WO2019096507A1 - Procédé permettant de mettre un système de transport de véhicules dans une position sûre - Google Patents

Procédé permettant de mettre un système de transport de véhicules dans une position sûre Download PDF

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Publication number
WO2019096507A1
WO2019096507A1 PCT/EP2018/077981 EP2018077981W WO2019096507A1 WO 2019096507 A1 WO2019096507 A1 WO 2019096507A1 EP 2018077981 W EP2018077981 W EP 2018077981W WO 2019096507 A1 WO2019096507 A1 WO 2019096507A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
transport
robot
transport robot
parking
Prior art date
Application number
PCT/EP2018/077981
Other languages
German (de)
English (en)
Inventor
Stefan Nordbruch
Rolf Nicodemus
Original Assignee
Robert Bosch Gmbh
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 Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Priority to CN201880074068.0A priority Critical patent/CN111344648B/zh
Priority to EP18793591.1A priority patent/EP3710904A1/fr
Publication of WO2019096507A1 publication Critical patent/WO2019096507A1/fr

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
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • 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
    • E04H6/34—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only characterised by use of movable platforms
    • 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
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422—Automatically operated car-parks
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422—Automatically operated car-parks
    • E04H6/424—Positioning devices
    • 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
    • G05D1/0297—Fleet control by controlling means in a control room

Definitions

  • the invention relates to a method for transferring a vehicle transport system to a safe state and a vehicle transport system for automatically picking up at least one vehicle from one
  • Transport route of the at least one transport robot
  • Such transport robots can usually be used only in specially designed for such purposes parking garages or parks, as a safe consideration of several parallel operated transport robots and other road users can be problematic especially in case of failure.
  • such transport robots can continue uncontrolled in case of failure and cause damage to the transported vehicle or other parked vehicles.
  • Uncontrolled descending ramps can be achieved by transport robot high speeds with a high hazard potential.
  • the object underlying the invention can be seen to increase the safety of automated transport robots and automatically transported vehicles.
  • a method for transferring a vehicle transport system to a safe state is provided.
  • at least one vehicle is put into a transport state by at least one transport robot of the vehicle transport system and transported to a parking space.
  • a dangerous situation for the at least one by the transport robot by at least one connected to at least one robot sensor sensor control of the at least one transport robot or by a connected to at least one robot external sensor central control unit of a parking management system of the vehicle transport system determined in the transport condition vehicle determined.
  • the vehicle transported by the at least one transport robot is set down to produce a ground contact.
  • the at least one transport robot in the case of a detected dangerous situation or a detected fault, the immediately move the transported vehicle to the ground. Has the transported vehicle engaged in a gear or in a vehicle with a
  • the vehicle may have an activated parking brake or a handbrake applied by which the vehicle can be braked when dropped onto the ground.
  • an uncontrolled situation in which the transport robot unrestrained rolls with the vehicle, prevented or a possible damage can be reduced.
  • This error concept or safety concept in the form of the method according to the invention can prevent an uncontrolled drive from a transport robot with a vehicle or at least reduce its consequences, in particular when driving on ramps for changing parking levels.
  • a dangerous situation can be too high a speed of
  • Transport robot a so-called deadlock situation, erroneous direction of the transport robot, unexpected behavior of neighboring road users and the like.
  • Possible errors of the at least one transport robot or the parking management system may be, for example, defective or misadjusted sensors, software errors and the like.
  • a dangerous situation can also arise due to errors of the at least one transport robot.
  • Such errors can in this case by a self-diagnosis of at least one transport robot by an internal control unit or a central control unit.
  • the parking management system may monitor the at least one transport robot and interpret, for example, observed deviations from a planned transportation route as an error.
  • the central control unit of the external parking management system is preferably with
  • the robot-external sensors are preferably in the infrastructure of
  • the control unit of the at least one transport robot is integrated in at least one transport robot and is equipped with robots
  • the control unit can be on or in the transport robot arranges arranged sensors and evaluate the determined measurement data of the sensors, so that an autonomous multidimensional control of the at least one transport robot can be realized.
  • the sensors can do this
  • Proximity sensors touch sensors, distance sensors, and gestures
  • Acceleration sensors position sensors and the like.
  • Vehicle effectively used to prevent or mitigate a dangerous situation during transport.
  • the at least one transport robot is controlled by the central control unit of the external
  • Park management system controlled to the parking space.
  • the parking garage, the parking garage and the like on a parking lot management system which may consist of a plurality of sensors and at least one central control unit for evaluating the sensors. These sensors can be used to conduct and monitor the at least one transport robot.
  • the parking lot management system may consist of a plurality of sensors and at least one central control unit for evaluating the sensors. These sensors can be used to conduct and monitor the at least one transport robot.
  • the parking lot management system may consist of a plurality of sensors and at least one central control unit for evaluating the sensors. These sensors can be used to conduct and monitor the at least one transport robot.
  • the parking lot management system may consist of a plurality of sensors and at least one central control unit for evaluating the sensors. These sensors can be used to conduct and monitor the at least one transport robot.
  • Parking management system can be, for example, an automatic valet parking system and remotely control the at least one transport robot.
  • the sensors of the parking management system are preferably in the
  • the at least one transport robot is controlled by the control device to the parking space based on at least one robot-internal sensor.
  • the at least one internal sensor can, analogous to the sensors of the
  • Parking management system a LIDAR sensor, a radar sensor,
  • Ultrasonic sensor infrared sensor and the like. There may also be a plurality of identical or different sensors in the at least one
  • Transport robots are used.
  • the at least one Transport robot independent of external factors independently transport the vehicle from the pick-up area to the storage area and vice versa.
  • the at least one transport robot is connected to the vehicle
  • the at least one transport robot remains mechanically positive or non-positively connected to the remote vehicle.
  • the at least one transport robot can only lower the vehicle so far that the transport robot can become wedged between the vehicle and the ground. In this way it can be prevented that the at least one transport robot can continue uncontrolled or continue to roll. In particular, damage can thus be prevented or reduced by the at least one faulty transport robot.
  • the at least one transport robot can, for example, raise a vehicle by means of gripper arms to the tire and place it in a transport state.
  • the gripping arms can remain arranged, for example, around the tires, so that the at least one transport robot can not continue without the vehicle.
  • the at least one transport robot can thus be secured by the remote vehicle.
  • the at least one transport robot is at least temporarily coupled to the vehicle. After a defined period of time, the at least one transport robot can put the vehicle back into a transport state or leave behind the remote vehicle and, for example, automatically control a maintenance hall without the vehicle. This can be done as part of an emergency program.
  • the at least one transport robot is braked by the detached vehicle in the case of the identified dangerous situation or the detected error.
  • Vehicle transport system preferably consists of the at least one transport robot and the vehicle to be transported.
  • the in-vehicle brake systems such as engine brake and handbrake applied, They can be used to reduce the speed of the entire vehicle transport system and thus prevent or mitigate any damage.
  • a dangerous situation is determined in the case of a faulty behavior of the vehicle transport system or in the case of a faulty behavior of at least one further road user by the control device or the central control unit. For example, if the speed is too high in the case of a deviating direction of travel, an error of the at least one transport robot can be detected. This can result from defective sensors or actuators of the at least one transport robot and can lead to the described dangerous situations.
  • unexpected or sudden behavior of the non-automated vehicles may cause a response to increase the safety of the at least one transport robot.
  • This can be realized by rapid settling of the transported vehicle and subsequent braking of the vehicle transport system.
  • Such a situation can occur, for example, in the event of a sudden appearance of a non-automated road user behind a corner with an overstretching of the sensor system of the at least one transport robot.
  • Transport state the at least one vehicle from the at least one transport robot spaced from a substrate.
  • the at least one transport robot can lift or load the vehicle to be transported for transfer to a transport state.
  • the vehicle can be transported by at least one transport robot using optimized maneuverability in the parking lot to the storage area.
  • Transport robots and a smart infrastructure or equipped with a sensor parking management system to detect errors and dangers are used. This can lead to an increase in security through redundant use of sensors.
  • a vehicle transport system for automatically retrieving at least one vehicle from a vehicle
  • the vehicle transport system has at least one transport robot for transferring the at least one vehicle into a transport state and for transporting the at least one vehicle from the pick-up area to the parking area and a parking management system for monitoring a transport route of the at least one transport robot.
  • the at least one vehicle staggered into the transport state can be deposited by the transport robot on a ground.
  • the vehicle transport system has a safety concept by means of which the vehicle, which has been put into a transport state, can be deposited quickly on the ground.
  • a ground contact can be made, so that the braking systems of the vehicle can stop the vehicle and the at least one transport robot. This can prevent uncontrolled driving.
  • the vehicle transport system can be stopped faster by braking systems of the vehicle than by braking the at least one transport robot.
  • the transport robot can at least temporarily be mechanically connected to the vehicle or remains connected to the vehicle.
  • the at least one transport robot can be prevented from continuing to drive in addition to the vehicle.
  • FIG. 1 is a schematic representation of a vehicle transport system according to an embodiment of the invention with a vehicle in a transport state
  • Fig. 2 is a schematic representation of the vehicle transport system according to an embodiment of the invention with a remote on a vehicle.
  • FIG. 1 shows an embodiment of a vehicle transport system 1 according to an embodiment of the invention with a vehicle 2, which runs a ramp R for changing a parking level.
  • the ramp R here is the background R of the vehicle transport system 1.
  • a parking space management system is not shown in the figures for the sake of simplicity.
  • the vehicle 2 has been put in a transport state.
  • a transport robot 4 has been positioned under the vehicle 2.
  • the transport robot 4 has gripping arms 6, which can be arranged on the wheels 8 of the vehicle 2.
  • the transport robot 4 can adjust the gripping arms 6 at a height and thus raise the vehicle 2 at the wheels 8 and space it from the ground or the ground R.
  • the vehicle 2 has no contact with the substrate R at its wheels 8.
  • the transport robot 4 may set the vehicle 2 staggered in the transportation state based on its own sensors and based on its own
  • the vehicle 2 can be parked on a storage area by the transport robot 4, which can be maneuvered in the smallest areas. If the vehicle 2 has been parked in a pick-up area by a vehicle owner, the parking lot management system can calculate a route for the at least one transport robot 4 to the vehicle 2 and then to the parking area and transmit it to the transport robot 4. As a result, the vehicle 2 can be parked or parked automatically. This releases the pickup area for other vehicles.
  • FIG. 2 schematically shows the vehicle transport system 1 according to an embodiment of the invention with a vehicle 2 set down on a background R.
  • the vehicle transport system 1 has reached an excessive speed when the ramp R has moved down, so that the transport robot 4 has classified the situation as dangerous.
  • the transport robot has as a safety reaction the gripping arms 6 adjusted in height so that the vehicle 2 with its wheels 8 contact with the ground R has.
  • the vehicle 2 can reduce its speed and come to a standstill. This happens, for example, by a handbrake and / or an engaged gear of the vehicle 2.
  • the transport robot 4 allows the gripping arms 6 to be arranged around the wheels 8 of the vehicle 2 and thus can remain positively connected to the vehicle 2 during the braking process. As a result, can be converted by the braking systems of the vehicle 2 in a detected dangerous situation or a fault, the entire vehicle transport system 1 in a maneuvering state. As a result, an uncontrollably driven transport robot 4 can be fixed. Parallel to this process, a message for performing a check of the fixed transport robot 4 can be sent to a central control unit or an employee, not shown, via a communication link. In this state, the vehicle transport system 1 can no longer ramp down the ramp R uncontrolled. The dangerous situation can also be caused by caused an error of the transport robot 4 or another road user.

Landscapes

  • Engineering & Computer Science (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (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

L'invention concerne un procédé permettant de mettre un système de transport de véhicules dans une position sûre, selon lequel au moins un véhicule est déplacé par au moins un robot de transport de véhicules du système de transport de véhicules dans une position de transport et transporté vers un emplacement de parcage, une situation dangereuse pour le ou les véhicules déplacés par le robot de transport dans la position de transport est déterminée pendant le transport du ou des véhicules vers l'emplacement de parcage par au moins un appareil de commande du ou des robots de transport relié à au moins un capteur interne au robot ou par une unité de commande centrale d'un système de gestion de places de stationnement du système de transport de véhicules reliée à au moins un capteur externe au robot. L'existence d'éventuelles défaillances est vérifiée par l'appareil de commande pour le ou les robots de transport ou par l'unité de commande centrale pour le système de gestion de places de stationnement, et si une situation dangereuse est constatée ou si une défaillance est identifiée, le véhicule est déchargé par le ou les robots de transport pour établir un contact avec le sol. L'invention concerne par ailleurs un système de transport de véhicules.
PCT/EP2018/077981 2017-11-17 2018-10-15 Procédé permettant de mettre un système de transport de véhicules dans une position sûre WO2019096507A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201880074068.0A CN111344648B (zh) 2017-11-17 2018-10-15 用于将车辆运输系统转变到安全状态中的方法
EP18793591.1A EP3710904A1 (fr) 2017-11-17 2018-10-15 Procédé permettant de mettre un système de transport de véhicules dans une position sûre

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017220566.0A DE102017220566A1 (de) 2017-11-17 2017-11-17 Verfahren zum Überführen eines Fahrzeugtransportsystems in einen sicheren Zustand
DE102017220566.0 2017-11-17

Publications (1)

Publication Number Publication Date
WO2019096507A1 true WO2019096507A1 (fr) 2019-05-23

Family

ID=64023989

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2018/077981 WO2019096507A1 (fr) 2017-11-17 2018-10-15 Procédé permettant de mettre un système de transport de véhicules dans une position sûre

Country Status (4)

Country Link
EP (1) EP3710904A1 (fr)
CN (1) CN111344648B (fr)
DE (1) DE102017220566A1 (fr)
WO (1) WO2019096507A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010083472A2 (fr) * 2009-01-17 2010-07-22 Boomerang Systems. Inc. Système de stockage automatisé et véhicule de transport
EP2937261A2 (fr) * 2014-04-08 2015-10-28 Unitronics Automated Solutions Ltd Système et procédé de suivi de lignes de guidage par un véhicule autonome
DE102014221770A1 (de) * 2014-10-27 2016-04-28 Robert Bosch Gmbh Verfahren zum Betreiben eines Abschlepproboters

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1422361A (en) * 1973-07-18 1976-01-28 Boucher Investments Parking of wheeled vehicles
JP3531452B2 (ja) * 1997-12-26 2004-05-31 トヨタ自動車株式会社 車両の坂道判定装置及び車高調整装置
DE102011109597A1 (de) * 2011-08-05 2013-02-07 Daimler Ag Flurförderzeug
CN103481786B (zh) * 2013-09-12 2016-04-06 北京航空航天大学 一种基于风光互补能源的极地机器人
DE102015203506A1 (de) * 2015-02-27 2016-09-01 Siemens Aktiengesellschaft Automobile Transporteinheit zum Positionieren von Fahrzeugen, Verfahren dafür sowie Parksystem
DE102015208053A1 (de) * 2015-04-30 2016-11-03 Robert Bosch Gmbh Verfahren und Vorrichtung zum Verringern einer Gefährdung für ein und/oder durch ein sich auf einem Parkplatz befindendes Fahrzeug

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2010083472A2 (fr) * 2009-01-17 2010-07-22 Boomerang Systems. Inc. Système de stockage automatisé et véhicule de transport
EP2937261A2 (fr) * 2014-04-08 2015-10-28 Unitronics Automated Solutions Ltd Système et procédé de suivi de lignes de guidage par un véhicule autonome
DE102014221770A1 (de) * 2014-10-27 2016-04-28 Robert Bosch Gmbh Verfahren zum Betreiben eines Abschlepproboters

Also Published As

Publication number Publication date
CN111344648A (zh) 2020-06-26
DE102017220566A1 (de) 2019-05-23
EP3710904A1 (fr) 2020-09-23
CN111344648B (zh) 2024-04-02

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