotary horizontal conveyor device D _H , which comprises a rotary device D and a horizontal conveyor device H. The horizontal conveying device H can be pivoted about a vertical axis of rotation A by at least 180 ° by means of the rotating device D. A vehicle arranged on a pallet P can thus be pivoted through 180 ° and parked in one direction of travel. The rotary / horizontal conveyor device D _H is arranged on the input side or on the output side of the device 1.

The horizontal conveyor devices H are designed as a transverse and longitudinal conveyor device H _xy , as a longitudinal conveyor device H _y and / or as a transverse conveyor device H _x , depending on requirements and spatial requirements. A number of the pallets P is smaller than a number of the horizontal conveyor devices H, so that at least one of the horizontal conveyor devices H is free of a pallet P and the pallets P can thus be shifted and re-sorted by means of the horizontal conveyor devices H. Fig. 2 shows an example of a horizontal conveyor H with a pallet P arranged thereon. The shifting of the pallets P and thus the parking and unparking of vehicles is controlled by means of a control device C. The controller C is in Fig. 1 shown schematically.

Fig. 3 shows a horizontal conveyor H, designed as a transverse and longitudinal conveyor, which enables the pallets P to be conveyed in the x-direction and the y-direction. The transverse and longitudinal conveying device is accordingly referred to below with H _xy . The x-direction is also referred to below as the transverse conveying direction and the y-direction as the longitudinal conveying direction.

The horizontal conveyor H _xy comprises a storage rack 2 with two longitudinal bearing elements 3, 4 and two transverse bearing elements 5, 6. The longitudinal bearing elements 3, 4 run in the y direction and are spaced apart from one another in the x direction. The longitudinal bearing elements 3, 4 are connected in the middle and at the ends with cross members 7, 8, 9. The cross members 7, 8, 9 run in the x direction and are spaced apart from one another in the y direction. At the end of the longitudinal bearing elements 3, 4, the transverse bearing elements 5, 6 are arranged on the cross members 7, 9. The transverse bearing elements 5, 6 run in the x direction and are spaced apart from one another in the y direction.

Five rollers 10 are each rotatably mounted on the longitudinal bearing elements 3, 4. The rollers 10 mounted on the respective longitudinal bearing element 3, 4 are arranged one after the other in the y-direction, ie the longitudinal conveying direction, and form a row running in the y-direction for each longitudinal bearing element 3, 4. The rollers 10 each have an associated axis of rotation 11 which runs in the x direction. In a corresponding manner, four rollers 12 are rotatable on each of the transverse bearing elements 5, 6 stored. The rollers 12 mounted on the respective transverse bearing element 5, 6 are arranged one after the other in the x direction, that is, the transverse conveying direction, and each form a row running in the x direction. The rollers 12 each have an associated axis of rotation 13 which runs in the y-direction.

The rollers 10, 12 can be jointly driven in rotation by means of an electric drive motor 14 via a first drive mechanism 15. The first drive mechanism 15 comprises two transfer cases 16, 17 and associated drive rods 18, so that a torque generated by the drive motor 14 is applied to a roller 10 mounted on the longitudinal bearing elements 3, 4 and a roller 12 mounted on the transverse bearing elements 5, 6 is transferable.

The rollers 10, 12 arranged in the respective row are rotationally driven by the respective rotationally driven roller 10, 12 via coupling elements 19. The coupling elements 19 are designed, for example, as toothed belts. For this purpose, gear wheels 20 are arranged laterally on the rollers 10, 12. The rollers 10, 12 of a row are coupled to one another in pairs in a torque-transmitting manner via the gear wheels 20 and the coupling elements 19. The coupling elements 19 are in Fig. 3 only hinted at.

To select the conveying direction x or y, that is to say the transverse conveying direction or the longitudinal conveying direction, the horizontal conveying device H _{xy has} a second electric drive motor 21. The second drive motor 21 is attached to the cross member 8. The second drive motor 21 interacts with eccentric disks 25 via a second drive mechanism 22, which comprises a transfer case 23 and drive rods 24. The eccentric discs 25 are rotatably mounted on the cross members 7, 9 and support the cross bearing elements 5, 6. By pivoting the eccentric disks 25 about associated axes of rotation 26, the transverse bearing elements 5, 6 and thus the rollers 12 can be displaced in the z-direction.

In a first pivoting position, in which the rollers 12 lie above the rollers 10 in the z-direction, the horizontal conveyor H _xy acts as a transverse conveyor, so that a pallet P can be conveyed in the x-direction. This is in Fig. 3 shown. In a second pivot position, in which the rollers 12 lie below the rollers 10 in the z-direction, the horizontal conveyor H _xy acts as a longitudinal conveyor, so that a pallet P can be conveyed by the rollers 10 in the y-direction. By means of the drive rods 24, one of the eccentric disks 25 arranged on the transverse supports 7, 9 is driven in rotation. The further eccentric disks 25, which are arranged adjacent to the respective rotationally driven eccentric disk 25 on the crossbeam 7, 9, are coupled to the rotationally driven eccentric disk 25 by means of gear wheels 27 and associated coupling elements 28. The coupling elements 28 are designed, for example, as toothed belts.

The rollers 10, 12 are of identical design, so that only one of the rollers 10, 12 is described below. The roller 10, 12 has a base body 31 on which rings 32, 33 are arranged on both sides. For this purpose, the base body 31 forms two cylinder sections 34, 35 on which the rings 32, 33 are fastened in a rotationally fixed manner. The cylinder sections 34, 35 and the associated rings 32, 33 together form roll-off sections 36, 37 of the roller 10, 12. In the direction of the axis of rotation 11, 13, a guide section 38 is arranged between the rolling sections 36, 37. The guide section 38 is formed by a central section of the base body 31. The guide section 38 has a larger diameter than the adjacent cylinder sections 34, 35, so that the guide section 38 laterally forms annular stops 39, 40 for the rings 32, 33. The guide section 38 serves to guide a pallet P in the respective conveying direction. For this purpose, the guide section 38 has a guide profile which serves to accommodate a counter profile of the pallet P to be conveyed. To generate the guide profile, a circumferential groove 41 is formed in the guide section 38. The groove 41 has two guide walls 42, 43 which run at an angle to one another. The base body 31 is formed in one piece with a respective gear 20. The base body 31 and the gear 20 have a common through hole 44 for receiving an associated shaft 45 in a rotationally fixed manner.

The transverse and longitudinal conveying device H _xy has three contactless measuring sensors in each of the positive and negative transverse conveying directions + x, -x and longitudinal conveying direction + y, -y. The respective positive conveying direction + x, + y is also referred to below as the forward conveying direction and the respective negative conveying direction -x, -y is also referred to as the reverse conveying direction. In the positive transverse conveying direction + x, a control measuring sensor 46, a braking measuring sensor 47 and a stop measuring sensor 48 are arranged on the transverse bearing element 5 one after the other. Correspondingly, a control measuring sensor 46 ′, a braking measuring sensor 47 ′ and a stop measuring sensor 48 ′ are arranged one after the other on the transverse bearing element 6 in the negative transverse conveying direction -x.

In a corresponding manner, a control measuring sensor 49, a braking measuring sensor 50 and a stop measuring sensor 51 are arranged one after the other on the longitudinal bearing element 4 in the positive longitudinal conveying direction + y. In the negative longitudinal conveying direction -y are a corresponding way Control measuring sensor 49 ', a braking measuring sensor 50' and a stop measuring sensor 51 'arranged one after the other.

The measuring sensors 46, 46 'to 51, 51' are designed to be contactless, in particular inductive or capacitive, and fail-safe. The measuring sensors 46, 46 'to 51, 51' are in signal connection with the control device C. The respective control measuring sensor 46, 46 ', 49, 49' has to the associated stop measuring sensor 48, 48 ', 51, 51' in a measuring sensor distance M.

Fig. 4 shows a horizontal conveyor H, designed as a longitudinal conveyor, which enables a pallet P to be conveyed exclusively in the y-direction, that is, the longitudinal conveying direction. Correspondingly, the longitudinal conveyor device is referred to as H _y . The storage rack 2 comprises only the longitudinal bearing elements 3, 4. The longitudinal bearing elements 3, 4 are connected to one another in an H-shape by means of the cross member 8. The rollers 10 can be driven in rotation by means of the drive motor 14. In the positive longitudinal conveying direction + y and in the negative longitudinal conveying direction -y, the control measuring sensor 49, 49 ', the braking measuring sensor 50, 50' and the stop measuring sensor 51, 51 'are successively on the longitudinal bearing element 4 arranged. With regard to the further structure and the further mode of operation, reference is made to the preceding description of the horizontal conveyor device.

Fig. 5 shows a horizontal conveyor H, designed as a transverse conveyor, which only enables a pallet P to be conveyed in the x-direction, that is, the transverse conveying direction. Accordingly, the transverse conveyor is referred to below with H _x . The storage rack 2 comprises only the transverse bearing elements 5, 6, which by means of Longitudinal beams 29, 30 are connected to one another. The first drive motor 14 is arranged on the side member 30. The rollers 12 can be driven to rotate in the manner described above by means of the drive motor 14 and the drive mechanism 15 about the associated axes of rotation 13, so that a pallet P can be conveyed in the x direction. In the positive transverse conveying direction + x and the negative transverse conveying direction -x, the control measuring sensor 46, 46 ', the deceleration measuring sensor 47, 47' and the stop measuring sensor 48, 48 'are successively on the transverse bearing element 5 , 6 arranged. With regard to the further structure and the further mode of operation, reference is made to the description of the previous horizontal conveying devices.

The following is based on the Figures 6 to 8 a pallet P conveyable by means of the horizontal conveying devices H is described in detail. The pallet P comprises a support element 52 on which a vehicle can be parked. Two longitudinal guide elements 53, 54 and two transverse guide elements 55, 56 are attached to an underside of the support element 52. The longitudinal guide elements 53, 54 run in the y direction and are spaced apart from one another in the x direction. In contrast, the transverse guide elements 55, 56 run in the x direction and are spaced apart from one another in the y direction. The longitudinal guide elements 53, 54 and the transverse guide elements 55, 56 each have a counter-guide section 57 and two counter-roll sections 58, 59, which are arranged on both sides of the counter-guide section 57. The respective counter-guide section 57 interacts with the guide sections 38 of the associated rollers 10 and 12 for guiding the pallet P in the x or y direction. Correspondingly, the counter-rolling sections 58, 59 cooperate with the rolling sections 36, 37 of the associated rollers 10, 12 for conveying the pallet P. The respective counter-guide section 57 has a counter profile which is formed negative to the guide profile of the rollers 10, 12 and serves to accommodate the guide profile. Correspondingly, a projection 60 is formed in the mating guide section 57, which extends in a straight line in the respective conveying direction. The respective projection 60 has counter-guide walls 61, 62 which, corresponding to the guide walls 42, 43, run at an angle to one another. The height and width of the projection 60 and its shape are adapted to the groove 41.

The counter-roll sections 58, 59 are flat and run in the respective conveying direction. The counter-roll sections 58, 59 have a width perpendicular to the conveying direction which is at least equal to the width of the associated roll-off sections 36, 37. The projections 60 of the transverse guide elements 55, 56 are interrupted in the area of the longitudinal guide elements 53, 54. This is in Fig. 7 illustrated. The projections 60 of the longitudinal guide elements 53, 54 extend as far as the transverse guide elements 55, 56. This is shown in FIG Fig. 8 illustrated.

The respective pallet P has a detection element 63, 63 'for each of the positive x and negative x directions. The detection elements 63, 63 'are arranged on the transverse guide elements 65, 66 and interact with the control measuring sensors 46, 46', the braking measuring sensors 47, 47 'and the stop measuring sensors 48, 48'. The detection elements 63, 63 ′ are separate components of the respective pallet P and are attached to the transverse guide elements 65, 66. In a corresponding manner, the respective pallet P has a detection element 64, 64 'for each of the positive y and negative y directions. The detection elements 64, 64 ′ are arranged on the longitudinal guide element 54. The detection elements 64, 64 'are separate components of the respective pallet P and attached to the longitudinal guide element 54. The detection elements 64, 64 'cooperate with the associated control measurement sensors 49, 49', the braking measurement sensors 50, 50 'and the stop measurement sensors 51, 51'. A length or detection length L of the detection elements 63, 63 ', 64, 64' corresponds to the respective measuring sensor distance M. The detection elements 63, 63 ', 64, 64' are made of a metal and are connected by means of the associated measuring sensors 46, 46 ' up to 51, 51 'detectable. The detection elements 63, 63 ', 64, 64' are designed as metal sheets, for example.

The functioning of the device 1 is as follows:
A vehicle is parked by a user on the parking area of the rotary horizontal conveyor D _H. The vehicle is then rotated around the axis A by 180 ° by means of the rotating device D. The pallet P with the vehicle is then shifted by means of the horizontal conveyor H _y to the adjacent and free horizontal conveyor H _xy and, if necessary, to further horizontal conveyors H _xy or to the vertical-horizontal conveyors V _H. For this purpose, the pallet P lies with the counter-roll sections 58, 59 of the longitudinal guide elements 53, 54 or the transverse guide elements 55, 56 on the roll sections 36, 37 of the rollers 10 or the rollers 12, depending on the desired conveying direction.

By rotating the rollers 10 and the rollers 12, the pallet P is required in the positive or negative longitudinal conveyor + y, -y or the positive or negative transverse conveyor + x, -x and at the same time by means of the in the grooves 41 of the Rollers 10 or the rollers 12 extending projections 60 laterally. In the case of the horizontal conveying devices H _{xy, there} is a switchover between the transverse conveying direction x and the longitudinal conveying direction y by actuating the second drive motor 21 and pivoting the eccentric disks 25.

The exact positioning of a pallet P on a horizontal conveyor H is based on Figures 9 to 13 as an example of conveying in the positive transverse conveying direction + x. The conveying and positioning in the conveying directions + x, -x and + y, -y is basically carried out in an identical manner using the respective measuring sensors 46, 46 'to 51, 51' and the respective associated detection element 63, 63 ', 64, 64 '. For the sake of simplicity, the Figures 9 to 12 only the control measuring sensor 46, the braking measuring sensor 47 and the stop measuring sensor 48 and the associated detection element 63 are shown.

The pallet P is first linearly accelerated by means of the horizontal conveying device H arranged upstream in the x direction and reaches a maximum conveying speed v _max at time to. The pallet P is conveyed at the maximum conveying speed v _max in the positive x-direction. If the detection element 63 reaches the control measurement sensor 46 at time t ₁ , the latter generates a control measurement signal S _K and provides this to the control device C. This is in the Fig. 9 and 13th illustrated.

If the detection element 63 reaches the braking measurement sensor 47 during further conveying in the x direction at time t _2, the latter generates a braking measurement signal S _B and provides this to the control device C. The control device C then initiates a braking process and controls the drive motor 14 of the horizontal conveyor device H accordingly. During the braking process, the conveying speed of the pallet P increases from the maximum conveying speed v _max a reduced conveying speed v _red reduced. This is done, for example, in that the conveying speed is reduced linearly, that is to say the delay is constant. This is in the Fig. 10 and 13th illustrated.

If the detection element 63 reaches the stop measuring sensor 48 at time t _3, the latter provides the control device C with a stop measuring signal S _P , which then initiates a stop process and controls the drive motor 14 accordingly. If the pallet P and any vehicle parked thereon have comparatively low inertia, the pallet P is stopped with a comparatively long delay. An actual position of the pallet P then corresponds to a desired position xs with sufficient accuracy. Since the length L of the detection element 63 corresponds to the measurement sensor distance M, the control measurement sensor 46 still provides the control measurement signal S _K in this case to the control device C. This is in Fig. 11 illustrated. At time t ₄ , the pallet P is stopped and the positioning process is ended.

In contrast, if the pallet P and a vehicle parked on it have a high degree of inertia, their deceleration is less and the pallet P is only stopped at time t ₅ . The detection element 63 therefore moves beyond the control measurement sensor 46 so that the latter no longer provides the control device C with a control measurement signal S _K. This is in Fig. 12 illustrated. The control device C recognizes this state and then initiates a repositioning process or a fine positioning process. The pallet P and the vehicle parked thereon are conveyed at a minimum conveying speed v _min in the negative conveying direction -x until the detection element 63 reaches the control measuring sensor 46 again and the control device C receives the control measuring signal S _K provides. The control device C then stops the repositioning. Since the minimum conveying speed v _{min is} less than the reduced conveying speed v _red , the pallet P can be stopped in such a way that the actual position xo corresponds to the target position xs with sufficient accuracy. The repositioning is thus completed at time t ₆ . This is in Fig. 13 illustrated.

A quick and exact positioning of a pallet P relative to a horizontal conveyor device H is possible with at least two measuring sensors and an associated detection element for a positive and negative conveying direction. For example, in the positive conveying direction, the first measuring sensor is used to brake the pallet P and to later compare the actual position with the target position, whereas the second measuring sensor is used to stop the pallet. This applies accordingly in the negative conveying direction, whereby the measuring sensor, which is used to stop in the positive conveying direction, is now used to brake and later compare the actual position with the target position, serves to compare the actual position with the target position, now serves to stop the pallet. The different functions can be assigned to the measuring sensors, for example by recognizing the conveying direction. The direction of conveyance is recognized, for example, by the direction of rotation of the drive motor 14. The speed, accuracy and reliability of the positioning can be increased by further measuring sensors, such as the separate braking measuring sensor or measuring sensors for the positive conveying direction and additional measuring sensors for the negative conveying direction.

Claims (15)

1. Device for parking a vehicle comprising

   - at least two horizontal conveying devices (H) which are arranged one behind the other in a conveying direction (+x, -x, +y, -y), wherein the horizontal conveying devices (H) each comprise:

   -- at least one bearing element (3, 4, 5, 6),

   -- a plurality of rollers (10, 12) for conveying a pallet (P), which rollers (10, 12) are mounted one after the other on the at least one bearing element (3, 4, 5, 6) in the conveying direction (+x, -x, +y, -y) and form at least two rows which are spaced apart transversely with respect to the conveying direction (+x, -x, +y, -y),

   -- at least one electric drive motor (14) for driving the rollers (10, 12) in rotation,

   - at least one pallet (P) for providing a parking area for a vehicle to be parked, which pallet (P) can be conveyed in the conveying direction (+x, -x, +y, -y) by driving the rollers (10, 12) of at least one of the horizontal conveying devices (H) in rotation, wherein the pallet (P) comprises a carrying element (52) and guide elements (53, 54, 55, 56),

   - a control device (C) for actuating the horizontal conveying devices (H), and

   - at least two measuring sensors (46, 47, 48, 46', 47', 48', 49, 50, 51, 49', 50', 51') which are arranged one after the other in the conveying direction (+x, -x, +y, -y),
   characterized by

   - at least one detection element (63, 63', 64, 64') which can be detected by means of the at least two measuring sensors (46, 47, 48, 46', 47', 48', 49, 50, 51, 49', 50', 51') and have the purpose of positioning the pallet (P) relative to one of the horizontal conveying devices (H), wherein the at least one detection element (63, 63', 64, 64') is attached to the carrying element (52) and/or to at least one of the guide elements (53, 54, 55, 56) of the pallet (P).
2. Device according to Claim 1, characterized by a stop measuring sensor (48, 48', 51, 51') for stopping the conveying of the at least one pallet (P) and a control measuring sensor (46, 46', 49, 49') for comparing an actual position (xo) of the at least one pallet (P) with a setpoint position (xs).
3. Device according to Claim 1 or 2, characterized by a braking measuring sensor (47, 47', 50, 50') for braking the at least one pallet (P) to a reduced conveying speed (V_red).
4. Device according to one of Claims 1 to 3, characterized by at least two contactless measuring sensors (46, 47, 48, 46', 47', 48', 49, 50, 51, 49', 50', 51'), in particular from the group comprising inductive measuring sensors and capacitive measuring sensors.
5. Device according to one of Claims 1 to 4, characterized in that the at least one detection element (63, 63', 64, 64') is made of metal.
6. Device according to one of Claims 1 to 5, characterized in that the respective horizontal conveying device (H) has the at least two measuring sensors (46, 47, 48, 46', 47', 48', 49, 50, 51, 49', 50', 51'), and the respective pallet (P) has the at least one detection element (63, 63', 64, 64').
7. Device according to one of Claims 1 to 6, characterized in that the at least two measuring sensors (46, 47, 48, 46', 47', 48', 49, 50, 51, 49', 50', 51') are embodied in a wire-break-proof fashion.
8. Device according to one of Claims 1 to 7, characterized in that a braking measuring sensor (47, 47', 50, 50') is arranged downstream of a control measuring sensor (46, 46', 49, 49') in the conveying direction (+x, -x, +y, -y),
   in that a stop measuring sensor (48, 48', 51, 51') is arranged downstream of the braking measuring sensor (47, 47', 50, 50') in the conveying direction (+x, -x, +y, -y), and
   in that a measuring sensor distance (M) between the control measuring sensor (46, 46', 49, 49') and the stop measuring sensor (48, 48', 51, 51') corresponds to a length (L) of the at least one detection element (63, 63', 64, 64').
9. Device according to one of Claims 1 to 8, characterized by at least two measuring sensors (46, 47, 48, 49, 50, 51) which are arranged one behind the other in a forward conveying direction (+x, +y) and at least two measuring sensors (46', 47', 48', 49', 50', 51') which are arranged one behind the other in a rearward conveying direction (-x, -y), and at least two associated detection elements (63, 63', 64, 64').
10. Device according to one of Claims 1 to 9, characterized in that the control device (C) is embodied in such a way that when a braking measuring signal (S_B) is provided by a braking measuring sensor (47, 47', 50, 50') the at least one drive motor (14) is operated at a reduced rotational speed.
11. Device according to one of Claims 1 to 10, characterized in that the control device (C) is embodied in such a way that when a stop measuring signal (S_P) is provided by a stop measuring sensor (48, 48', 51, 51') the at least one drive motor (14) is stopped.
12. Device according to one of Claims 1 to 11, characterized in that the control device (C) is embodied in such a way that when a control measuring signal (S_K) is provided by a control measuring sensor (46, 46', 49, 49') the actual position (xo) of the at least one pallet (P) is detected in accordance with the setpoint position (xs).
13. Device according to one of Claims 1 to 12, characterized in that the control device (C) is embodied in such a way that when a control measuring signal (S_K) is not provided by a control measuring sensor (46, 46', 49, 49') re-positioning of the at least one pallet (P) is initiated until a setpoint position (xs) is reached.
14. Method for parking a vehicle comprising the steps:

    - providing at least two horizontal conveying devices (H) which are arranged one behind the other in a conveying direction (+x, -x, +y, -y), wherein the horizontal conveying devices (H) each comprise:

    -- at least one bearing element (3, 4, 5, 6),

    -- a plurality of rollers (10, 12) for conveying a pallet (P) which are rotatably mounted one behind the other on the at least one bearing element (3, 4, 5, 6) in the conveying direction (+x, -x, +y, -y), and form at least two rows which are spaced apart transversely with respect to the conveying direction (+x, -x, +y, -y),

    -- at least one electric drive motor (14) for driving the rollers (10, 12) in rotation,

    - conveying a pallet (P) in the conveying direction (+x, -x, +y, -y) by driving the rollers (10, 12) of at least one of the horizontal conveying devices (H) in rotation,

    -- wherein the pallet (P) comprises a carrying element (52) and guide elements (53, 54, 55, 56), and

    -- wherein at least one detection element (63, 63', 64, 64') is attached to the carrying element (52) and/or to at least one of the guide elements (53, 54, 55, 56) of the pallet (P),

    - stopping the conveying of the pallet (P) if at least one detection element (63, 63', 64, 64') is detected by means of a measuring sensor (48, 48', 51, 51') and

    - comparing an actual position (xo) of the pallet (P) with a setpoint position (xs) by means of a further measuring sensor (46, 46', 49, 49').
15. Method according to Claim 14, characterized by braking and conveying of the at least one pallet (P) with at a reduced conveying speed (V_red) if the at least one detection element (63, 63', 64, 64') is detected by means of a braking measuring sensor (47, 47', 50, 50').

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