EP3673127A1 - Driving platform for motor vehicle transport - Google Patents

Driving platform for motor vehicle transport

Info

Publication number
EP3673127A1
EP3673127A1 EP18762789.8A EP18762789A EP3673127A1 EP 3673127 A1 EP3673127 A1 EP 3673127A1 EP 18762789 A EP18762789 A EP 18762789A EP 3673127 A1 EP3673127 A1 EP 3673127A1
Authority
EP
European Patent Office
Prior art keywords
motor vehicle
platform
driving platform
control device
driving
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.)
Withdrawn
Application number
EP18762789.8A
Other languages
German (de)
French (fr)
Inventor
Norbert Settele
Wolfgang Bohlken
Albrecht Hoene
Rainer Seitz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Deutschland GmbH
KUKA AG
Original Assignee
KUKA Deutschland GmbH
KUKA AG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by KUKA Deutschland GmbH, KUKA AG filed Critical KUKA Deutschland GmbH
Publication of EP3673127A1 publication Critical patent/EP3673127A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/08—Garages for many vehicles
    • E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
    • E04H6/30—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only
    • E04H6/36—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of freely-movable dollies
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/027—Parking aids, e.g. instruction means
    • B62D15/0285—Parking performed automatically
    • 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
    • E04H6/426—Parking guides
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0295—Fleet control by at least one leading vehicle of the fleet

Definitions

  • the invention relates to a driving platform, comprising a chassis, at least three wheels, which are rotatably mounted on the chassis, and arranged on the chassis
  • Control device that is adapted to the driving platform on a ground depending on their
  • the at least three wheels automatically controls.
  • Robots are known from the prior art, which can park or park autonomously, for example, parked in a parking garage or an underground car park.
  • the robots are usually designed in such a way that they receive the motor vehicles, thus mechanically coupling with them. This is done, for example, by driving underneath and lifting the
  • the raised motor vehicle is then transported or driven into a desired parking position and dropped off again.
  • the robots In order to enable transport of the vehicles, the robots must be dimensioned accordingly, both in size and in the drive power. A use of the self-propulsion of the motor vehicle does not take place.
  • the object of the invention is to provide a driving platform whose autonomous application, in particular in the application of parking garages and / or underground garages, is improved.
  • a driving platform comprising: a chassis at least three wheels, which are mounted on the chassis in a rotationally driven manner,
  • control device arranged on the chassis and designed to autonomously navigate the driving platform on a ground as a function of its surroundings, by the
  • Control device that controls at least three wheels automatically
  • At least one coupling device connected to the chassis, which is designed for coupling a motor vehicle with the driving platform in order to autonomously move the motor vehicle coupled by means of the coupling device, namely, driven by the vehicle
  • the control device can be designed and set up to move, ie drive, the driving platform automatically or autonomously on a floor, for example, a hall, a square, an underground car park or a parking garage.
  • the control device of the driving platform is designed and set up to autonomously support the traveling platform on a ground in dependence on its surroundings navigate.
  • An automatic driving means that the driving platform is due to an automatically running movement program and / or a self-running driving strategy
  • Driving platform in this respect runs self-determined and independent of intervention by a person, i. the driving platform moves without a driver. Navigating, anticipating and compensating
  • Movements i. the driving of the driving platform is carried out accordingly without the intervention of a person or driver.
  • the motor vehicle has a for controlling
  • Driving functions own vehicle control on.
  • the control device of the motor vehicle is designed and set up, in particular taking into account control commands of the control device of the driving platform, to autonomously navigate the motor vehicle on a ground in dependence on its environment.
  • Under the driving functions of the vehicle control of the motor vehicle are autonomous steering movements, forward / reverse and brake commands to understand.
  • the coupling device has a on the
  • Motor vehicle arranged wireless first transmitting / receiving device and arranged on the chassis of the driving platform wireless second transceiver, wherein the first transceiver and the second transceiver are formed, a
  • the coupling device may be free of mechanical coupling and preferably only one
  • the driving platform and the motor vehicle then travel together, automatically controlled, from a desired starting point to a desired destination by a driving control connection.
  • a driving control connection In the case of a non-mechanical, so far wireless or virtual connection of r driving platform and motor vehicle, the drive platform and the motor vehicle can be driven automatically, for example, at a fixed distance from each other.
  • insofar wireless or virtual connection of r driving platform and working device driving platform and the motor vehicle for example, in a variable, but at most a few feet apart from each other automatically be driven.
  • the transmitting / receiving device can be a radio-based, W-Lan, laser connection, infrared device. Or possibly also mechanically via plug contacts.
  • the chassis of the drive platform can be understood on the one hand as a part of the chassis on which the wheels are mounted and on the other hand understood as a basic structure, chassis and / or housing of the driving platform.
  • the chassis of the driving platform can also one
  • Base frame a housing, internal cavities and / or outer receiving areas include. Also, a support platform can be considered within the scope of the invention as part of the chassis.
  • the drive platform is designed to transport a motor vehicle - in this case to park - using the motor vehicle's own drive means. This is particularly advantageous in multi-storey car parks or underground garages, because although the possibility of autonomous driving is implemented in many motor vehicles, they can not drive or park autonomously for safety reasons, since, for example, it can not be guaranteed that, in the presence of a human being, autonomous Moving motor vehicle takes account of this and can possibly brake.
  • safety functions can be implemented in the driving platform, for example by
  • the safety functions or the safety devices of the driving platform can be implemented using safe technology, in particular two-channel or redundant.
  • the detection of the environment of the motor vehicle can also be done by the driving platform in a secure form, whereby a safe control or
  • Navigation or driving of the motor vehicle can take place, in particular even if the motor vehicle itself does not have safety functions or redundant sensors or two-channel
  • the dimensioning of the driving platform can be smaller, since no drives are required to park a motor vehicle independently.
  • the coupling device can be arranged on the working device mechanical
  • Coupling device and arranged on the chassis of the drive platform mechanical
  • Counter-coupling device which is designed to mechanically connect the working device in a mechanical coupling state with the coupling device with the driving platform.
  • the motor vehicle always follows the drive of the driving platform without having to have its own control intelligence for navigating.
  • the control intelligence of the motor vehicle may also be used to navigate with the added benefit of the safety features of the drive platform. Then the driving platform follows the orders of the
  • Vehicle control of the motor vehicle which are transmitted to the control device of the driving platform.
  • the transmission takes place by means of the corresponding wireless transmission / Receiving devices or via the mechanical coupling.
  • the driving platform can also stand still and transmits control commands to the motor vehicle so that it drives accordingly.
  • the movements of the drive platform and the motor vehicle need not be synchronized or the drive platform and the motor vehicle need not form a network.
  • the control device of the driving platform can have a memory in which data on the position and orientation of obstacles and / or free travel paths are stored in the surroundings of the driving platform and the control device is set up, taking into account these data stored in the memory, the motor vehicle in the vicinity of Driving platform to navigate automatically.
  • the control device of the driving platform and / or of the motor vehicle may have at least one sensor which displays data about the position and orientation of obstacles and / or free
  • control device Provides routes in the vicinity of the drive platform and the control device is arranged to automatically navigate, taking into account this data provided by the at least one sensor drive platform.
  • the sensors can be lasers, scanners, radars, cameras or infrared sensors.
  • the at least three wheels of the driving platform can be designed as Mecanumcken, which allow an omnidirectional driving of the driving platform.
  • the Mecanumson may each have a roller carrier, which is rotatably mounted on a wheel rotational axis on the chassis, wherein the wheels each have a plurality of uniformly distributed over a circumference arranged on the roller carrier unangetrieben about the roller rotation axes rotatably mounted rollers.
  • Each Mecanumrad may have on the circumference of the wheel, which forms a kind of rim so far, several rotatably mounted barrel-shaped rollers, which are preferably rotatably mounted at an angle of 45 degrees to the wheel axis on the wheel. Only these barrel-shaped rollers make contact with the ground. These barrel-shaped rollers have no direct drive and can move freely around turn their oblique bearing axes. By contrast, the entire Mecanum wheel, ie the rim, is driven by a drive motor with variable speed and the desired direction of rotation.
  • the motor vehicle in addition to passenger or goods vehicles and in particular all (land) vehicles with their own drive, in particular electric drive understood.
  • the motor vehicle can also represent a cleaning device. In this way, the motor vehicle can also represent a cleaning device.
  • Fig. 1 is a schematic representation of a first embodiment of a driving platform
  • Fig. 2 is a schematic representation of a first embodiment of a driving platform for
  • FIG. 3 shows a schematic illustration of a first embodiment of a traveling platform with a coupled vehicle
  • FIG. 4 shows a schematic illustration of a first embodiment of a driving platform with a coupled and transported vehicle
  • Fig. 5 is a schematic representation of a second embodiment of a driving platform with coupled vehicle.
  • Fig. 1 shows a driving platform 1, comprising a chassis 2 and at least three wheels 3, which are designed as Mecanumcken.
  • the driving platform 1 also has a control device 4 arranged on the chassis 2, which is designed to autonomously navigate the driving platform 1 on a ground as a function of its surroundings, in which the control device 4 automatically drives the wheels 3.
  • Each of the wheels 3 is drivable by means of its own motor 5 of the driving platform 1 and automatically controlled by means of a control device 4 of the driving platform. 1
  • the respective floor can form a roadway of the driving platform 1, on which the driving platform 1 moves automatically.
  • the control device 4 is designed to drive the driving platform 1 on the road automatically.
  • obstacles and travel paths during the automatic driving of the driving platform 1 can be detected and stored in a navigation control device 6, which is designed to navigate the vehicle
  • Driving platform 1 on the road As shown in FIG. 1, the navigation control device 6 may be arranged separately from the driving platform 1 and only communicate with it in terms of control technology or with its control device 4.
  • the navigation control device 4 may also be part of the driving platform 1, as illustrated in Fig. 1 in a dashed representation, for example. Accordingly, the driving platform 1 may include the navigation control device 6 and the
  • Navigation control device 6 control technology connected to the control device 4 of the driving platform 1 and configured to store reference positions and reference orientations, which serve when navigating the driving platform 1 on the road as a digital map, based on which the navigation control device 6 in cooperation with the control device 4 Driving platform 1 moves on the ground or on the road.
  • the navigation control device 6 and / or the control device 4 the extent a
  • Can represent vehicle drive control are trained in these cases and set up to capture the current actual position and actual orientation of the drive platform 1 on the road, to read in a desired target position and target orientation of a target, which automatically drives the drive platform 1 by the navigation control device 6 should start in cooperation with the vehicle drive control, one of the actual position and actual orientation of
  • Driving platform 1 starting route, which ends at the desired position and target orientation of the target to automatically plan based on the in the navigation control device. 6
  • the driving platform 1 can then be actuated by the navigation control device 6 in cooperation with the Control device 4 or be navigated automatically with the vehicle drive control along the route.
  • the traveling platform 1 has at least one with the traveling platform 1
  • the coupling device 7 has a wireless first transmitting / receiving device 9 arranged on the motor vehicle 8 and a wireless second transmitting / receiving device 10 arranged on the chassis 2 of the driving platform 1.
  • the first transceiver 9 and the second transceiver 10 are configured to establish a communication between the vehicle control 8.1 of the motor vehicle 8 and the control device 4 or the navigation control device 6 of the drive platform 1, such that the control device 4 or the navigation control device 6 of the driving platform 1 sends driving commands to the vehicle control 8.1 of the motor vehicle 8 in order to autonomously and mechanically separate the motor vehicle 8 from the driving platform 1 according to the environment of the driving platform 1.
  • a control technology coupling of the drive platform 1 and the motor vehicle 8 can for example take place in that the two chassis are spatially separated from each other, are therefore mechanically not connected, but both the wheels of the drive platform 1 and the wheels of the motor vehicle 8 coordinated, in particular synchronous Carry out movements, such that the two chassis are always positioned at a constant distance from each other and always driven aligned in matching orientations to each other.
  • Such a coordinated, synchronous activation can be effected by a common drive control device for the drive platform 1 and the motor vehicle 8.
  • the first chassis may have its own first drive control device and the second chassis may have its own second
  • the motor vehicle 8 has a vehicle control system 8.1 dedicated to driving the driving functions of the motor vehicle 8, and the control device 4 of the driving platform 1 is designed and autonomously designed to autonomously navigate the driving platform 1 on a ground as a function of its surroundings, taking into account control commands of the vehicle control system 8.1.
  • the control device 4 of the driving platform 1 may have a memory 11 in which data on the position and orientation of obstacles and / or free routes in the environment of
  • Travel platform 1 are deposited and the control device 4 can be configured to automatically navigate the motor vehicle 8 in the environment of the driving platform 1, taking into account these data stored in the memory 11.
  • the control device 4 of the drive platform 1 and / or the working device 8 can have at least one sensor 12a, 12b 12c, which supplies data on the position and orientation of obstacles and / or free travel paths in the surroundings of the drive platform 1, wherein the control device 4 is set up in order to automatically navigate the motor vehicle 8 in the vicinity of the driving platform 1, taking into account the data supplied by the at least one sensor 12a, 12b, 12c.
  • the at least one sensor 12a, 12b, 12c clamps a monitoring field 13 around the traveling platform.
  • the motor vehicle 8 has its own driving device 14, which is designed to move the motor vehicle 8 driven on the ground autonomously and the control device 4 of the driving platform 1 is designed to control the driving device 14 of the motor vehicle 8 to the motor vehicle 8 together with to navigate the driving platform 1 or independently of the driving platform 1 in the vicinity of the driving platform 1.
  • a driving platform 1 approaches a to be transported or
  • the driving platform 1 is surrounded by a monitoring field 13, shown dashed in FIG. 2, which is spanned by the sensors 12a, 12b, 12c. A possible obstacle in the travel path of the driving platform 1 can thus be registered.
  • the driving platform 1 travels in the direction of a motor vehicle 8, as shown in FIG. 3, and stops at a defined distance in front of the motor vehicle 8 to be transported in order to be able to drive away later in a unit or a group.
  • the calculation of driving functions such as steering angle and driving power for motor vehicle 8 can be carried out either in the drive platform 1 or in the motor vehicle 8 itself, depending on where the vehicle dynamics model of the motor vehicle 8 is to be deposited.
  • the movement of the traveling platform 1 will now be calculated by the control device 4 so that the
  • Driving platform 1 and the motor vehicle 8 as a coupled unit drive ("electronic vertical shaft"). It is not necessary that the drive platform 1 and the motor vehicle 8 are mechanically coupled, since the own drives of the motor vehicle 8 are used for movement.
  • the mounted monitoring field 13 by the sensors 12a, 12b, 12c includes the motor vehicle 8.
  • the sensors 12a, 12b, 12c for monitoring on the drive platform are arranged to be adjustable in two axial directions (X, Y,) in order to be able to adapt the drive platform to a wide variety of vehicle sizes in order to be able to see corresponding interference edges, for example on the motor vehicle 8.
  • the motor vehicle 8 now follows the driving platform 1 in the composite, as shown in Figure 4.
  • the navigation data of the driving platform 1 are used.
  • the navigation data of the motor vehicle 8 can be used or a combination thereof.
  • the motor vehicle 8 is decoupled from the drive platform.
  • the motor vehicle 8 is then in a parking position, which is reported to the fleet manager, while the driving platform 1 performs a new transport task, transmitted by the fleet manager.
  • the traveling platform 1 has a mechanical first coupling device 15, which is connected to a second coupling device 16 of FIG. 5
  • Motor vehicle 8 corresponds. However, the mechanical coupling does not serve to transmit tensile forces from the drive platform 1 to the motor vehicle 8, but only to establish a communication, so a pure data exchange, for example by a connector.
  • the process of transport of the motor vehicle 8 corresponds to the method described above with the difference that no virtual connection, but a mechanical connection is made.
  • a parking system can be realized, comprising a building with several parking spaces, which are designed for parking motor vehicles, one of the parking spaces different
  • Ladeplatz or fuel station which is set up for automatically supplying a motor vehicle with electrical energy, liquid or gaseous fuel, and a motor vehicle transport platform, in particular the driving platform 1 according to the invention, which is set up, the parked on the respective parking space motor vehicle 8 automatically to the To transport the loading place or the fueling station and / or to transport the motor vehicle, which is present on the loading place or filling station, automatically back to the respective parking space without a driver.
  • the parking system may further include a multi-bay building configured to park motor vehicles 8, a delivery place adapted to start up, park and drive off the motor vehicle 8 at the place of delivery by a driver, and a motor vehicle transport platform.
  • the driving platform 1 according to the invention, which is set up to automatically transport the motor vehicle 8 parked on the delivery place to a free parking space of the building and / or to transport it back from the parking space of the building to the delivery place.
  • the parking system may further comprise a building with several parking spaces, which are designed for parking motor vehicles, a delivery point, which is designed for starting, stopping and driving away the motor vehicle at the delivery point by a driver, and a different from the parking lots loading place or fuel station, which is set up to automatically supply a motor vehicle with electrical energy, liquid or gaseous fuel, and a motor vehicle transport platform, in particular the driving platform 1 according to the invention, which is set up, the motor vehicle automatically parked at the place of delivery automatically to a free parking space of the Transporting the building and / or transported from the parking space of the building to the delivery point, and which is adapted to automatically transport the parked on the respective parking lot driverless to the loading place or fuel station and / or the automatically transport the existing motor vehicle automatically to the respective parking space or to the place of delivery on the loading place or filling station.
  • a building with several parking spaces which are designed for parking motor vehicles
  • a delivery point which is designed for starting, stopping and driving away the motor vehicle at the delivery point by a driver, and a
  • the motor vehicles are intended to be driven by an internal combustion engine and / or an electric motor and to drive wheels and are driven properly by a person on the road.
  • these vehicles can be transported automatically and autonomously, for example in a car park or an underground car park, from the driving platform 1 without a person, i. a driver controls the motor vehicle, in particular without a person, i. a driver in whom motor vehicles must be present, the driving platform as well as a cleaning device can be used.
  • a coupling not shown in the figures, takes place

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  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Transportation (AREA)
  • Combustion & Propulsion (AREA)
  • Chemical & Material Sciences (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates to a driving platform (1), comprising a chassis (2), at least three wheels (3), which are mounted on the chassis in a rotationally driven manner, a control device (4) arranged on the chassis, which control device is designed to autonomously navigate the driving platform on a ground depending on the environment thereof in such a way that the control device automatically actuates the at least three wheels, and at least one coupling device connected to the chassis, which is designed to couple a motor vehicle with the driving platform in order to autonomously move the motor vehicle coupled by means of the coupling device, that is, actuated by way of the control device of the driving platform.

Description

Fahrplattform zum Kraftfahrzeugtransport  Driving platform for vehicle transport
Die Erfindung betrifft eine Fahrplattform, aufweisend ein Fahrgestell, wenigstens drei Räder, welche drehangetrieben am Fahrgestell gelagert sind, sowie eine am Fahrgestell angeordnete The invention relates to a driving platform, comprising a chassis, at least three wheels, which are rotatably mounted on the chassis, and arranged on the chassis
Steuervorrichtung, die ausgebildet ist, die Fahrplattform auf einem Boden in Abhängigkeit ihrerControl device that is adapted to the driving platform on a ground depending on their
Umgebung autonom zu navigieren, indem die Steuervorrichtung die wenigstens drei Räder automatisch ansteuert. Environment to navigate autonomously by the control device, the at least three wheels automatically controls.
Aus dem Stand der Technik sind Roboter bekannt, welche beispielsweise in einem Parkhaus oder einer Tiefgarage abgestellte Kraftfahrzeuge autonom Parken bzw. Umparken können. Die Roboter sind üblicherweise dergestalt ausgebildet, dass diese die Kraftfahrzeuge aufnehmen, sich also mit diesen mechanisch koppeln. Dies erfolgt beispielsweise durch ein Unterfahren und Anheben des Robots are known from the prior art, which can park or park autonomously, for example, parked in a parking garage or an underground car park. The robots are usually designed in such a way that they receive the motor vehicles, thus mechanically coupling with them. This is done, for example, by driving underneath and lifting the
Kraftfahrzeugs. Das angehobene Kraftfahrzeug wird anschließend in eine gewünschte Parkposition transportiert bzw. gefahren und wieder abgesetzt. Um einen Transport der Kraftfahrzeuge zu ermöglichen müssen die Roboter entsprechend dimensioniert sein, sowohl in der Größe als auch in der Antriebsleistung. Eine Nutzung des Eigenantriebs des Kraftfahrzeugs erfolgt nicht. Motor vehicle. The raised motor vehicle is then transported or driven into a desired parking position and dropped off again. In order to enable transport of the vehicles, the robots must be dimensioned accordingly, both in size and in the drive power. A use of the self-propulsion of the motor vehicle does not take place.
Aufgabe der Erfindung ist es, eine Fahrplattform zu schaffen, deren autonome Anwendung, insbesondere im Anwendungsbereich von Parkhäusern und/oder Tiefgaragen, verbessert ist. The object of the invention is to provide a driving platform whose autonomous application, in particular in the application of parking garages and / or underground garages, is improved.
Diese Aufgabe wird erfindungsgemäß gelöst durch eine Fahrplattform aufweisend: ein Fahrgestell wenigstens drei Räder, welche drehangetrieben am Fahrgestell gelagert sind, This object is achieved according to the invention by a driving platform comprising: a chassis at least three wheels, which are mounted on the chassis in a rotationally driven manner,
eine am Fahrgestell angeordnete Steuervorrichtung, die ausgebildet ist, die Fahrplattform auf einem Boden in Abhängigkeit ihrer Umgebung autonom zu navigieren, indem die  a control device arranged on the chassis and designed to autonomously navigate the driving platform on a ground as a function of its surroundings, by the
Steuervorrichtung die wenigstens drei Räder automatisch ansteuert,  Control device that controls at least three wheels automatically,
wenigstens eine mit dem Fahrgestell verbundene Kopplungsvorrichtung, die zum Koppeln eines Kraftfahrzeugs mit der Fahrplattform ausgebildet ist, um das mittels der Kopplungsvorrichtung angekoppelte Kraftfahrzeug autonom zu bewegen und zwar angesteuert durch die  at least one coupling device connected to the chassis, which is designed for coupling a motor vehicle with the driving platform in order to autonomously move the motor vehicle coupled by means of the coupling device, namely, driven by the vehicle
Steuervorrichtung der Fahrplattform.  Control device of the driving platform.
Die Steuervorrichtung kann ausgebildet und eingerichtet sein, die Fahrplattform automatisch bzw. autonom auf einem Boden beispielsweise einer Halle, eines Platzes, einer Tiefgarage oder einer Parkhauses zu bewegen d.h. zu fahren. Die Steuervorrichtung der Fahrplattform ist ausgebildet und eingerichtet, die Fahrplattform auf einem Boden in Abhängigkeit zu ihrer Umgebung autonom zu navigieren. Ein automatisches Fahren bedeutet, dass die Fahrplattform sich aufgrund eines selbsttätig ablaufenden Bewegungsprogramms und/oder einer selbsttätig ablaufenden Fahrstrategie The control device can be designed and set up to move, ie drive, the driving platform automatically or autonomously on a floor, for example, a hall, a square, an underground car park or a parking garage. The control device of the driving platform is designed and set up to autonomously support the traveling platform on a ground in dependence on its surroundings navigate. An automatic driving means that the driving platform is due to an automatically running movement program and / or a self-running driving strategy
selbstgesteuert und zielgerichtet bewegen kann. Ein autonomes Fahren bedeutet, dass die self-directed and purposeful move. An autonomous driving means that the
Fahrplattform insoweit selbstbestimmt und unabhängig von einem Eingreifen durch eine Person fährt, d.h. die Fahrplattform bewegt sich fahrerlos. Ein Navigieren, Antizipieren und Kompensieren derDriving platform in this respect runs self-determined and independent of intervention by a person, i. the driving platform moves without a driver. Navigating, anticipating and compensating
Bewegungen, d.h. der Fahrten der Fahrplattform erfolgt demgemäß ohne das Eingreifen einer Person oder Fahrers. Movements, i. the driving of the driving platform is carried out accordingly without the intervention of a person or driver.
In einer vorteilhaften Ausführungsform weist das Kraftfahrzeug eine zur Ansteuerung von In an advantageous embodiment, the motor vehicle has a for controlling
Fahrfunktionen eigene Fahrzeugsteuerung auf. Die Steuervorrichtung des Kraftfahrzeugsist ausgebildet und eingerichtet, insbesondere unter Berücksichtigung von Steuerbefehlen der Steuervorrichtung der Fahrplattform, das Kraftfahrzeug auf einem Boden in Abhängigkeit zu ihrer Umgebung autonom zu navigieren. Unter den Fahrfunktionen der Fahrzeugsteuerung des Kraftfahrzeugs sind autonome Lenkbewegungen, Vorwärts-/ Rückwärtsfahren und Bremsbefehle zu verstehen. Driving functions own vehicle control on. The control device of the motor vehicle is designed and set up, in particular taking into account control commands of the control device of the driving platform, to autonomously navigate the motor vehicle on a ground in dependence on its environment. Under the driving functions of the vehicle control of the motor vehicle are autonomous steering movements, forward / reverse and brake commands to understand.
In einer weiteren vorteilhaften Ausgestaltung weist die Kopplungsvorrichtung eine an dem In a further advantageous embodiment, the coupling device has a on the
Kraftfahrzeug angeordnete drahtlose erste Sende-/Empfangsvorrichtung und eine an dem Fahrwerk der Fahrplattform angeordnete drahtlose zweite Sende-/Empfangsvorrichtung auf, wobei die erste Sende- /Empfangsvorrichtung und die zweite Sende-/Empfangsvorrichtung ausgebildet sind, eine Motor vehicle arranged wireless first transmitting / receiving device and arranged on the chassis of the driving platform wireless second transceiver, wherein the first transceiver and the second transceiver are formed, a
Kommunikation zwischen der Fahrzeugsteuerung des Kraftfahrzeugs und der Steuervorrichtung der Fahrplattform einzurichten, derart, dass die Steuervorrichtung der Fahrplattform Fahrbefehle an die Fahrzeugsteuerung des Kraftfahrzeugs sendet, um das Kraftfahrzeug autonom und mechanisch getrennt von der Fahrplattform gemäß der Umgebung der Fahrplattform zu navigieren. Insbesondere kann die Kopplungsvorrichtung frei von einer mechanischen Kopplung sein und bevorzugt lediglich eine Establish communication between the vehicle control of the motor vehicle and the control device of the driving platform, such that the control device of the driving platform sends driving commands to the vehicle control of the motor vehicle to navigate the motor vehicle autonomously and mechanically separated from the driving platform according to the environment of the driving platform. In particular, the coupling device may be free of mechanical coupling and preferably only one
Kommunikationsverbindung bereitstellen. Dadurch kann vorteilhafterweise die in Kraftfahrzeug bereits vorhandene Technik zur automatischen bzw. autonomen Bewegung des Kraftfahrzeugs genutzt werden. Provide communication link. As a result, the technology already used in motor vehicles for automatic or autonomous movement of the motor vehicle can advantageously be used.
Durch die virtuelle Verbindung, d.h. durch eine fahrsteuerungstechnische Verbindung fahren dann die Fahrplattform und das Kraftfahrzeug insoweit gemeinsam, automatisch angesteuert, von einem gewünschten Ausgangsort zu einem gewünschten Zielort. Im Falle einer nicht-mechanischen, insoweit drahtlosen bzw. virtuellen Verbindung von r Fahrplattform und Kraftfahrzeug können die Fahrplattform und das Kraftfahrzeug beispielsweise in einem festen Abstand zueinander automatisch gefahren werden. Alternativ können im Falle einer nicht-mechanischen, insoweit drahtlosen bzw. virtuellen Verbindung von r Fahrplattform und Arbeitsvorrichtung die Fahrplattform und das Kraftfahrzeug beispielsweise in einem variablen, aber höchstens wenige Meter voneinander beabstandet zueinander automatisch gefahren werden. Through the virtual connection, i. The driving platform and the motor vehicle then travel together, automatically controlled, from a desired starting point to a desired destination by a driving control connection. In the case of a non-mechanical, so far wireless or virtual connection of r driving platform and motor vehicle, the drive platform and the motor vehicle can be driven automatically, for example, at a fixed distance from each other. Alternatively, in the case of a non-mechanical, insofar wireless or virtual connection of r driving platform and working device driving platform and the motor vehicle, for example, in a variable, but at most a few feet apart from each other automatically be driven.
Bei der Sende-/Empfangseinrichtung kann es sich um eine funkbasierte, W-Lan, Laserverbindung, Infrarot-Einrichtung handeln. Oder gegebenenfalls auch mechanisch über Steckkontakte. Das Fahrgestell der Fahrplattform kann einerseits als ein Teil des Fahrwerks verstanden werden, an dem die Räder gelagert sind und andererseits aber auch als Grundstruktur, Chassis und/oder Gehäuse der Fahrplattform verstanden werden. Das Fahrgestell der Fahrplattform kann insoweit auch einen The transmitting / receiving device can be a radio-based, W-Lan, laser connection, infrared device. Or possibly also mechanically via plug contacts. The chassis of the drive platform can be understood on the one hand as a part of the chassis on which the wheels are mounted and on the other hand understood as a basic structure, chassis and / or housing of the driving platform. The chassis of the driving platform can also one
Grundrahmen, ein Gehäuse, innenliegende Hohlräume und/oder äußere Aufnahmebereiche umfassen. Auch eine Tragplattform kann im Rahmen der Erfindung als Teil des Fahrgestells betrachtet werden. Base frame, a housing, internal cavities and / or outer receiving areas include. Also, a support platform can be considered within the scope of the invention as part of the chassis.
Die Vorteile der erfindungsgemäßen technischen Lösung bestehen unter anderem darin, dass die Fahrplattform ausgebildet ist, um ein Kraftfahrzeug zu transportieren - in diesem Fall zu parken - unter Verwendung der kraftfahrzeugeigenen Antriebsmittel. Dies ist insbesondere in Parkhäusern oder Tiefgaragen von Vorteil, da zwar die Möglichkeit des autonomen Fahrens in vielen Kraftfahrzeugen realisiert ist, diese aber aus Sicherheitsgründen nicht autonom fahren bzw. parken dürfen, da beispielsweise nicht gewährleistet werden kann, dass bei Gegenwart eines Menschen, das autonom fahrende Kraftfahrzeug Rücksicht auf diesen nimmt und gegebenenfalls bremsen kann. Diese The advantages of the technical solution according to the invention include the fact that the drive platform is designed to transport a motor vehicle - in this case to park - using the motor vehicle's own drive means. This is particularly advantageous in multi-storey car parks or underground garages, because although the possibility of autonomous driving is implemented in many motor vehicles, they can not drive or park autonomously for safety reasons, since, for example, it can not be guaranteed that, in the presence of a human being, autonomous Moving motor vehicle takes account of this and can possibly brake. These
Sicherheitsfunktionen können jedoch in der Fahrplattform realisiert sein, beispielsweise durch However, safety functions can be implemented in the driving platform, for example by
Laserscanner, Kameras und/oder andere Sensoren. Insbesondere können die Sicherheitsfunktionen bzw. die Sicherheitseinrichtungen des Fahrplattform in sicherer Technik, insbesondere zweikanalig bzw. redundant, ausgeführt sein. Vorteilhafterweise kann die Erfassung der Umgebung des Kraftfahrzeugs ebenfalls durch die Fahrplattform in sicherer Form erfolgen, wodurch ein sicheres Steuern bzw. Laser scanners, cameras and / or other sensors. In particular, the safety functions or the safety devices of the driving platform can be implemented using safe technology, in particular two-channel or redundant. Advantageously, the detection of the environment of the motor vehicle can also be done by the driving platform in a secure form, whereby a safe control or
Navigieren bzw. Fahren des Kraftfahrzeugs erfolgen kann, insbesondere auch wenn das Kraftfahrzeug selbst nicht über Sicherheitsfunktionen bzw. redundante Sensoren bzw. zweikanalige Navigation or driving of the motor vehicle can take place, in particular even if the motor vehicle itself does not have safety functions or redundant sensors or two-channel
Sicherheitseinrichtungen verfügt. Ferner kann die Dimensionierung der Fahrplattform geringer ausfallen, da keine Antriebe benötigt werden, um ein Kraftfahrzeug eigenständig zu parken.  Safety features. Furthermore, the dimensioning of the driving platform can be smaller, since no drives are required to park a motor vehicle independently.
Neben einer rein virtuellen Kopplung zwischen r Fahrplattform und einem Kraftfahrzeug kann auch eine mechanische Kopplung erfolgen, jedoch nur insoweit, als dass die Übertragung der Fahrbefehle seitens der Steuerungsvorrichtung der Fahrplattform über die mechanische Kopplung erfolgt. Es werden weiter die Fahrbefehle der Steuervorrichtung an die Fahrzeugsteuerung des Kraftfahrzeugs gesendet, um dieses autonom von der Fahrplattform zu fahren. In addition to a purely virtual coupling between r driving platform and a motor vehicle and a mechanical coupling can take place, but only to the extent that the transmission of the driving commands by the control device of the driving platform via the mechanical coupling. Furthermore, the drive commands of the control device are sent to the vehicle control of the motor vehicle in order to drive it autonomously from the drive platform.
Die Kopplungsvorrichtung kann eine an der Arbeitsvorrichtung angeordnete mechanische The coupling device can be arranged on the working device mechanical
Kupplungsvorrichtung und eine an dem Fahrwerk der Fahrplattform angeordnete mechanische Coupling device and arranged on the chassis of the drive platform mechanical
Gegenkupplungsvorrichtung aufweisen, die ausgebildet ist, in einem mechanischen Kopplungszustand mit der Kupplungsvorrichtung die Arbeitsvorrichtung mechanisch mit der Fahrplattform zu verbinden. Counter-coupling device, which is designed to mechanically connect the working device in a mechanical coupling state with the coupling device with the driving platform.
Ob virtuell oder nur mechanisch verbunden folgt das Kraftfahrzeug stets der Fahrt der Fahrplattform, ohne eine eigene Steuerungsintelligenz zum Navigieren aufweisen zu müssen. Es kann jedoch auch die Steuerungsintelligenz des Kraftfahrzeugs zum Navigieren verwendet werden unter Hinzunahme der Sicherheitsfunktionen der Fahrplattform. Dann folgt die Fahrplattform den Befehlen der Whether virtually or only mechanically connected, the motor vehicle always follows the drive of the driving platform without having to have its own control intelligence for navigating. However, the control intelligence of the motor vehicle may also be used to navigate with the added benefit of the safety features of the drive platform. Then the driving platform follows the orders of the
Fahrzeugsteuerung des Kraftfahrzeugs, welche an die Steuervorrichtung der Fahrplattform übertragen werden. Die Übertragung erfolgt mittels der korrespondierenden drahtlosen Sende-/ Empfangsvorrichtungen bzw. über die mechanische Kopplung. Es versteht sich, dass die Fahrplattform auch selbst stillstehen kann und dem Kraftfahrzeug Steuerungsbefehle übermittelt, so dass dieses entsprechend fährt. Mit anderen Worten müssen die Bewegungen von Fahrplattform und Kraftfahrzeug nicht synchronisiert sein bzw. müssen Fahrplattform und Kraftfahrzeug keinen Verbund bilden. Vehicle control of the motor vehicle, which are transmitted to the control device of the driving platform. The transmission takes place by means of the corresponding wireless transmission / Receiving devices or via the mechanical coupling. It is understood that the driving platform can also stand still and transmits control commands to the motor vehicle so that it drives accordingly. In other words, the movements of the drive platform and the motor vehicle need not be synchronized or the drive platform and the motor vehicle need not form a network.
Ferner ist auch ein Abgleich von Navigationsdaten sowohl von der Fahrplattform als auch der Furthermore, a comparison of navigation data from both the driving platform and the
Steuerungsintelligenz seitens des Kraftfahrzeugs möglich. Dadurch können fehlerhafte Navigationsdaten korrigiert bzw. veraltete Navigationskarten beispielsweise erneuert werden. Die eigentliche Navigation kann dann, wie in den beiden Fällen oben beschrieben, entweder durch die Fahrplattform oder das Kraftfahrzeug unter Hinzunahme der Sicherheitsfunktionen der Fahrplattform erfolgen. Control intelligence on the part of the motor vehicle possible. As a result, incorrect navigation data can be corrected or obsolete navigation maps can be renewed, for example. The actual navigation can then take place, as described above in the two cases, either by the driving platform or the motor vehicle with the addition of the safety functions of the driving platform.
Die Steuervorrichtung der Fahrplattform kann einen Speicher aufweisen, in dem Daten über die Position und Orientierung von Hindernissen und/oder freien Fahrwegen in der Umgebung der Fahrplattform hinterlegt sind und die Steuervorrichtung eingerichtet ist, unter Berücksichtigung dieser im Speicher gespeicherten Daten das Kraftfahrzeug in der Umgebung der Fahrplattform automatisch zu navigieren. The control device of the driving platform can have a memory in which data on the position and orientation of obstacles and / or free travel paths are stored in the surroundings of the driving platform and the control device is set up, taking into account these data stored in the memory, the motor vehicle in the vicinity of Driving platform to navigate automatically.
Die Steuervorrichtung der Fahrplattform und/oder des Kraftfahrzeugs kann wenigstens einen Sensor aufweisen, welche Daten über die Position und Orientierung von Hindernissen und/oder freien The control device of the driving platform and / or of the motor vehicle may have at least one sensor which displays data about the position and orientation of obstacles and / or free
Fahrwegen in der Umgebung der Fahrplattform liefert und die Steuervorrichtung eingerichtet ist, unter Berücksichtigung dieser von dem wenigstens einen Sensor gelieferten Dat Fahrplattform automatisch zu navigieren. Provides routes in the vicinity of the drive platform and the control device is arranged to automatically navigate, taking into account this data provided by the at least one sensor drive platform.
Bei den Sensoren kann es sich um Laser, Scanner, Radar, Kameras oder Infrarot-Sensorik handeln. The sensors can be lasers, scanners, radars, cameras or infrared sensors.
Die wenigstens drei Räder der Fahrplattform können als Mecanumräder ausgebildet sein, welche eine omnidirektionale Fahrweise der Fahrplattform ermöglichen. The at least three wheels of the driving platform can be designed as Mecanumräder, which allow an omnidirectional driving of the driving platform.
Die Mecanumräder können jeweils einen Rollenträger aufweisen, der um eine Raddrehachse drehangetrieben am Fahrgestell gelagert ist, wobei die Räder jeweils mehrere gleichmäßig über einen Umfang verteilt angeordnete, am Rollenträger unangetrieben um deren Rollendrehachsen drehbar gelagerte Rollen aufweisen. The Mecanumräder may each have a roller carrier, which is rotatably mounted on a wheel rotational axis on the chassis, wherein the wheels each have a plurality of uniformly distributed over a circumference arranged on the roller carrier unangetrieben about the roller rotation axes rotatably mounted rollers.
Jedes Mecanumrad kann auf dem Umfang des Rades, die insoweit eine Art Felge bildet, mehrere drehbar gelagerte tonnenförmige Rollen aufweisen, die vorzugsweise im Winkel von 45 Grad zur Radachse drehbar am Rad gelagert sein. Ausschließlich diese tonnenförmigen Rollen stellen den Kontakt zum Boden her. Diese tonnenförmigen Rollen haben keinen direkten Antrieb und können sich frei um ihre schrägen Lagerachsen drehen. Das gesamte Mecanum-Rad, d.h. die Felge, wird dagegen von einem Antriebsmotor mit variabler Drehzahl und jeweils gewünschter Drehrichtung angetrieben. Each Mecanumrad may have on the circumference of the wheel, which forms a kind of rim so far, several rotatably mounted barrel-shaped rollers, which are preferably rotatably mounted at an angle of 45 degrees to the wheel axis on the wheel. Only these barrel-shaped rollers make contact with the ground. These barrel-shaped rollers have no direct drive and can move freely around turn their oblique bearing axes. By contrast, the entire Mecanum wheel, ie the rim, is driven by a drive motor with variable speed and the desired direction of rotation.
Unter einem Kraftfahrzeug werden neben Personen- oder Lastkraftwagen auch insbesondere alle (Land- )Fahrzeuge mit eigenem Antrieb, insbesondere elektrischem Antrieb, verstanden. Beispielsweise kann das Kraftfahrzeug auch eine Reinigungsvorrichtung darstellen. Auf diese Weise können die Under a motor vehicle in addition to passenger or goods vehicles and in particular all (land) vehicles with their own drive, in particular electric drive understood. For example, the motor vehicle can also represent a cleaning device. In this way, the
Anwendungen der Fahrplattform erweitert werden, da beispielsweise nach einem Einparken eines Kraftfahrzeugs eine Reinigungsaufgabe übernommen werden kann, so dass die Fahrplattform vielseitig nutzbar ist und Standzeiten verringert werden können. Applications of the drive platform can be extended because, for example, after parking a motor vehicle, a cleaning task can be taken, so that the drive platform is versatile and life can be reduced.
Konkrete Ausführungsbeispiele der Erfindung sind in der nachfolgenden Figurenbeschreibung unter Bezugnahme auf die beigefügten Figuren näher erläutert. Konkrete Merkmale dieser exemplarischen Ausführungsbeispiele können unabhängig davon, in welchem konkreten Zusammenhang sie erwähnt sind, gegebenenfalls auch einzeln oder auch in anderen Kombinationen der Merkmale betrachtet, allgemeine Merkmale der Erfindung darstellen. Concrete embodiments of the invention are explained in more detail in the following description of the figures with reference to the accompanying figures. Concrete features of these exemplary embodiments, regardless of the specific context in which they are mentioned, if appropriate also individually or in other combinations of the features, may represent general features of the invention.
Es zeigen: Show it:
Fig. 1 eine schematische Darstellung einer ersten Ausführungsform einer Fahrplattform; Fig. 1 is a schematic representation of a first embodiment of a driving platform;
Fig. 2 eine schematische Darstellung einer ersten Ausführungsform einer Fahrplattform zum Fig. 2 is a schematic representation of a first embodiment of a driving platform for
Transport eines Kraftfahrzeugs;  Transport of a motor vehicle;
Fig. 3 eine schematische Darstellung einer ersten Ausführungsform einer Fahrplattform mit gekoppeltem Fahrzeug; 3 shows a schematic illustration of a first embodiment of a traveling platform with a coupled vehicle;
Fig. 4 eine schematische Darstellung einer ersten Ausführungsform einer Fahrplattform mit gekoppeltem und transportierten Fahrzeug; 4 shows a schematic illustration of a first embodiment of a driving platform with a coupled and transported vehicle;
Fig. 5 eine schematische Darstellung eines einer zweiten Ausführungsform einer Fahrplattform mit gekoppeltem Fahrzeug. Die Fig. 1 zeigt eine Fahrplattform 1, aufweisend ein Fahrgestell 2 und wenigstens drei Räder 3, welche als Mecanumräder ausgebildet sind. Fig. 5 is a schematic representation of a second embodiment of a driving platform with coupled vehicle. Fig. 1 shows a driving platform 1, comprising a chassis 2 and at least three wheels 3, which are designed as Mecanumräder.
Die Fahrplattform 1 weist außerdem eine am Fahrgestell 2 angeordnete Steuervorrichtung 4 auf, die ausgebildet ist, die Fahrplattform 1 auf einem Boden in Abhängigkeit ihrer Umgebung autonom zu navigieren, in dem die Steuervorrichtung 4 die Räder 3 automatisch ansteuert. The driving platform 1 also has a control device 4 arranged on the chassis 2, which is designed to autonomously navigate the driving platform 1 on a ground as a function of its surroundings, in which the control device 4 automatically drives the wheels 3.
Von den Rädern 3 ist jedes mittels jeweils eines eigenen Motors 5 der Fahrplattform 1 antreibbar und zwar automatisch angesteuert mittels einer Steuervorrichtung 4 der Fahrplattform 1. Each of the wheels 3 is drivable by means of its own motor 5 of the driving platform 1 and automatically controlled by means of a control device 4 of the driving platform. 1
Der jeweilige Boden kann eine Fahrbahn der Fahrplattform 1 bilden, auf der sich die Fahrplattform 1 automatisch bewegt. Dazu ist die Steuervorrichtung 4 ausgebildet, die Fahrplattform 1 auf der Fahrbahn automatisch zu fahren. Während des automatischen Fahrens der Fahrplattform 1 können Hindernisse und Fahrwege während des automatischen Fahrens der Fahrplattform 1 erfasst und in einer Navigationssteuervorrichtung 6 abspeichern werden, die ausgebildet ist zum Navigieren der The respective floor can form a roadway of the driving platform 1, on which the driving platform 1 moves automatically. For this purpose, the control device 4 is designed to drive the driving platform 1 on the road automatically. During the automatic driving of the driving platform 1, obstacles and travel paths during the automatic driving of the driving platform 1 can be detected and stored in a navigation control device 6, which is designed to navigate the vehicle
Fahrplattform 1 auf der Fahrbahn. Wie in Fig. 1 dargestellt, kann die Navigationssteuervorrichtung 6 separat von der Fahrplattform 1 angeordnet sein und lediglich steuerungstechnisch mit dieser bzw. mit deren Steuervorrichtung 4 kommunizieren.  Driving platform 1 on the road. As shown in FIG. 1, the navigation control device 6 may be arranged separately from the driving platform 1 and only communicate with it in terms of control technology or with its control device 4.
Satt einer separaten Anordnung kann die Navigationssteuervorrichtung 4 auch Teil der Fahrplattform 1 sein, wie dies in Fig. 1 in einer gestrichelten Darstellung beispielsweise veranschaulicht ist. Demgemäß kann die Fahrplattform 1 die Navigationssteuervorrichtung 6 aufweisen und die Satisfied a separate arrangement, the navigation control device 4 may also be part of the driving platform 1, as illustrated in Fig. 1 in a dashed representation, for example. Accordingly, the driving platform 1 may include the navigation control device 6 and the
Navigationssteuervorrichtung 6 steuerungstechnisch mit der Steuervorrichtung 4 der Fahrplattform 1 verbunden und ausgebildet sein, Referenzpositionen und Referenzorientierungen zu speichern, die bei einem Navigieren der Fahrplattform 1 auf der Fahrbahn als eine digitale Landkarte dienen, auf dessen Grundlage die Navigationssteuervorrichtung 6 in Zusammenwirken mit der Steuervorrichtung 4 die Fahrplattform 1 auf dem Boden bzw. auf der Fahrbahn bewegt. Navigation control device 6 control technology connected to the control device 4 of the driving platform 1 and configured to store reference positions and reference orientations, which serve when navigating the driving platform 1 on the road as a digital map, based on which the navigation control device 6 in cooperation with the control device 4 Driving platform 1 moves on the ground or on the road.
Die Navigationssteuervorrichtung 6 und/oder die Steuervorrichtung 4, die insoweit eine The navigation control device 6 and / or the control device 4, the extent a
Fahrzeugantriebssteuerung darstellen kann, sind in diesen Fällen ausgebildet und eingerichtet, die momentane Ist-Position und Ist-Orientierung der Fahrplattform 1 auf der Fahrbahn zu erfassen, eine gewünschte Soll-Position und Soll-Orientierung eines Ziels einzulesen, welches die Fahrplattform 1 automatisch angesteuert durch die Navigationssteuervorrichtung 6 in Zusammenwirken mit der Fahrzeugantriebssteuerung anfahren soll, eine von der Ist-Position und Ist-Orientierung der Can represent vehicle drive control are trained in these cases and set up to capture the current actual position and actual orientation of the drive platform 1 on the road, to read in a desired target position and target orientation of a target, which automatically drives the drive platform 1 by the navigation control device 6 should start in cooperation with the vehicle drive control, one of the actual position and actual orientation of
Fahrplattform 1 beginnende Route, die an der Soll-Position und Soll-Orientierung des Ziels endet, automatisch zu planen und zwar auf Grundlage der in der Navigationssteuervorrichtung 6 Driving platform 1 starting route, which ends at the desired position and target orientation of the target to automatically plan based on the in the navigation control device. 6
abgespeicherten Positionen und Orientierungen von Hindernissen und Fahrwegen. Die Fahrplattform 1 kann dann angesteu-ert durch die Navigationssteuervorrichtung 6 in Zusammenwirken mit der Steuervorrichtung 4 bzw. mit der Fahrzeugantriebssteuerung entlang der Route automatisch navigiert gefahren werden. stored positions and orientations of obstacles and driveways. The driving platform 1 can then be actuated by the navigation control device 6 in cooperation with the Control device 4 or be navigated automatically with the vehicle drive control along the route.
Wie beispielsweise in Fig. 2 dargestellt ist, weist die Fahrplattform 1 wenigstens eine mit dem For example, as shown in Fig. 2, the traveling platform 1 has at least one with the
Fahrgestell 3 verbundene Kopplungsvorrichtung 7 auf, die ausgebildet ist, zum Koppeln wenigstens eines Kraftfahrzeugs 8 mit der Fahrplattform 1, um das mittels der Kopplungsvorrichtung 7 Chassis 3 connected coupling device 7, which is designed for coupling at least one motor vehicle 8 with the driving platform 1, by means of the coupling device. 7
angekoppelte Kraftfahrzeug 8 in der Umgebung der Fahrplattform 1 autonom zu bewegen und zwar angesteuert durch die Steuervorrichtung 4 der Fahrplattform 1. coupled motor vehicle 8 to move autonomously in the vicinity of the drive platform 1 and that controlled by the control device 4 of the drive platform. 1
Die Kopplungsvorrichtung 7 weist im Falle der drahtlosen Ausführungsform gemäß den Fig. 2 bis 4 eine an dem Kraftfahrzeug 8 angeordnete drahtlose erste Sende-/Empfangsvorrichtung 9 und eine an dem Fahrgestell 2 der Fahrplattform 1 angeordnete drahtlose zweite Sende/Empfangsvorrichtung 10 auf. In the case of the wireless embodiment according to FIGS. 2 to 4, the coupling device 7 has a wireless first transmitting / receiving device 9 arranged on the motor vehicle 8 and a wireless second transmitting / receiving device 10 arranged on the chassis 2 of the driving platform 1.
Die erste Sende-/Empfangsvorrichtung 9 und die zweite Sende-/Empfangsvorrichtung 10 sind dabei ausgebildet, eine Kommunikation zwischen der Fahrzeugsteuerung 8.1 des Kraftfahrzeugs 8 und der Steuervorrichtung 4 bzw. der Navigationssteuervorrichtung 6 der Fahrplattform 1 einzurichten, derart, dass die Steuervorrichtung 4 bzw. die Navigationssteuervorrichtung 6 der Fahrplattform 1 Fahrbefehle an die Fahrzeugsteuerung 8.1 des Kraftfahrzeugs 8 sendet, um die Kraftfahrzeug 8 autonom und mechanisch getrennt von der Fahrplattform 1 gemäß der Umgebung der Fahrplattform 1 zu navigieren. The first transceiver 9 and the second transceiver 10 are configured to establish a communication between the vehicle control 8.1 of the motor vehicle 8 and the control device 4 or the navigation control device 6 of the drive platform 1, such that the control device 4 or the navigation control device 6 of the driving platform 1 sends driving commands to the vehicle control 8.1 of the motor vehicle 8 in order to autonomously and mechanically separate the motor vehicle 8 from the driving platform 1 according to the environment of the driving platform 1.
Eine steuerungstechnische Kopplung der Fahrplattform 1 und des Kraftfahrzeugs 8 kann beispielsweise dadurch erfolgen, dass die beiden Fahrgestelle räumlich voneinander getrennt positioniert sind, demgemäß mechanisch nicht verbunden sind, aber sowohl die Räder der Fahrplattform 1 als auch die Räder des Kraftfahrzeugs 8 aufeinander abgestimmte, insbesondere synchrone Bewegungen ausführen, derart, dass die beiden Fahrgestelle stets in einem konstanten Abstand voneinander positioniert und stets in übereinstimmenden Orientierungen zueinander ausgerichtet angesteuert werden. Eine solche abgestimmte, synchrone Ansteuerung kann durch eine gemeinsame Antriebssteuervorrichtung für die Fahrplattform 1 und des Kraftfahrzeugs 8 erfolgen. Alternativ kann das erste Fahrgestell eine eigene erste Antriebssteuervorrichtung aufweisen und das zweite Fahrgestell eine eigene zweite A control technology coupling of the drive platform 1 and the motor vehicle 8 can for example take place in that the two chassis are spatially separated from each other, are therefore mechanically not connected, but both the wheels of the drive platform 1 and the wheels of the motor vehicle 8 coordinated, in particular synchronous Carry out movements, such that the two chassis are always positioned at a constant distance from each other and always driven aligned in matching orientations to each other. Such a coordinated, synchronous activation can be effected by a common drive control device for the drive platform 1 and the motor vehicle 8. Alternatively, the first chassis may have its own first drive control device and the second chassis may have its own second
Antriebssteuervorrichtung aufweisen, wobei die erste Antriebssteuervorrichtung mit der zweiten Antriebssteuervorrichtung über eine synchronisierende Kommunikationsverbindung Drive control device, wherein the first drive control device with the second drive control device via a synchronizing communication link
steuerungstechnisch verbunden sind. are connected by control technology.
Das Kraftfahrzeug 8 weist eine zur Ansteuerung der Fahrfunktionen des Kraftfahrzeugs 8 eigene Fahrzeugsteuerung 8.1 auf und die Steuervorrichtung 4 der Fahrplattform 1 ist ausgebildet und eingerichtet, unter Berücksichtigung von Steuerbefehlen der Fahrzeugsteuerung 8.1, die Fahrplattfo 1 auf einem Boden in Abhängigkeit ihrer Umgebung autonom zu navigieren. Die Steuervorrichtung 4 der Fahrplattform 1 kann einen Speicher 11 aufweisen, in dem Daten über die Position und Orientierung von Hindernissen und/oder freien Fahrwegen in der Umgebung der The motor vehicle 8 has a vehicle control system 8.1 dedicated to driving the driving functions of the motor vehicle 8, and the control device 4 of the driving platform 1 is designed and autonomously designed to autonomously navigate the driving platform 1 on a ground as a function of its surroundings, taking into account control commands of the vehicle control system 8.1. The control device 4 of the driving platform 1 may have a memory 11 in which data on the position and orientation of obstacles and / or free routes in the environment of
Fahrplattform 1 hinterlegt sind und die Steuervorrichtung 4 kann dabei eingerichtet sein, unter Berücksichtigung dieser im Speicher 11 gespeicherten Daten das Kraftfahrzeug 8 in der Umgebung der Fahrplattform 1 automatisch zu navigieren. Travel platform 1 are deposited and the control device 4 can be configured to automatically navigate the motor vehicle 8 in the environment of the driving platform 1, taking into account these data stored in the memory 11.
Die Steuervorrichtung 4 der Fahrplattform 1 und/oder die Arbeitsvorrichtung 8 kann wenigstens einen Sensor 12a, 12b 12c aufweisen, welche Daten über die Position und Orientierung von Hindernissen und/oder freien Fahrwegen in der Umgebung der Fahrplattform 1 liefert, wobei die Steuervorrichtung 4 eingerichtet ist, unter Berücksichtigung dieser von dem wenigstens einen Sensor 12a, 12b, 12c gelieferten Daten die Kraftfahrzeug 8 in der Umgebung der Fahrplattform 1 automatisch zu navigieren. Der wenigstens eine Sensor 12a, 12b, 12c spannt dabei ein Überwachungsfeld 13 um die Fahrplattform lauf. The control device 4 of the drive platform 1 and / or the working device 8 can have at least one sensor 12a, 12b 12c, which supplies data on the position and orientation of obstacles and / or free travel paths in the surroundings of the drive platform 1, wherein the control device 4 is set up in order to automatically navigate the motor vehicle 8 in the vicinity of the driving platform 1, taking into account the data supplied by the at least one sensor 12a, 12b, 12c. The at least one sensor 12a, 12b, 12c clamps a monitoring field 13 around the traveling platform.
Das Kraftfahrzeug 8, weist eine eigene Fahrvorrichtung 14 auf, die ausgebildet ist, das Kraftfahrzeug 8 auf dem Boden autonom angetrieben zu bewegen und die Steuervorrichtung 4 der Fahrplattform 1 ist dabei ausgebildet, die Fahrvorrichtung 14 des Kraftfahrzeugs 8 anzusteuern, um das Kraftfahrzeug 8 zusammen mit der Fahrplattform 1 oder unabhängig von der Fahrplattform 1 in der Umgebung der Fahrplattform 1 zu navigieren. The motor vehicle 8, has its own driving device 14, which is designed to move the motor vehicle 8 driven on the ground autonomously and the control device 4 of the driving platform 1 is designed to control the driving device 14 of the motor vehicle 8 to the motor vehicle 8 together with to navigate the driving platform 1 or independently of the driving platform 1 in the vicinity of the driving platform 1.
Nachfolgend wird an Hand der Figuren 2 bis 4 ein Transport eines Kraftfahrzeugs 8 durch eine Hereinafter, with reference to the figures 2 to 4, a transport of a motor vehicle 8 by a
Fahrplattform 1 beschrieben. Driving platform 1 described.
Wie in Fig. 2 ersichtlich, nähert sich eine Fahrplattform 1 einem zu transportierenden bzw. As can be seen in Fig. 2, a driving platform 1 approaches a to be transported or
einzuparkenden Kraftfahrzeug 8. Die Fahrplattform 1 ist dabei von einem in Figur 2 gestrichelt dargestellten Überwachungsfeld 13 umgeben, welches von den Sensoren 12a, 12b, 12c aufgespannt wird. Ein mögliches Hindernis im Fahrtweg der Fahrplattform 1 kann somit registriert werden. motor vehicle 8 to be parked. The driving platform 1 is surrounded by a monitoring field 13, shown dashed in FIG. 2, which is spanned by the sensors 12a, 12b, 12c. A possible obstacle in the travel path of the driving platform 1 can thus be registered.
Die Fahrplattform 1 fährt in Richtung eines Kraftfahrzeugs 8, wie in Figur 3 dargestellt, und hält in einem definierten Abstand vor dem zu transportierenden Kraftfahrzeug 8 an, um später in einer Einheit oder einem Verbund wegfahren zu können. Mittels der ersten Sende-/ Empfangsvorrichtung 9 des The driving platform 1 travels in the direction of a motor vehicle 8, as shown in FIG. 3, and stops at a defined distance in front of the motor vehicle 8 to be transported in order to be able to drive away later in a unit or a group. By means of the first transceiver 9 of the
Kraftfahrzeugs 8 als auch der zweiten Sende-/ Empfangsvorrichtung 10 der Kopplungsvorrichtung 7 der Fahrplattform 1 wird eine Kommunikation aufgebaut. Über diese Kommunikationsverbindung erteilt die Fahrplattform 1 dem Kraftfahrzeug 8 Fahrbefehle. Genauer gesagt, werden die Befehle der Motor vehicle 8 and the second transceiver 10 of the coupling device 7 of the driving platform 1, a communication is established. About this communication link gives the drive platform 1 the motor vehicle 8 drive commands. More precisely, the commands of the
Steuervorrichtung 4 der Fahrplattform 1 an die Fahrzeugsteuerung 8.1 über die erste und zweite Sende- /Empfangsvorrichtung 9, 10 übertragen. Dabei kann die Berechnung von Fahrfunktionen, wie Lenkwinkeleinschlag und Antriebsleistung für Kraftfahrzeug 8 entweder in der Fahrplattform 1 oder im Kraftfahrzeug 8 selbst durchgeführt werden, je nachdem wo das Fahrdynamik-Modell des Kraftfahrzeugs 8 hinterlegt werden soll. Die Bewegung der Fahrplattform 1 wird nun durch die Steuerungsvorrichtung 4 so berechnet werden, dass die Control device 4 of the drive platform 1 to the vehicle control 8.1 via the first and second transceiver 9, 10 transmitted. In this case, the calculation of driving functions such as steering angle and driving power for motor vehicle 8 can be carried out either in the drive platform 1 or in the motor vehicle 8 itself, depending on where the vehicle dynamics model of the motor vehicle 8 is to be deposited. The movement of the traveling platform 1 will now be calculated by the control device 4 so that the
Fahrplattform 1 und das Kraftfahrzeug 8 als gekoppelte Einheit fahren ("elektronische Königswelle"). Dabei ist es nicht notwendig, dass die Fahrplattform 1 und das Kraftfahrzeug 8 mechanisch gekoppelt sind, da die eigenen Antriebe des Kraftfahrzeugs 8 zur Bewegung genutzt werden. Driving platform 1 and the motor vehicle 8 as a coupled unit drive ("electronic vertical shaft"). It is not necessary that the drive platform 1 and the motor vehicle 8 are mechanically coupled, since the own drives of the motor vehicle 8 are used for movement.
Das aufgespannte Überwachungsfeld 13 durch die Sensoren 12a, 12b, 12c schließt das Kraftfahrzeug 8 ein. Die Sensoren 12a, 12b, 12c für die Überwachung auf der Fahrplattform sind in zwei Achsrichtungen ( X,Y, ) verstellbar angeordnet, um die Fahrplattform an die unterschiedlichsten Fahrzeuggrößen anpassen zu können, um entsprechende Störkanten, beispielsweise am Kraftfahrzeug 8 einsehen zu können. The mounted monitoring field 13 by the sensors 12a, 12b, 12c includes the motor vehicle 8. The sensors 12a, 12b, 12c for monitoring on the drive platform are arranged to be adjustable in two axial directions (X, Y,) in order to be able to adapt the drive platform to a wide variety of vehicle sizes in order to be able to see corresponding interference edges, for example on the motor vehicle 8.
Mittels der virtuellen Verbindung durch die ersten und zweiten Sende-/ Empfangsvorrichtungen 9, 10 wird sichergestellt, dass das Kraftfahrzeug 8 auch der Fahrplattform 1 folgt und nicht verloren geht. Sobald die Fahrplattform 1 und das Kraftfahrzeug 8 gekoppelt sind, wird dies einem nicht gezeigten Flottenmanager mitgeteilt. By means of the virtual connection through the first and second transceiver devices 9, 10 it is ensured that the motor vehicle 8 also follows the driving platform 1 and is not lost. Once the drive platform 1 and the motor vehicle 8 are coupled, this is communicated to a fleet manager, not shown.
Das Kraftfahrzeug 8 folgt nun der Fahrplattform 1 im Verbund, wie in Figur 4 gezeigt. Zur Navigation der Fahrplattform 1 und des gekoppelten Kraftfahrzeugs 8 werden die Navigationsdaten der Fahrplattform 1 verwendet. Alternativ können auch die Navigationsdaten des Kraftfahrzeugs 8 verwendet werden oder eine Kombination hieraus. The motor vehicle 8 now follows the driving platform 1 in the composite, as shown in Figure 4. For navigation of the driving platform 1 and the coupled motor vehicle 8, the navigation data of the driving platform 1 are used. Alternatively, the navigation data of the motor vehicle 8 can be used or a combination thereof.
Sobald die Fahrplattform 1 und das Kraftfahrzeug 8 ihre Zielposition, beispielsweise eine Parkposition, erreicht haben, wird das Kraftfahrzeug 8 von der Fahrplattform entkoppelt. Das Kraftfahrzeug 8 befindet sich in dann in einer Parkposition, was dem Flottenmanager gemeldet wird, während die Fahrplattform 1 eine neue Transportaufgabe, übertragen durch den Flottenmanager, wahrnimmt. As soon as the drive platform 1 and the motor vehicle 8 have reached their target position, for example a parking position, the motor vehicle 8 is decoupled from the drive platform. The motor vehicle 8 is then in a parking position, which is reported to the fleet manager, while the driving platform 1 performs a new transport task, transmitted by the fleet manager.
In einer weiteren, in Fig. 5 gezeigte Ausführungsformen, weist die Fahrplattform 1 eine mechanische erste Kopplungsvorrichtung 15 auf, welche mit einer zweiten Kopplungsvorrichtung 16 des In a further embodiment shown in FIG. 5, the traveling platform 1 has a mechanical first coupling device 15, which is connected to a second coupling device 16 of FIG
Kraftfahrzeugs 8 korrespondiert. Die mechanische Kopplung dient jedoch nicht zum Übertragen von Zugkräften von der Fahrplattform 1 auf das Kraftfahrzeug 8, sondern lediglich zum Aufbau einer Kommunikation, also eine reiner Datenaustausch, beispielsweise durch eine Steckverbindung. Der Ablauf des Transports des Kraftfahrzeugs 8 entspricht dabei dem zuvor beschriebenen Verfahren mit dem Unterschied, dass keine virtuelle Verbindung, sondern eine mechanische Verbindung erfolgt. Außerdem kann ein Parksystem realisiert sein, aufweisend ein Gebäude mit mehreren Stellplätzen, die ausgebildet sind, zum Abstellen von Kraftfahrzeugen, einen von den Stellplätzen verschiedenen Motor vehicle 8 corresponds. However, the mechanical coupling does not serve to transmit tensile forces from the drive platform 1 to the motor vehicle 8, but only to establish a communication, so a pure data exchange, for example by a connector. The process of transport of the motor vehicle 8 corresponds to the method described above with the difference that no virtual connection, but a mechanical connection is made. In addition, a parking system can be realized, comprising a building with several parking spaces, which are designed for parking motor vehicles, one of the parking spaces different
Ladeplatz oder Tankplatz, der eingerichtet ist, zum automatischen Versorgen eines Kraftfahrzeugs mit elektrischer Energie, flüssigem oder gasförmigem Brennstoff, und eine Kraftfahrzeug- Transportplattform, insbesondere die erfindungsgemäße Fahrplattform 1, die eingerichtet ist, das auf dem jeweiligen Stellplatz geparkte Kraftfahrzeug 8 fahrerlos automatisch an den Ladeplatz oder Tankplatz zu transportieren und/oder das auf dem Ladeplatz oder Tankplatz vorhandene Kraftfahrzeug fahrerlos automatisch an den jeweiligen Stellplatz zurück zu transportieren. Ladeplatz or fuel station, which is set up for automatically supplying a motor vehicle with electrical energy, liquid or gaseous fuel, and a motor vehicle transport platform, in particular the driving platform 1 according to the invention, which is set up, the parked on the respective parking space motor vehicle 8 automatically to the To transport the loading place or the fueling station and / or to transport the motor vehicle, which is present on the loading place or filling station, automatically back to the respective parking space without a driver.
Das Parksystem kann außerdem aufweisen ein Gebäude mit mehreren Stellplätzen, die ausgebildet sind, zum Abstellen von Kraftfahrzeugen 8 , einen Anlieferplatz, der ausgebildet ist, zum Anfahren, Abstellen und Wegfahren des Kraftfahrzeugs 8 an dem Anlieferplatz durch einen Fahrer, und eine Kraftfahrzeug- Transportplattform, insbesondere die erfindungsgemäße Fahrplattform 1, die eingerichtet ist, das auf dem Anlieferplatz abgestellte Kraftfahrzeug 8 fahrerlos automatisch an einen freien Stellplatz des Gebäudes zu transportieren und/oder von dem Stellplatz des Gebäudes an den Anlieferplatz zurück zu transportieren. The parking system may further include a multi-bay building configured to park motor vehicles 8, a delivery place adapted to start up, park and drive off the motor vehicle 8 at the place of delivery by a driver, and a motor vehicle transport platform. in particular the driving platform 1 according to the invention, which is set up to automatically transport the motor vehicle 8 parked on the delivery place to a free parking space of the building and / or to transport it back from the parking space of the building to the delivery place.
Das Parksystem kann des Weiteren aufweisen ein Gebäude mit mehreren Stellplätzen, die ausgebildet sind, zum Abstellen von Kraftfahrzeugen, einen Anlieferplatz, der ausgebildet ist, zum Anfahren, Abstellen und Wegfahren des Kraftfahrzeugs an dem Anlieferplatz durch einen Fahrer, und einen von den Stellplätzen verschiedenen Ladeplatz oder Tankplatz, der eingerichtet ist, zum automatischen Versorgen eines Kraftfahrzeugs mit elektrischer Energie, flüssigem oder gasförmigem Brennstoff, und eine Kraftfahrzeug-Transportplattform, insbesondere die erfindungsgemäße Fahrplattform 1, die eingerichtet ist, das auf dem Anlieferplatz abgestellte Kraftfahrzeug fahrerlos automatisch an einen freien Stellplatz des Gebäudes zu transportieren und/oder von dem Stellplatz des Gebäudes an den Anlieferplatz zurück zu transportieren, und die eingerichtet ist, das auf dem jeweiligen Stellplatz geparkte Kraftfahrzeug fahrerlos automatisch an den Ladeplatz oder Tankplatz zu transportieren und/oder das auf dem Ladeplatz oder Tankplatz vorhandene Kraftfahrzeug fahrerlos automatisch an den jeweiligen Stellplatz oder an den Anlieferplatz zurück zu transportieren. The parking system may further comprise a building with several parking spaces, which are designed for parking motor vehicles, a delivery point, which is designed for starting, stopping and driving away the motor vehicle at the delivery point by a driver, and a different from the parking lots loading place or fuel station, which is set up to automatically supply a motor vehicle with electrical energy, liquid or gaseous fuel, and a motor vehicle transport platform, in particular the driving platform 1 according to the invention, which is set up, the motor vehicle automatically parked at the place of delivery automatically to a free parking space of the Transporting the building and / or transported from the parking space of the building to the delivery point, and which is adapted to automatically transport the parked on the respective parking lot driverless to the loading place or fuel station and / or the automatically transport the existing motor vehicle automatically to the respective parking space or to the place of delivery on the loading place or filling station.
Zu anderen Betriebszeiten als einer Verwendung als Kraftfahrzeug-Transportplattform, wobei die Kraftfahrzeuge bestimmungsgemäß durch einen Verbrennungsmotor und/oder einen Elektromotor angetrieben sind und dazu Antriebsräder aufweisen und bestimmungsgemäß von einer Person im Straßenverkehr gefahren werden. Insbesondere außerhalb des Straßenverkehrs können diese Fahrzeuge beispielsweise in einem Parkhaus oder einer Tiefgarage von der Fahrplattform 1 automatisch und autonom transportiert werden, ohne dass eine Person, d.h. ein Fahrer das Kraftfahrzeug steuert, insbesondere ohne dass eine Person, d.h. ein Fahrer in dem Kraftfahrzeuge anwesend sein muss, kann die Fahrplattform als auch eine Reinigungsvorrichtung verwendet werden. Hierbei erfolgt statt einer Kopplung eines Kraftfahrzeugs 8 eine in den Figuren nicht gezeigte Kopplung einer At other operating times than a use as a motor vehicle transport platform, wherein the motor vehicles are intended to be driven by an internal combustion engine and / or an electric motor and to drive wheels and are driven properly by a person on the road. In particular, outside of road traffic, these vehicles can be transported automatically and autonomously, for example in a car park or an underground car park, from the driving platform 1 without a person, i. a driver controls the motor vehicle, in particular without a person, i. a driver in whom motor vehicles must be present, the driving platform as well as a cleaning device can be used. In this case, instead of a coupling of a motor vehicle 8, a coupling, not shown in the figures, takes place
Reinigungsvorrichtung. Cleaning device.

Claims

Patentansprüche  claims
Fahrplattform (1 ), aufweisend: Driving platform (1), comprising:
ein Fahrgestell (3) a chassis (3)
wenigstens drei Räder, welche drehangetrieben am Fahrgestell gelagert sind, eine am Fahrgestell angeordnete Steuervorrichtung, die ausgebildet ist, die Fahrplattform auf einem Boden in Abhängigkeit ihrer Umgebung autonom zu navigieren, indem die Steuervorrichtung die wenigstens drei Räder at least three wheels, which are rotatably mounted on the chassis, a control device arranged on the chassis, which is designed to autonomously navigate the traveling platform on a ground depending on their environment, by the control device, the at least three wheels
automatisch ansteuert, automatically controls,
wenigstens eine mit dem Fahrgestell verbundene Kopplungsvorrichtung, die zum Koppeln eines Kraftfahrzeugs mit der Fahrplattform ausgebildet ist, um das mittels der Kopplungsvorrichtung angekoppelte Kraftfahrzeug autonom zu bewegen und zwar angesteuert durch die Steuervorrichtung der at least one coupling device connected to the chassis, which is designed for coupling a motor vehicle with the driving platform, in order to autonomously move the motor vehicle coupled by means of the coupling device, namely controlled by the control device of FIG
Fahrplattform. Driving platform.
EP18762789.8A 2017-08-25 2018-08-22 Driving platform for motor vehicle transport Withdrawn EP3673127A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017008048.8A DE102017008048A1 (en) 2017-08-25 2017-08-25 Driving platform for vehicle transport
PCT/EP2018/072603 WO2019038310A1 (en) 2017-08-25 2018-08-22 Driving platform for motor vehicle transport

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EP3673127A1 true EP3673127A1 (en) 2020-07-01

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Publication number Priority date Publication date Assignee Title
JP2007233771A (en) * 2006-03-01 2007-09-13 National Institute Of Advanced Industrial & Technology Autonomous mobile vehicle guidance system and method
DE102011109597A1 (en) * 2011-08-05 2013-02-07 Daimler Ag Industrial floor conveyor for transporting motor vehicles in automotive industry, has a receptacle through which wheels of vehicle are lifted by preset distance from bottom, and drive device for enabling autonomous movement of conveyor
DE102013113729A1 (en) * 2013-12-09 2015-06-11 Dürr Systems GmbH Transport vehicle, manufacturing plant and manufacturing process
DE102014224099A1 (en) * 2014-11-26 2016-06-02 Robert Bosch Gmbh Method and device for operating multiple vehicles
CN104631893B (en) * 2015-02-10 2017-08-22 广州信邦智能装备股份有限公司 A kind of longitudinal parking robot
CN106351490B (en) * 2016-10-20 2018-08-10 温州燧人智能科技有限公司 A kind of automatic obstacle avoiding formula intelligent parking garage Yi Che robots
CN106958373B (en) * 2017-04-21 2023-11-14 上海汇聚自动化科技有限公司 Intelligent omnidirectional transfer platform parking system and method for automatic parking garage

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