EP3691938A1

EP3691938A1 - Parking vehicle and method for conveying and parking a vehicle

Info

Publication number: EP3691938A1
Application number: EP18772748.2A
Authority: EP
Inventors: Marc Schieß; Jens Heimann; Nils Mühl; Detlef Baasch; Andreas Knoll; Christian LOFERER
Original assignee: ZF Friedrichshafen AG
Current assignee: ZF Friedrichshafen AG
Priority date: 2017-10-06
Filing date: 2018-09-05
Publication date: 2020-08-12
Also published as: WO2019068407A1; DE102017221655A1; DE102017221654A1

Abstract

The invention relates to a parking vehicle (1) for conveying and parking a vehicle on a roadway (F), which parking vehicle has a base (2) and two arms (6). The two arms (6) extend away from the base (2) in a direction transverse to the base (2). Each arm (6) has at least one wheel (7), which is rotatably mounted on said arm (6). A first of the two arms (6) is connected to the base (2) by means of a first guide (9). A second of the two arms (6) is connected to the base (2) by means of a second guide (9). Each arm has a holding system (11) for holding the wheels of the vehicle. Each of the two arms (6) has a lifting apparatus (10) by means of which the vehicle can be lifted away from the roadway (F), wherein each lifting apparatus (10) is operatively connected to the at least one wheel (7) of its corresponding arm (6) and guides said wheel.

Description

Parking vehicle and method for transporting and parking a vehicle

The present invention relates to a parking vehicle for transporting and parking a vehicle having the features of claim 1, and a method for transporting and parking a vehicle having the features of claim 14.

In cities the parking space is very limited. A parking garage allows the limited space to be used efficiently. However, car parks are often too tight for many vehicles, and maneuvering the vehicles within the car park to use a parking area is often difficult.

From DE 10 2010 052 850 A1 a driverless means of transport is known, by means of which a vehicle can be received parallel to the longitudinal axis of the vehicle. The means of transport can transport the vehicle to a parking lot and park it there.

From DE 10 2006 053 528 A1 a transport or maneuvering system for vehicles is known. This comprises a vehicle lifting device with arms that serve to receive a vehicle.

The present invention is based on the object of the present invention to propose an improved device for transporting and parking a vehicle.

The present invention proposes, based on the above object, a parking vehicle for carrying and parking a vehicle according to claim 1, and a method for carrying and parking a vehicle according to claim 14. Further advantageous embodiments and developments will become apparent from the dependent claims.

A parking vehicle for carrying and parking a vehicle on a roadway, comprises a base body, a control device and two arms. Both arms extend away from the main body in a transverse direction to the base body. by. Each arm has at least one wheel which is rotatably mounted on this arm. A first of the two arms is connected by means of a first guide to the base body. A second of the two arms is connected by means of a second guide to the base body. Each arm has a receiving system for receiving the wheels of the vehicle. The two recording systems are connected to the control device. Each of the two arms has a lifting device, by means of which the vehicle can be raised away from the roadway, each lifting device being operatively connected to and guiding the at least one wheel of its corresponding arm. Furthermore, the lifting device is connected to the control device.

The parking vehicle serves a vehicle z. B. has four wheels on two axes, to transport and then park. In this case, the vehicle to be transported is picked up by the parking vehicle by means of the pickup systems and moved along the road, without the vehicle to be transported has to be driven. The vehicle to be transported is completed during the transport operation and during the parking process, is not in operation and safely parked, e.g. B. the parking brake is actuated. The vehicle to be transported can, for. B. be a car or commercial vehicle.

The body of the parking vehicle is shaped to accommodate a load acting on the pickup systems and on the arms when a vehicle is being carried. Furthermore, the main body serves as a housing for a drive device, a control device and possibly for other devices. The main body has a geometric longitudinal axis and a geometric transverse axis, which are perpendicular to each other. This longitudinal axis defines a longitudinal direction, the transverse axis a transverse direction.

The two arms of the parking vehicle extend away from the main body in the transverse direction to the main body. In other words, the two arms together with the main body form a U-shape. The main body and the arms are dimensioned such that the vehicle to be transported has space between the two arms. The two arms can thus enclose the vehicle to be transported. The free space enclosed by the main body and the arms is oriented to a conventional maximum vehicle width, the vehicle width is measured without exterior mirrors. This can, for. B. 2.5 m. Furthermore, the arms are dimensioned such that they can be arranged below the exterior mirrors of the vehicle to be transported. That is, the height of the arms is adjusted to a minimum distance of the exterior mirrors of the vehicle to be transported from the roadway. Thus, the arms can enclose the vehicle to be transported without contacting the exterior mirrors of the vehicle. In addition, a width of the arms can be based on a width of the exterior mirrors of the vehicle to be transported. Thus, the arms can always be arranged below the exterior mirrors of the vehicle to be transported.

Each arm has at least one wheel which is rotatably mounted on this arm. The at least one wheel is preferably arranged on an end of the corresponding arm opposite the main body. The at least one wheel can z. B. be stored so that it can not be pivoted about a vertical axis, ie it can not be set at the steering wheel angle at least one wheel. Alternatively, the at least one wheel may be mounted such that it is pivotable about a vertical axis, z. B. by +/- 90 ⁰ or 360 °. Alternatively, the wheels of the two arms may be formed as omnidirectional wheels. Preferably, the at least one wheel of each arm is not driven. However, it may alternatively be designed to be driven and driven for example by means of a wheel hub motor or by means of an electric drive unit.

Each arm is connected by means of a guide to the base body. A guide is a connection that allows a movement of a first element relative to a second element in preferably only one direction. For example, this guide can be a linear guide. A linear guide allows movement along a geometric axis, z. B. along a vertical axis. Preferably, the first arm is connected by means of a first linear guide with the base body, and the second arm by means of a second linear guide. These linear guides are z. As plain bearings or roller bearings or air bearings or as other suitable bearing formed. This makes it possible for each arm to repeatably move in one direction relative to the body.

Each arm can thus be transferred, starting from a starting position in which it is not moved relative to the base body, in a lifting position in which the arm is moved relative to the base body. In this lifting position, each arm is z. B. along a vertical axis that is perpendicular to the longitudinal axis and the transverse axis moves upward, d. H. away from the roadway. Preferably, each arm is aligned in this lifting position perpendicular to the main body. Again, preferably, each arm has the same distance from the roadway in this lifting position. Due to the lifting position, the transportation of the vehicle to be transported is facilitated.

Preferably, the lifting position is taken in a parking mode of the parking vehicle. The starting position, on the other hand, is assumed in a movement mode of the parking vehicle. In a mode of movement, the parking vehicle may ride along the roadway without picking up and carrying a vehicle to be transported. The parking vehicle may move in the movement mode, for example, to the vehicle to be transported. In the parking mode, the parking vehicle has picked up the vehicle to be transported and transported it to a free parking area.

Each guide may comprise an actuator which actuates the movement of the respective arm in one direction. This actuator can be designed, for example, as a hydraulic actuator, as a pneumatic actuator, as an electric actuator, as an electric drive with a mechanical gear or as another suitable actuator. These actuators are connected to the control device. The control device can thus control these actuators. Alternatively, each guide can be moved passively, ie the guide is not controlled by means of an actuator, but allows only movements. The respective arm can therefore be pushed by means of the guide in the direction of the vertical axis. The parking vehicle has a receiving system on each arm. These serve to receive the wheels of the vehicle to be transported. The receiving systems of each arm are designed such that each wheel of the vehicle to be transported can be picked up individually. That is, the receiving system of the first arm contacts two wheels of the vehicle to be transported when the parking vehicle is carrying it. Likewise, the receiving system of the second arm contacts two other wheels of the vehicle to be conveyed when the parking vehicle is carrying it. The two recording systems are based on the transverse axis of the body opposite the two arms. Preferably, both receiving systems are uniformly shaped. Each pickup system is adapted to receive the weighting forces acting on the parking car during transportation of the vehicle to be conveyed and to relay it to the arms of the parking car. The receiving system of each arm is, for example, located closer to the road than the two arms. This means that each picking system is connected to its corresponding arm on the side of the same arm facing the road surface.

In particular, it is necessary to distinguish between two different positions of the recording systems which they can assume in the movement mode and in the parking mode of the parking vehicle.

In the movement mode, the pickup systems can be moved so that they do not interfere with the free space trapped between the arms.

In parking mode, on the other hand, the pickup systems can be moved so that the wheels of the vehicle to be transported are picked up by the pickup systems. The recording systems protrude in park mode into the space enclosed between the arms.

Each recording system has one or more actuators. These actuate the movement of the recording systems from the motion mode to the park mode and vice versa. This actuator can, for example, as a hydraulic actuator, as pneumatic actuator, be designed as an electromechanical actuator, or as another suitable actuator. These actuators can be designed to be self-locking, for example. These actuators are connected to the control device. The control device can thus control these actuators.

The parking vehicle has the control device which is connected to the receiving systems and to the lifting devices. By means of these connections, control signals can be forwarded. The control device is z. An ECU or domain ECU. The control device is preferably accommodated in the base body. The control device can control a drive device and, for example, regulate an acceleration, or set a steering angle on the at least one drive wheel. In addition, the control device can control the actuators of the lifting devices and / or the guides and z. B. adjust the movement of the arms along the vertical axis. The control device can control the actuators of the recording systems and z. B. control the movement in a movement mode or in a parking mode.

The control device is also designed such that it enables the parking vehicle to drive automatically or autonomously. These can be z. B. have an artificial intelligence. In addition, the parking vehicle, a positioning device, for. As a GPS system or an indoor navigation system, which is connected to the control device, so that it can control the parking vehicle based on position data.

The parking vehicle has two lifting devices. These serve to lift the vehicle to be transported from the roadway in the direction of a vertical axis. The lifting of the vehicle to be transported is necessary in order to be able to transport this by means of the parking vehicle to a free parking area. The lifting devices are formed such that they are movably mounted on their respective arm. This allows movement of each arm away from the roadway in the direction of a vertical axis. In other words, each arm is pushed up (lifting position) or lowered down (starting position) by its lifting device. Each lifting device is with the wheel of their corresponding one Arms operatively connected. That is, the lifting device is connected to this wheel so that forces can be transmitted between the wheel and the lifting device. In other words, each lifting device is supported on its corresponding wheel. Each lifting device is shaped to guide the wheel of its corresponding arm. This means that each lifting device has a wheel guide. The wheel of an arm is thus rotatably mounted on the lifting device of the same arm.

The lifting devices each have an actuator. This actuates the lifting movement of the lifting devices in order to raise the vehicle to be conveyed. These actuators can be designed, for example, as a hydraulic actuator, as a pneumatic actuator, as an electromechanical actuator, as a spindle drive, as a rotary cylinder, as a linear actuator, or as another suitable actuator. These actuators can be designed to be self-locking, for example. These actuators are connected to the control device. The control device can thus control these actuators.

In order to transport the vehicle to be transported by means of the parking vehicle, the parking vehicle automatically or autonomously approaches the vehicle to be transported. In this case, the control device controls the drive device of the parking vehicle. Subsequently, the parking vehicle travels along a longitudinal direction of the vehicle to be transported to the vehicle to be transported, so that the two arms of the parking vehicle enclose the vehicle to be transported in a partial area. For example, the two arms enclose the vehicle to be transported on its sides in a partial area. The parking vehicle may approach a front or a rear of the vehicle to be transported. As a result of the U-shape of the parking vehicle, this vehicle can at least partially enclose the vehicle to be transported on three of four sides. The parking vehicle is in motion mode. The recording systems are moved in such a way that they do not interfere with the space enclosed by the arms.

The parking vehicle moves so far with his body to the vehicle to be transported, that the recording systems of the parking vehicle, the wheels of vehicle and could contact them. From this point on a driving movement of the parking vehicle is stopped by the control device and a picking up of the vehicle to be transported begins. Then the recording systems of the parking vehicle are brought into park mode. This movement is initiated by the control device. The receiving systems of the two arms thus contact the wheels of the vehicle to be transported and take them on.

When the receiving system of each arm contacts the wheels of the two axles of the vehicle to be transported, the control device controls the lifting devices. As a result, the lifting devices move their respective arm from the starting position in the direction of the vertical axis away from the roadway in the lifting position. This is done as it were by means of the respective guides of the arms. This raises the vehicle to be transported. The wheels of the vehicle to be transported thereby no longer contact the roadway. The load of the vehicle to be transported is picked up by the parking vehicle.

Subsequently, the parking vehicle automatically or autonomously conveys the vehicle to be transported to a free parking area. There, the vehicle to be transported is parked by the parking. The arms of the parking vehicle are lowered and return to the starting position. Subsequently, the recording systems are moved so that they assume their movement mode. The parking vehicle then moves away from the vehicle to be transported.

An advantage of the parking vehicle presented here is that this can be used in any existing car park or on any existing parking lot, without the infrastructure would need to be adjusted. Due to the shape of the parking vehicle with enclosing arms, the wheels, which are mounted on the two arms, and the at least one drive wheel have a larger diameter than in wheelchair parking, which must drive under the vehicle to be transported. As a result, the parking vehicle is less prone to bumps or bumps in the road. In addition, each four-wheeled vehicle can be recorded by means of the parking vehicle. General It is advantageous that cumbersome parking operations in confined parking garages or in cramped parking spaces no longer need to be performed by a vehicle user himself.

According to one embodiment, each lifting device is formed as a rocker. Each rocker has a wheel guide on which the wheel of the corresponding arm is rotatably mounted. There is an active connection between the rocker and the wheel and forces can be transmitted. Each rocker is thus supported on the respective wheel. Each rocker is movably mounted on its respective arm. This makes it possible for each rocker to perform a movement that moves their respective arm from the starting position to the lifting position or vice versa.

Each rocker has an actuator. This can be designed as a hydraulic actuator, as a pneumatic actuator, as an electromechanical actuator, as a spindle drive, as a rotary cylinder or as another suitable actuator. This actuator is preferably connected to the control device of the parking vehicle and can be controlled by this.

According to a further embodiment, the parking vehicle has a drive device which has at least one drive unit and at least one drive wheel. In this case, the at least one drive unit is connected to the at least one drive wheel. The at least one drive wheel is rotatably mounted on the main body. The at least one drive wheel may for example be mounted such that it can be pivoted about a vertical axis, so that a steering angle can be adjusted on this drive wheel. For example, the at least one drive wheel is mounted such that a steering angle of at least +/- 90 ° can be adjusted on this drive wheel. Alternatively, the at least one drive wheel may be formed as an omnidirectional wheel. By means of omnidirectional wheels lateral driving is possible without having to adjust a steering angle at the wheels. As lateral driving refers to a direction of travel which is transverse to the Raddrehachse the at least one drive wheel or the at least two wheels which are rotatably mounted on the arms. Omnidirectional wheels become also called Omniwheels. The advantage of this is that the suspension of the at least one drive wheel can be simplified in comparison to a drive wheel on which a steering angle of +/- 90 ⁰ can be set. Of course, both the at least one drive wheel and the two wheels, which are rotatably mounted on the arms, be formed as omnidirectional wheel.

Furthermore, the parking vehicle can have more than one drive wheel, wherein each drive wheel is rotatably mounted on the main body. The drive device may be connected to the control device, so that the control device can control the drive device.

The drive device has, in addition to the at least one drive wheel, the at least one drive unit, which can be designed as an electric motor. Of course, the drive device may have more than one drive wheel. Of course, the drive device in this case for each drive an electric drive unit, d. H. an e-machine. These are designed, for example, as a wheel hub motor or as a close-coupled electric motor. The at least one electric drive unit serves to drive the at least one drive wheel. The at least one drive unit is therefore connected to the at least one drive wheel. The drive device may alternatively or additionally comprise an energy store for electrical energy, which is also in the

Basic body is housed.

According to a further embodiment, each arm is formed at least in two parts, wherein a first part of the first arm is connected by means of the first guide to the base body, and wherein a first part of the second arm is connected by means of the second guide to the base body. On a second part of the first arm, for example, the wheel of the first arm can be rotatably mounted and the lifting device of the first arm can be arranged. At a second part of the second arm, for example, the wheel of the second arm can be rotatably mounted and the lifting device of the second arm can be arranged. Alternatively, for example, the wheel of the first arm may be rotatably mounted on a third part of the first arm and, for example, the wheel of the second arm on a third part of the second arm. Preferably, these wheels of the arms are always mounted on the part of the corresponding arm which limits the corresponding arm on a side opposite to the corresponding guide. The division of the two arms is preferably along a vertical axis of the arms. The at least two parts of each arm are movably connected together.

According to a further embodiment, the first part of an arm is connected by means of a longitudinal guide with a second part of the same arm. In other words, the first arm has two parts and the second arm has two parts. The first part of the first arm is movably connected to the second part of the first arm by means of a longitudinal guide. The first part of the second arm is movably connected to the second part of the second arm by means of a longitudinal guide. By means of the longitudinal guide of the first arm, the first part of the first arm can be moved toward or away from the second part of the first arm. By means of the longitudinal guide of the second arm, the first part of the second arm can be moved toward or away from the second part of the second arm. That is, the length of the first arm can be varied by means of the longitudinal guide of the first arm. Likewise, the length of the second arm can be varied by means of the longitudinal guide of the second arm.

If the two arms each have more than two parts, they can likewise be connected by means of a longitudinal guide. For example, a first part of the first arm may be connected by means of a longitudinal guide with a second part of the first arm. In addition, the second part of the first arm can be connected by means of a further longitudinal guide with a third part of the first arm. The same may apply to the second arm.

Each longitudinal guide can be formed, for example, as a dovetail guide or as another suitable longitudinal guide. Each longitudinal guide has an actuator, which is connected to the control device, and which actuates the length adjustment of the respective arm. The control device can thus reduce the length of the jewei- pretend to be poor. Each actuator of the longitudinal guides may be formed, for example, as an electric drive in combination with a threaded spindle. Alternatively, each actuator of the longitudinal guides may be formed as a hydraulic or pneumatic cylinder or as another suitable actuator. This allows precise adjustment of the length of each arm.

According to a further embodiment, the receiving system of each arm is formed by means of at least three receiving struts, each receiving strut being mounted on its respective arm. This storage can be done for example by means of a hinge or by means of a fixed connection. Of course, each recording system can be formed by means of four or more recording struts. In this case, a first receiving strut of the first arm and a first receiving strut of the second arm are mirrored to the transverse axis of the main body. This also applies to the further recording efforts. This recording struts may be rod-shaped. Preferably, those receiving struts, which lie opposite one another on the transverse axis of the base body, are always uniformly shaped relative to one another. For example, all recording struts of the recording systems can be uniformly shaped.

Additionally or alternatively, the parking vehicle may include one or more continuous receiving struts which may be associated with both the first arm receiving system and the second arm receiving system. This continuous receiving strut is preferably as parallel as possible to the longitudinal axis of the main body. Furthermore, the continuous receiving strut is rod-shaped. The continuous receiving strut is connected to both the first arm and the second arm, but has no articulated connection with the two arms.

Additionally or alternatively, at least one of the receiving struts of each picking system may be formed as a fixed pickup strut. This is mounted by means of a fixed connection to its corresponding arm and can not be pivoted. Preferably, the recording strive of each recording system is Tems formed as a solid receiving strut, which is located closest to the body.

Additionally or alternatively, at least one of the picking struts or each picking strut of each picking system may include a ramp or a roller by means of which a wheel of the vehicle to be conveyed may be contacted. For example, the ramps can be movably mounted on their respective receiving strut, so that they can absorb to a small extent when receiving the wheel of the vehicle to be transported. For example, the rollers can be movably mounted on their respective receiving strut, so that they can rotate about their axis of rotation. Through these options, one wheel of the vehicle to be transported can be taken in each case gently, without causing damage to the tire.

Each recording strut recording systems can, for. B. be mounted by means of a joint on their respective arm. These joints are shaped such that they allow a pivoting movement of the receiving struts about a hinge axis. This hinge axis is preferably perpendicular to the transverse axis and to the longitudinal axis of the main body. This means that these receiving struts can be pivoted about their axis of articulation of the same joint by means of their joint. This hinge axis is a vertical axis.

In the movement mode, the pivotally connected receiving struts are pivoted about their respective joint axes by means of their joints in such a way that they are arranged as parallel as possible to the transverse axis of the basic body. In addition, these receiving struts are arranged in a plane with the same arm. The at least three receiving struts of the first arm may be arranged in the movement mode in a plane with the first arm. The at least three receiving struts of the second arm may be arranged in the movement mode in a plane with the second arm.

In parking mode, on the other hand, the at least three recording struts of the recording system of the first arm and the at least three recording struts of the recording mesystems of the second arm to be pivoted about their joint axes by means of the respective joints, so that each receiving struts to their arm is no longer aligned in parallel. These at least three recording efforts of the two recording systems are z. B. as parallel as possible and as parallel as possible to the longitudinal axis of the body. Alternatively, the at least three receiving struts of the two picking systems can each have an angle to their respective arm, which lies in the interval] 0 °, 90 ° or 90 °, 180 °. This angle depends on the wheels of the vehicle to be transported. Since in the parking mode preferably two recording struts each record and contact a wheel of the vehicle to be transported, these two pickup struts are moved toward one another about their joint axes in such a way that this wheel rests on the two pickup struts. Depending on the size of the wheel, these axle struts are arranged parallel to one another or have an angle to one another which is smaller than 180 °.

According to a further embodiment, each joint of the receiving struts on a locking device, which is connected to the control device. These locking devices can be used instead of self-locking actuators. By means of a locking device, a joint can be locked in a predetermined position. For example, the hinge can be locked when its lifting element is in park mode or in the movement mode. The control device can control the locking devices so that they lock the respective receiving struts or release the locking of the respective receiving struts.

By locking devices can be ensured that the vehicle to be transported is not accidentally discontinued during transport by means of the parking vehicle. In addition, it is advantageous that the actuators of the joints are relieved.

According to a further embodiment, each arm of the parking vehicle is additionally connected by means of a sliding element with the base body and displaceable by means of the sliding element in a longitudinal direction of the base body, each Sliding element is connected to the control device. These sliding elements are in addition to the guides available.

A sliding element serves to move the arm connected to it in a longitudinal direction, d. H. on the other arm to or from this way. The sliding elements are preferably formed uniformly to one another. Each sliding element has an actuator. This can be designed hydraulically, pneumatically, electromechanically, as a mechanical spindle or in other suitable ways. These actuators are connected to the control device, which can thus adjust a movement of the arms in the longitudinal direction.

For example, the first arm can be connected to the base body by means of a first sliding element. For example, the second arm can be connected to the base body by means of a second sliding element. These sliding elements can be arranged spatially closer to the base body than the guides. Thus, the first arm can first be connected to the first guide, then to the first sliding element and finally to the main body. The same may apply to the second arm. Alternatively, these sliding elements may be spatially further from the body than the guides. Thus, the first arm can first be connected to the first sliding element, then to the first guide and finally to the base body. The same may apply to the second arm. Again alternatively, a sliding element may be integrated in the guide so that it forms a component which allows both a movement in the direction of a vertical axis and in the direction of a longitudinal axis of the main body.

By means of the sliding elements, the distance of the two arms to each other can be varied and, for example, reduced. The distance between the two arms can thus be adapted to different vehicles to be transported, which have different widths.

According to a further embodiment, the parking vehicle has an environmental sensor system with at least one surroundings sensor which is connected to the control device. is bound, wherein the environmental sensor system determines environmental data for an environment of the parking vehicle. Of course, the parking vehicle may have more than one environmental sensor system. In addition, an environmental sensor system may have more than one environmental sensor. The at least one environmental sensor system is connected, for example, to the main body of the parking vehicle or to one of the arms of the parking vehicle.

Environmental sensors are, for example, radar sensors, lidar sensors, cameras or other sensors that are suitable for determining environmental data. The at least one environment sensor is either set up to evaluate the determined environment data itself and forward the evaluated data to the control device, or this passes on the determined environment data to the control device that evaluates this data, for. Example by means of an algorithm or by means of artificial intelligence.

Based on the determined and evaluated environment data of the parking vehicle, the control device can control the parking vehicle. The control device can determine a travel path of the parking vehicle by means of this environment data, for example in order to drive the parking vehicle automatically or autonomously to the vehicle to be transported. On the roadway by means of at least one environment sensor obstacles, bumps, people, o.a. determined, wherein the control device of the parking vehicle reacts to these conditions, and, for example, initiates an evasive maneuver or a braking operation. By means of the control device and the at least one environmental sensor system, the parking vehicle can thus carry out a path determination itself. This is possible both when the parking vehicle is not transporting a vehicle and when the parking vehicle is transporting a vehicle.

Furthermore, the at least one environmental sensor system is used to determine a dimension of the vehicle to be transported. These dimensions also represent environmental data. Therefore, the environmental data is used by the control device to place the parking vehicle on and around the vehicle to be transported. On the basis of this environment data, which relate to the dimension of the vehicle, the control device can operate the parking vehicle in such a way. control that the arms of the parking vehicle enclose the vehicle to be transported in a partial area. Furthermore, the control device based on this environment data relating to the dimension of the vehicle, for. B. control a longitudinal guide of the arms, so that the arms have exactly the length that is needed to carry the vehicle to be transported.

The environment sensor system can, for. B. at least one extension device, wherein the at least one environmental sensor is connected to the extension device, wherein the extension device is connected to the control device. The at least one extension device is movably mounted on the main body or on one of the arms. The extension device is mounted on the base body or on one of the arms such that this extension device can move the at least one surrounding sensor in the transverse direction or in the longitudinal direction away from the base body or onto the base body. The extension device has an actuator, which can be controlled by the control device. This actuator can be designed hydraulically, pneumatically, electromechanically or in any other suitable manner.

The at least one environmental sensor of the environmental sensor system can thus determine an outer contour of the vehicle to be transported. The at least one environment sensor measures z. B. a distance upwards, ie away from a roadway level. If the distance to an object is less than a predetermined distance, the at least one environmental sensor is still under the vehicle to be transported. The predetermined distance is chosen such that it can not fit to an outer contour of the vehicle to be transported. The at least one environmental sensor is then displaced by means of the extension device until the environmental sensor measures an upward distance greater than the predetermined distance. Then the at least one environment sensor is no longer located under the vehicle. Based on the distance traveled by the extension device during the extension movement, it can be determined which dimensions the vehicle to be transported has. The path can be determined, for example, by means of an additional measuring device. According to a further embodiment, the parking vehicle has a communication device which is connected to the control device. By means of the communication device is a data exchange with at least one external system is possible. In other words, wireless communication with the at least one external system is possible. The external system can, for. As a parking space monitoring center, another parking vehicle or other parking vehicles, the vehicle to be transported or other external systems.

For example, the control device can control the systems of the parking vehicle based on information that has been transmitted to them by means of the communication device. For example, the parking space monitoring center can forward the coordinates of a free parking area to the parking vehicle so that it conveys the vehicle to be transported to this free parking area. For example, the parking vehicle can be given an accurate route to this free parking area by the parking space monitoring center by means of the communication device, which the parking vehicle leaves. This is similar to remote control of the parking vehicle. By way of example, the parking vehicle can communicate with at least one further parking vehicle by means of its communication device in order to tune within a parking garage or in a parking space. For example, the parking vehicle can receive an accurate dimension of the outer contour of the vehicle to be transported by means of the communication device from the parking space monitoring center, for. B. if the parking vehicle for this purpose has no environment sensors.

According to a further embodiment, the parking vehicle on at least one of its receiving systems on a contact sensor, which is connected to the control device. This contact sensor serves to detect a touch of the recording system. For example, the contact sensor detects that a pickup strut of the pickup system comes into contact with an object. This is for example the case when the parking vehicle receives the vehicle to be transported. The parking vehicle moves his main body in the transverse direction z. B. so long on the vehicle to be transported until one of the recording struts one of the recording systems contacted a wheel of the vehicle to be transported. this will Determined by means of the contact sensor. Subsequently, the control device controls, based on the signal of the contact sensor, the drive device of the parking vehicle in such a way that the movement of the parking vehicle is stopped.

According to a further embodiment, the parking vehicle travels autonomously or automatically by means of the control device. Automated driving means that the parking vehicle receives a guideway specification from outside, eg. B. from a parking space monitoring center by means of the communication device, and this route departs. In this case, the parking vehicle must not perform independent Wegfindung and react only in exceptional cases, for. B. when an obstacle suddenly appears.

Autonomous driving means that the parking vehicle itself can perform a route finding and, for example, only gets the coordinates of a free parking area given or even searches for this parking area itself and identified as a free parking area. In this case, the parking vehicle is less affected by external systems, i. H. it receives fewer prescriptions. In both cases, the control device is designed such that it can perform the necessary arithmetic operations from evaluations.

In a method for transporting and parking a vehicle on a lane by means of a parking vehicle, which has already been described in the previous description, the parking vehicle automatically or autonomously approaches the vehicle to be transported in a first step by means of the control device. At this time, the parking vehicle has entered the movement mode. In this, the two recording systems are moved so that they do not interfere with the space between the arms of the parking vehicle. The parking vehicle can either carry out a route finding itself or receive a guideway preset by means of its communication device.

The parking vehicle then moves with its two arms around the vehicle to be transported, wherein the two arms are arranged parallel to a longitudinal axis of the vehicle to be transported. That is, the transverse axis of the base body pers is parallel or even congruent with the longitudinal axis of the vehicle to be transported. The longitudinal axis of the vehicle to be transported is the usual longitudinal axis, which extends from the vehicle front to the vehicle rear. The main body of the parking vehicle steadily approaches the rear of the vehicle or the front of the vehicle to be transported. This movement continues until two wheels of a first axis of the vehicle to be conveyed are arranged so that they can be contacted by the recording systems. This contact can z. B. be detected by means of the contact sensor or by means of the environmental sensor system. The control device stops in this case, the driving movement of the parking vehicle.

The receiving systems of the first and second arm are then moved so that they receive the wheels of the vehicle to be transported. The recording systems thus take the parking mode. The movement is initiated by the control device that controls the actuators of the recording systems. For example, the receiving struts of the receiving systems can be pivoted so that the wheels of the vehicle to be transported are enclosed. These pivotal movements take place about the joint axes of the respective joints and are initiated by the control device, which controls the actuators of the joints of the two recording systems.

For example, all recording strives of the two recording systems can be pivoted simultaneously. Alternatively, at first only those take-up struts can be pivoted which serve to receive the wheels of a single axle of the vehicle to be conveyed. Subsequently, z. B. the length of the arms can be changed by means of the longitudinal guide. This is necessary when the wheels of a second axis of the vehicle to be transported have a distance to the wheels of the first axis, which is so large that a recording of these wheels by means of the recording systems without length adjustment is not possible. If, for example, a microcar is to be transported, no length adjustment must be made. If, however, a combination is to be transported, a length adjustment is necessary. Following this change in length, the gene recording of the two recording systems are pivoted, which receive the wheels of the second axis of the vehicle to be transported.

In a next step, the lifting devices of the two arms and the guides of the two arms lift the vehicle to be transported away from the roadway. The actuators of the lifting devices are controlled by the control device. As a result, the lifting devices are transported from their starting position to their lifting position. In addition, either the guides of the two arms are driven by the control device or the two arms are moved passively by means of their guides. The two arms move thereby in a vertical direction away from the roadway. Thus, the vehicle to be transported is lifted off the roadway and stored on the receiving systems of the parking vehicle. The vehicle to be transported no longer touches the road. The parking vehicle has entered park mode.

Subsequently, the parking vehicle conveys the lifted vehicle to be transported to a free parking area, the parking vehicle driving autonomously or automatically. The control device takes over the control of the parking vehicle. The parking vehicle can, for example, on the basis of the environmental data, which it determines by means of its environmental sensor system, even carry out a path finding and thus determine its own route. In addition, it can even find a free parking area by departing different parking areas. Alternatively, the parking vehicle can be given a guideway, for example, from a parking space monitoring center that sends the information about the track to the parking vehicle. The parking vehicle receives this information by means of its communication device. It is also possible for the parking vehicle to receive information about a position of the free parking area from the parking space monitoring center, and then to carry out the route itself to this position.

According to another embodiment, the parking vehicle receives by means of its communication device position data of the vehicle to be transported and the free parking area. To be able to use the position data and its own To determine position data, the parking vehicle, the position determining device, which is connected to the control device.

The parking vehicle moves autonomously or automatically to the vehicle to be transported on the basis of the obtained position data of the vehicle to be transported. It either travels along a given route or even carries out a route. As soon as the parking vehicle has picked up and lifted the vehicle to be transported, it transports it along the travel path to the obtained position data of the free parking area. It either travels along a given route or even carries out a route. The parking vehicle thus operates automatically or autonomously.

According to a further embodiment, the parking vehicle determines an outer contour of the vehicle to be transported by means of the environmental sensor system and / or by means of the communication device, wherein the control device based on the data to the outer contour of the parking vehicle that carries the vehicle to be transported, automatically or autonomously controls the free parking area ,

The environmental sensor system determines data on the dimension and outer contour of the vehicle to be transported when it is picked up by the parking vehicle. In this case, the at least one environmental sensor of the environmental sensor system scans the outer contour of the vehicle to be transported. As a result, projections of the vehicle to be transported are determined via the parking vehicle. For example, the exterior mirrors or a bumper of the vehicle to be transported may protrude beyond the parking vehicle. This data is used by the control device to safely transport the parking vehicle in park mode to the free parking area.

Additionally or alternatively, the parking vehicle can obtain the data for the dimension and the outer contour of the vehicle to be transported by means of its communication device. For example, the vehicle to be transported can be parked at a predetermined location of the parking garage or parking lot where it is scanned, e.g. B. by means of several environment sensors. These scan results are evaluated, for example, by the parking space monitoring center.

As a result, projections of the vehicle to be transported are determined via the parking vehicle. For example, the exterior mirrors or a bumper of the vehicle to be transported may protrude beyond the parking vehicle. The evaluated data is sent by the communication device to the parking vehicle. This data is used by the control device to safely transport the parking vehicle in park mode to the free parking area. It is possible to combine both types to determine the outer contour and the dimensions.

Various embodiments and details of the invention will be described in more detail with reference to the figures explained below. Show it:

1 is a schematic representation of a parking vehicle according to an embodiment,

2 is a schematic side view of the parking vehicle of FIG. 1,

3 shows a schematic detail of a lifting device of the parking vehicle of FIG. 1 in a starting position, FIG.

4 is a schematic side view of the parking vehicle of FIG. 1 with arms raised, FIG.

5 shows a schematic detail of the lifting device of the parking vehicle of FIG. 1 in a lifting position, FIG.

6 is a schematic detail of a receiving system of the parking vehicle of FIG. 1,

Fig. 7 is a schematic overview of the control device according to an embodiment. 1 shows a schematic representation of a parking vehicle 1 according to an exemplary embodiment. For better clarity, the base body 2 is transparent and one of the arms 6 of the parking vehicle 1 shown extended. Furthermore, a transverse axis Q of the main body 2 and a longitudinal axis L of the main body 2 are shown.

The parking vehicle 1 has two arms 6 and the base body 2. Each of the arms 6 is movably connected by means of a guide 9 with the base body 2. The guides 9 are formed as linear guides and allow movement in the direction of a vertical axis H. The vertical axis H is perpendicular to the transverse axis Q and the longitudinal axis L. Each arm 6 is formed in two parts, wherein both parts 6a, 6b are interconnected by means of a longitudinal guide 13. By means of this longitudinal guide 13, the corresponding arm 6 can be varied in its length. The first part 6a of each arm 6 is connected by means of its guide 9 with the main body 2.

On the second part 6b of each arm 6, the parking vehicle 1 has a wheel 7 and a lifting device 10, which is not shown here. This is rotatably mounted on the arm 6. The two wheels 7 are not formed steerable. Furthermore, the parking vehicle 1 has a drive device 3. This has both a drive wheel 5 and a drive unit 4. The drive unit 4 is formed for example as E-machine. The drive wheel 5 is formed steerable, so that a steering angle can be adjusted to this drive wheel 5. The parking vehicle 1 can move ahead by means of the drive device 3. The drive device 3 can be controlled by the control device, which is not shown here, so that the parking vehicle 1 can drive autonomously or automatically.

The parking vehicle 1 also has on each arm 6 a receiving system 1 1. Each recording system 1 1 has four recording struts 12. The two receiving systems 11 are arranged relative to one another such that they are mirrored on the transverse axis Q. This means that always two recording struts 12 of the two recording systems 1 1 are opposite. Of these four receiving struts 12 each receiving system 1 1 three are mounted by means of a joint 14 movable on her arm 6. Each joint 14 leaves a pivoting movement of the receiving strut 12 to about a hinge axis, said hinge axis is parallel to the vertical axis H. Each hinge 14 is actuated by means of an actuator 19, which is shown in more detail in Figs. 2 to 6. Each of these three receiving struts 12 can take two different end positions. On the one hand, these receiving struts 12 are arranged in a movement mode of the parking vehicle 1 such that they lie in one plane with their corresponding arm 6. That is, these receiving struts 12 are arranged in the movement mode parallel to the transverse axis Q of the main body 2. On the other hand, these recording struts 12 are arranged in a parking mode such that they are as perpendicular as possible to their corresponding arm 6. In parking mode, these receiving struts 12 are in other words aligned so that they can contact the wheels of a vehicle to be transported and record.

The fourth receiving strut 12 of each receiving system 1 1 is not movably mounted on its arm 6. This is arranged parallel to the longitudinal axis L of the main body 2 both in the movement mode and in the parking mode of the parking vehicle 1. The fourth receiving strut 12 of each receiving system 1 1 is the receiving strut 12, which is arranged closest to the main body 2.

The two arms 6 of the parking vehicle 1 are spaced from each other. This distance is chosen so large that the two arms 6 can drive around a vehicle to be conveyed. When the parking vehicle 1 travels around the vehicle to be conveyed, the transverse axis Q of the main body 2 is parallel or congruent with the longitudinal axis of the vehicle.

FIG. 2 shows a schematic side view of the parking vehicle 1 from FIG. 1. The shown arm 6 of the parking vehicle is not extended. In the illustrated view, the arms 6 are near the carriageway F in an initial position. In this initial position, the arms 6 are not raised and moved in the direction of the vertical axis H. Unlike in Fig. 1, the two recording systems 1 1 are shown in park mode. In the side view, the actuators 19 are clearly visible, which actuate the joints 14. By means of these joints 14, the receiving struts 12 of the receiving systems 1 1 are movable on the corresponding arm 6. outsourced. By means of the actuators 19, a pivotal movement of each receiving strut 12 is performed about the hinge axis of its joint 14. The receiving struts 12 are aligned such that they are aligned as parallel as possible to the longitudinal axis L of the base body 2 and thus as perpendicular as possible to the transverse axis Q of the base body 2. In parking mode, the parking vehicle 1 can convey the vehicle to be transported along the carriageway F.

FIG. 3 shows a schematic detail of a lifting device 10 of the parking vehicle 1 from FIG. 1 in an initial position. For a better overview of the arm 6 is shown partially transparent. Shown is the parking vehicle 1 in parking mode, as already shown in Fig. 2. The lifting device 10 can be clearly seen. The lifting device 10 is arranged on the second part 6b of the arm 6. The lifting device 10 is formed by means of a rocker 18. This rocker 18 leads the wheel 7 of the arm 6. The wheel 7 is thus rotatably mounted on the rocker 18. The lifting device 10, d. H. the rocker 18 is movably mounted on the arm 6 by means of a joint. The rocker 18 is actuated by means of an actuator 19. This can push the rocker 18 down in the direction of the carriageway F.

As a result, the arm 6 is moved away from the roadway in the direction of the vertical axis H upwards. This is shown in more detail in FIGS. 4 and 5.

FIG. 4 shows a schematic side view of the parking vehicle 1 from FIG. 1 with arms 6 raised. The arms 6 are moved upwards away from the road F by means of their guide 9 in the direction of the vertical axis H. This movement was induced by means of the lifting device 10, which is shown in greater detail in FIG. As already in FIGS. 2 and 3, the parking vehicle 1 is shown in a parking mode. The movement by means of the guide 9 is passive. That is, the hoist 10 pushes the entire arm 6 away from the road F. Alternatively, each guide F may comprise an actuator.

FIG. 5 shows a schematic detail of the lifting device 10 of the parking vehicle 1 from FIG. 1 in a lifting position. In this lifting position, the rocker 18 is pressed by the actuator 19 in the direction of the carriageway F. The actuators 19 of the receiving systems 1 1 are different from the actuators 19 of the lifting Devices 10. The arm 6 is pressed because of the movement of the rocker 18 in the direction of the vertical axis H upwards. As a result, the arm 6 is further away from the road F than in FIGS. 2 and 3. The parking vehicle 1 is again shown in parking mode.

FIG. 6 shows a schematic detail of a pickup system 1 1 of the parking vehicle 1 from FIG. 1. In the oblique view shown, it can be clearly seen how two receiving struts 12 of the pick-up system 1 1 are aligned in the parking mode of the parking mode of the parking vehicle 1 perpendicular to the transverse axis Q of the main body 2. Both receiving struts 1 1 are pivoted about their hinge axis by means of their joints 14. The actuators 19 actuate the joints 14 for this purpose. For better understanding, a wheel R of the vehicle to be conveyed is indicated. This wheel R rests in park mode on the two recording struts 12 of the recording system 1 1. These receiving struts 12 contact and enclose the wheel R of the vehicle to be conveyed. The receiving struts 12 are formed such that they can forward the load of the vehicle to be conveyed to the arms 6 of the parking vehicle 1.

FIG. 7 shows a schematic overview illustration of the control device 8 according to an exemplary embodiment. It is shown with which systems of the parking vehicle 1, the control device 8 is connected. By means of these connections, a data exchange between the control device 8 and the other systems take place. The control device 8 is connected to the drive device 3 of the parking vehicle 1. The control device 8 can control this drive device 3 and, for example, set a steering angle on the drive wheel 5 or set an acceleration by means of the drive unit 4.

In addition, the control device 8 is connected to the lifting devices 10. The control device 8 can control the actuators of the lifting devices 10, so that the lifting position or the starting position is assumed.

Furthermore, the control device 8 is connected to the guides 9 which connect the arms 6 to the main body 2. The control device 8 may be the actuators of Control guides 9, so that the lifting position or the starting position is taken. This is only the case if the guides have 9 actuators. If the guides 9 are moved only passively, this connection between the control device 8 and the guides 9 is eliminated.

In addition, the control device 8 is connected to the recording systems 1 1. The control device 8 can control the actuators of the receiving struts of the receiving systems 12, so that they can be given away around their respective hinge axes. Thus, it is possible to switch between the movement mode and the parking mode of the parking vehicle 1.

In addition, the control device 8 is connected to the environment sensor system 15. The environment sensor system 15 determines environmental data by means of environment sensors, which are forwarded to the control device 8. The control device 8 can evaluate the surroundings data and use them to control the parking vehicle 1 automatically or autonomously.

Furthermore, the control device 8 is connected to the communication device 17. By means of the communication device 17 a data exchange with external systems is made possible. For example, the control device 8 may receive position data on free parking areas by means of the communication device 17. The control device 8 can automatically or autonomously control the parking vehicle 1 on the basis of the received data.

reference numeral

Parkierfahrzeug

body

driving device

drive unit

drive wheel

poor

a first part of the arm

b second part of the arm

wheel

control device

guide

10 lifting device

1 1 recording system

12 pickup strut

13 longitudinal guide

14 joint

15 environment sensor system

16 environment sensor

17 communication device

18 swingarm

19 actuator

F roadway

H vertical axis

L longitudinal axis

Q transverse axis

R wheel of the vehicle to be transported

Claims

claims

1 . Parking vehicle (1) for transporting and parking a vehicle on a carriageway (F), comprising a base body (2), two arms (6) and a control device (8), wherein

- Both arms (6) extending away from the base body (2) in a transverse direction to the base body (2),

- Each arm (6) has at least one wheel (7) which is rotatably mounted on this arm (6)

- A first of the two arms (6) by means of a first guide (9) is connected to the base body (2),

- A second of the two arms (6) by means of a second guide (9) is connected to the base body (2),

each arm has a receiving system (11) for receiving the wheels of the vehicle,

- The control device (8) with the receiving systems (11) is connected, characterized in that

- Each of the two arms (6) comprises a lifting device (10), by means of which the vehicle from the roadway (F) is liftable away, each lifting device (10) is connected to the control device (8), and each lifting device (10) is operatively connected to the at least one wheel (7) of its corresponding arm (6) and this leads.

2. parking vehicle (1) according to claim 1, characterized in that each lifting device (10) as a rocker (18) is formed.

3. Parking vehicle (1) according to one of the preceding claims, characterized in that the parking vehicle (1) has a drive device (3) which has at least one drive unit (4) and at least one drive wheel (5), wherein the at least one drive unit ( 4) is connected to the at least one drive wheel (5), wherein the at least one drive wheel (5) is rotatably mounted on the base body (2).

4. parking vehicle (1) according to one of the preceding claims, characterized in that each arm (6) is formed at least in two parts, wherein a first

Part (6a) of the first arm (6) by means of the first guide (9) with the base body (2) is connected, and wherein a first part (6a) of the second arm (6) by means of the second guide (9) with the main body (2) is connected.

5. parking vehicle (1) according to claim 4, characterized in that the first part (6a) of an arm (6) by means of a longitudinal guide (13) with a second part (6b) of the same arm (6) is connected.

6. parking vehicle (1) according to any one of the preceding claims, characterized in that the receiving system (1 1) of each arm (6) by means of at least three receiving struts (12) is formed, each receiving strut (12) on its respective arm (6) is stored.

7. Parking vehicle (1) according to claim 6, characterized in that each joint (14) of the receiving struts (12) has a locking device which is connected to the control device (8).

8. parking vehicle (1) according to one of the preceding claims, characterized in that each arm (6) of the parking vehicle is additionally connected by means of a sliding element with the base body (2) and by means of the sliding element in a longitudinal direction of the base body (2) is displaceable, wherein each sliding element is connected to the control device (8).

9. Parking vehicle (1) according to one of the preceding claims, characterized in that the parking vehicle (1) has an environmental sensor system (15) with at least one environmental sensor (16) which is connected to the control device (8), wherein the environmental sensor system (15 ) Environment data to an environment of the parking vehicle (1) determined.

10. Parking vehicle (1) according to one of the preceding claims, characterized in that the parking vehicle (1) has a communication device (17) which is connected to the control device (8).

1 1. Parking vehicle (1) according to one of the preceding claims, characterized in that the parking vehicle (1) on at least one of its receiving systems (11) has a contact sensor which is connected to the control device (8).

12. parking vehicle (1) according to one of the preceding claims, characterized in that the parking vehicle (1) by means of the control device (8) moves autonomously or automatically.

13. A method for transporting and parking a vehicle on a carriageway (F) by means of a parking vehicle (1) according to one of the preceding claims, characterized in that

- the parking vehicle (1) by means of the control device (8) automatically or autonomously drove to the vehicle to be transported,

- the parking vehicle (1) with its two arms (6) drives around the vehicle to be transported, wherein the two arms (6) are arranged parallel to a longitudinal axis of the vehicle to be transported,

the receiving systems (11) of the first and second arms (6) are moved in such a way that they receive the wheels of the vehicle to be transported,

the lifting devices (10) of the two arms (6) and the guides (9) of the two arms (6) lift the vehicle to be conveyed away from the roadway (F),

- The parking vehicle (1) conveys the raised vehicle to be transported to a free parking area, wherein the parking vehicle (1) drives autonomously or automatically.

14. The method according to claim 13, characterized in that the parking vehicle (1) by means of its communication device (17) receives position data of the vehicle to be transported and the free parking area.

15. The method according to claim 13 or 14, characterized in that the parking vehicle (1) determines an outer contour of the vehicle to be transported by means of the environmental sensor system (15) and / or by means of the communication device (17), wherein the control device (8) starting from the Data on the outer contour of the parking vehicle (1) that carries the vehicle to be transported, automatically or autonomously controls the free parking area.