CA2818840A1 - Device and method for automatic transverse storage of an automotive vehicle in a storage facility - Google Patents
Device and method for automatic transverse storage of an automotive vehicle in a storage facility Download PDFInfo
- Publication number
- CA2818840A1 CA2818840A1 CA2818840A CA2818840A CA2818840A1 CA 2818840 A1 CA2818840 A1 CA 2818840A1 CA 2818840 A CA2818840 A CA 2818840A CA 2818840 A CA2818840 A CA 2818840A CA 2818840 A1 CA2818840 A1 CA 2818840A1
- Authority
- CA
- Canada
- Prior art keywords
- automotive vehicle
- forks
- transporting means
- manoeuvrable
- pairs
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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
- E04H6/305—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in horizontal direction only using car-gripping transfer means
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/08—Garages for many vehicles
- E04H6/12—Garages for many vehicles with mechanical means for shifting or lifting vehicles
- E04H6/18—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
- E04H6/182—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions using car-gripping transfer means
- E04H6/183—Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions using car-gripping transfer means without transverse movement of the car after leaving the transfer means
Abstract
The invention relates to a device for laterally storing a motor vehicle, comprising an automated transporting means (1) which is movable on a surface in all directions and lifting fork pairs (3) which are arranged on one side of said transporting means and in a perpendicular manner and which extend horizontally. The lifting forks (2) of the lifting fork pairs (3) can be individually moved horizontally along the transporting means (1) and are driven under wheels of each vehicle axle from one side of the motor vehicle. Supports (4) which are movable on a surface in all directions are arranged at each end of the transporting means (1), the distance between the supports (4) being adjustable, and the load that is received when lifting the motor vehicle (7) is transferred onto the driving surface by the transporting means (1) and by the supports (4) which are movable on a surface in all directions.
Description
=
Device and method for automatic transverse storage of an automotive vehicle in a storage facility The invention relates to a device and a method for automatic storage of an automotive vehicle transversely relative to its longitudinal axis on a parking space of a storage facility.
In the case of known automatic multi-storey car parks, transport robots =
installed in a fixed manner or systems based on pallets are used in order to park vehicles automatically. It proves to be difficult to lift and to transport vehicles from a parking area since the ground clearance of vehicles only makes available a small space for transport machines.
The most varied of vehicle sizes are found in current road traffic: small cars with a very small wheelbase but also vehicles, such as for example top-of-the-range SUVs, with a maximum wheelbase. This makes parking with an automatic system difficult and leads to a multi-storey car park which is not utilised efficiently since the markedly different vehicles are parked on parking spaces of the same size. The difference in length between small cars and top-of-the-range vehicles, in the case
Device and method for automatic transverse storage of an automotive vehicle in a storage facility The invention relates to a device and a method for automatic storage of an automotive vehicle transversely relative to its longitudinal axis on a parking space of a storage facility.
In the case of known automatic multi-storey car parks, transport robots =
installed in a fixed manner or systems based on pallets are used in order to park vehicles automatically. It proves to be difficult to lift and to transport vehicles from a parking area since the ground clearance of vehicles only makes available a small space for transport machines.
The most varied of vehicle sizes are found in current road traffic: small cars with a very small wheelbase but also vehicles, such as for example top-of-the-range SUVs, with a maximum wheelbase. This makes parking with an automatic system difficult and leads to a multi-storey car park which is not utilised efficiently since the markedly different vehicles are parked on parking spaces of the same size. The difference in length between small cars and top-of-the-range vehicles, in the case
2 of standard models, is up to 3,500 mm. In known automatic car parks - as described in KR 20070113190 A - no or only very little consideration can be given to the different vehicle sizes. Systems based on pallets have a standard pallet size and are generally designed such that they only park vehicles up to 5,000 mm length in order to achieve a certain efficiency. Automatic parking systems which - as described in WO 2004 045932 Al - receive vehicles in the direction of travel (longitudinal direction) cannot park vehicles in parking spaces of different sizes since the length of the transport system corresponds to the maximum length of the vehicles to be parked. Even in the case of receiving mechanisms which consist of two receiving trucks - as described in US 2899087 A or in DE 3909702 A1 - parking on parking spaces of different sizes is only possible to a very small extent.
Therefore, this is not applied in known automatic parking systems since problems with respect to construction technology make it impossible to design the receiving trucks to be so small that they can park vehicles precisely bumper to bumper. Furthermore, known parking systems with receiving trucks can park at most 2 vehicles in a row. Since the vehicle sizes vary so greatly, it is therefore also impossible with this solution to park vehicles really efficiently.
A further problem of the currently known automatic car parks is that a machine unit in one system section is responsible for approx. 40 to 80 vehicles. In an automatic multi-storey car park of 300 parking spaces, 4 system areas which are operated by respectively one machine unit are hence produced. This means that, in the case of a system failure, a parked vehicle in the corresponding area of responsibility of the machine cannot be accessed since either the pallet, the vehicle receiving mechanisms or the conveying lift blocks the system. It is possible in none of the known systems to request a further machine from a different system section in order to retrieve the vehicles.
Therefore, this is not applied in known automatic parking systems since problems with respect to construction technology make it impossible to design the receiving trucks to be so small that they can park vehicles precisely bumper to bumper. Furthermore, known parking systems with receiving trucks can park at most 2 vehicles in a row. Since the vehicle sizes vary so greatly, it is therefore also impossible with this solution to park vehicles really efficiently.
A further problem of the currently known automatic car parks is that a machine unit in one system section is responsible for approx. 40 to 80 vehicles. In an automatic multi-storey car park of 300 parking spaces, 4 system areas which are operated by respectively one machine unit are hence produced. This means that, in the case of a system failure, a parked vehicle in the corresponding area of responsibility of the machine cannot be accessed since either the pallet, the vehicle receiving mechanisms or the conveying lift blocks the system. It is possible in none of the known systems to request a further machine from a different system section in order to retrieve the vehicles.
3 Furthermore, it is not possible in the case of known automatic car parks that a plurality of pallets or vehicle receiving mechanisms work together in parallel operation in the same system section if for example a plurality of vehicles is requested at the same time from the same system section. The vehicles cannot therefore be retrieved in parallel as fast as possible. This is not possible since the machines are constructionally tied to their position, i.e. generally by a linear guide.
In the case of known automatic parking garages, vehicles cannot be retrieved manually in the case of complete plant failure. Neither vehicles which are situated on a pallet nor vehicles which have been stored by receiving mechanisms in a stacked storage system made of steel or concrete can be moved.
Known parking systems also cannot be incorporated in already existing multi-storey car parks without great constructional complexity. In the case of the known systems, no significantly improved degree of surface utilisation is achieved even with complex conversion of a traditional car park into an automatic car park since the vehicles - as explained already - cannot be parked corresponding to their size.
Furthermore, no communication between customer and the parking system takes place with currently known parking systems. The only contact with the customer takes place anonymously at the payment machine.
In a known device according to DE 42 16 457 C2, gripping arms which can be extended horizontally and perpendicularly to the direction of travel of the conveying means and moved under the automotive vehicle are fitted. The gripping arms which are fitted parallel can be extended in the manner of a telescope and can be extended on both sides of the conveying means. The conveying means can be moved horizontally or vertically. It is difficult with this type of conveying means to park a
In the case of known automatic parking garages, vehicles cannot be retrieved manually in the case of complete plant failure. Neither vehicles which are situated on a pallet nor vehicles which have been stored by receiving mechanisms in a stacked storage system made of steel or concrete can be moved.
Known parking systems also cannot be incorporated in already existing multi-storey car parks without great constructional complexity. In the case of the known systems, no significantly improved degree of surface utilisation is achieved even with complex conversion of a traditional car park into an automatic car park since the vehicles - as explained already - cannot be parked corresponding to their size.
Furthermore, no communication between customer and the parking system takes place with currently known parking systems. The only contact with the customer takes place anonymously at the payment machine.
In a known device according to DE 42 16 457 C2, gripping arms which can be extended horizontally and perpendicularly to the direction of travel of the conveying means and moved under the automotive vehicle are fitted. The gripping arms which are fitted parallel can be extended in the manner of a telescope and can be extended on both sides of the conveying means. The conveying means can be moved horizontally or vertically. It is difficult with this type of conveying means to park a
4 plurality of vehicles adjacently in the transverse direction since the gripping arms, in the case of three parallel-parked vehicles, would have to extend approx. 6,600 mm. It is also difficult with gripping arms which are far extended to absorb the load caused by the received vehicle at the end of the telescope-like gripping arms. Lifting the automotive vehicle is effected there solely by the gripping of the gripping arms, which are moved towards each other, on the wheel tyres. For transport, the automotive vehicle is deposited on a depositing area of the conveying means.
The problem underlying the invention is to store heavy automotive vehicles transversely relative to their longitudinal axis on parking spaces of a storage facility several rows deep and thereby to waste as little space as possible in front of and behind the automotive vehicle and thereby to ensure manoeuvrability over the surface and, at the same time, stability of the transporting means.
This problem is resolved in the case of a device according to patent claim 1 by surface-manoeuvrable supports being disposed on the transporting means respectively at the end-side, which supports extend horizontally and parallel to the pairs of forks and, when the pairs of forks move under the wheels, move past the automotive vehicle at the front- and rear-side at a small spacing, by the spacing between the = supports being adjustable, by a measuring device, before the automotive vehicle is received, determining its length, axle positions and the position of the automotive vehicle in space, by the surface-manoeuvrable, driverless transporting means adapting, with the data transmitted from the measuring device, its length determined by the spacing of the supports and the position of the pairs of forks automatically to the dimensions of the automotive vehicle to be received, and by the load absorbed upon lifting the automotive vehicle being transmitted, on the one hand, by the transporting means and, on the other hand, by the surface-manoeuvrable supports to the travel surface.
Likewise, this problem is resolved by a method with the method course indicated in claim 5.
Advantageously, the transporting means is disposed, upon receiving the automotive vehicle, with a longitudinal direction parallel to a longitudinal axis of the automotive vehicle, the longitudinal direction of the transporting means being that direction which is perpendicular to the forks and the supports and parallel to the travel surface. The longitudinal direction of the automotive vehicle may be that direction in which the automotive vehicle is travelling if it is travelling straight on.
Advantageously, the transporting means, when receiving the automotive vehicle, is disposed next to the automotive vehicle.
The pairs of forks are disposed on the transporting means at one side, which means that they are disposed and/or mounted only at one side of the transporting means. Preferably, all the forks of all the pairs of forks extend from the point of their mounting in the same direction.
The pairs of forks move under the wheels of the automotive vehicle, preferably only from one side, namely in that direction in which the forks extend from their mounting point on the transporting means.
The advantages achieved with the invention reside in particular in storing automotive vehicles with optimised surface area. This advantage results in particular by storage, several rows deep, transversely relative to the direction of travel and the storage of the automotive vehicle in rows of parking spaces of different sizes. As a result, a minimum spacing between the vehicles is guaranteed and hence the vehicle lengths which are nowadays significantly different are taken into account during parking. Furthermore, parallel operation in the automatic parking system is possible due to the surface-manoeuvrable driverless transporting means; since, for example in comparison with stacked storage, travel can take place simultaneously in a plurality of levels and with a plurality of driverless transporting means simultaneously on one level. As a result of the stability of the surface-manoeuvrable driverless transporting means, no guides, such as e.g. rails on the ground of the storage facility, are required, which has an advantageous effect on the flexibility of the system.
An embodiment of the invention is explained in more detail with reference to the drawing. There are shown:
Figure 1: A plan view of the surface-manoeuvrable driverless transporting means Figure 2: A plan view of the surface-manoeuvrable driverless transporting means with a received automotive vehicle Figure 3: A plan view of the transfer station Figure 4: A plan view of the storage facility Figure 5: A plan view of the surface-manoeuvrable transporting means with a beam as device for length adjustment The surface-manoeuvrable driverless transporting means (1), represented in Figures 1 to 3, has, at its ends which are parallel next to the pairs of forks (3), surface-manoeuvrable supports (4), which, in addition to the transporting means, absorb a part of the load caused by the automotive vehicle (7) and prevent tilting. The pairs of forks (3) are mounted, on one side, on the surface-manoeuvrable driverless transporting means (1) and can be displaced individually and, on the other side are self-supporting. In order now to be able to receive automotive vehicles (7) of different lengths with the surface -manoeuvrable driverless transporting means (1), the spacing between the supports (4) on the surface-manoeuvrable driverless transporting means (1) is adjustable in length by a displacement mechanism (5), e.g.
a linearly guided, electrically operated spindle, and hence, before receiving the automotive vehicle (7), can be adapted to the length thereof. The surface-manoeuvrable supports (4) are fixed rigidly on the surface-manoeuvrable driverless transporting means (1) on one side after the adjustment process and transfer the load to the ground via a surface-manoeuvrable mechanism, e.g. rollers or wheels, which can have a pivotable configuration.
The length, the axle positions and the position of the automotive vehicle (7) in space are determined by a measuring device (6). Also the front and rear overhang of the automotive vehicle (7) are thereby determined.
The surface-manoeuvrable driverless transporting means (1) receives information about the length and axle position of the automotive vehicle (7) to be received from the measuring device (6), and now adapts its length via the displacement unit (5) and the positions of the forks (2) to the automotive vehicle (7) to be parked and moves the pairs of forks (3) under the automotive vehicle (7). This is particularly advantageous since, as a result of the length adaptation of the surface-manoeuvrable driverless transporting means (1) during storage of the automotive vehicle (7), as illustrated in Figure 4, it can be moved into parking spaces (10 and 11) of different sizes. It is particularly advantageous for optimum utilisation of the area of the parking system to deposit automotive vehicles (7) of the same length category on the parking space rows (11) transversely to the direction of travel of the vehicle. The two surface-manoeuvrable supports (4) respectively move past the automotive vehicle (7) at the end-side at a small spacing to the outside.
This is particularly advantageous since also heavy automotive vehicles can hence be received and, at the same time, little space is required to the left and right next to the automotive vehicle (7) during storage transversely relative to the direction of travel. The two pairs of forks (3), in the open state, move respectively under the automotive vehicle (7) to the left and right next to the tyres (8). After moving under the automotive vehicle (7) from the side, the two pairs of forks (3) are moved into contact with the tyres (8), e.g. by respectively one electrically actuated spindle which is mounted with a linear guide. The automotive vehicle (7) is subsequently lifted by respectively one lifting unit (9), e.g.
an electrical spindle lifter, on which respectively one pair of forks (3) is fitted, and is transported to its parking space (10) which is defined by the length of the automotive vehicle (7).
The surface-manoeuvrable driverless transporting means (1) moves moveably over the surface, after receiving the automotive vehicle (7), and hence is not fixed constructionally and can therefore move freely between the system areas, e.g. different levels of a car park. A plurality of surface-manoeuvrable driverless transporting means (1) can operate in parallel in this way within one system area. This is particularly advantageous since, by using a plurality of driverless transporting means, shorter waiting times result for retrieving and storing automotive vehicles (7), even if the automotive vehicles (7) are requested from the same system area at the same time. The driverless transporting means can accomplish the retrieval process of n automotive vehicle (7) in 1 n rows of parking spaces, 1 n parking space gaps and in 1 n levels in coordinated cooperation. Central control allocates corresponding tasks and navigates the individual automotive vehicle (7) with the surface-manoeuvrable driverless transporting means (1) in succession to a calculated parking space (10) of a specific row of parking spaces. The surface-manoeuvrable driverless transporting means (1) can be transported by a known lift including the automotive vehicle (7) from level zero to level n. In one systern area, n lifts can be available, which transport the surface-manoeuvrable driverless transporting means (I.) with or without an automotive vehicle (7) between the n levels.
Likewise, it is advantageous that, in the case of a system disruption or a system failure of a surface--manoeuvrable driverless transporting means (1), outstanding transporting tasks in one system area can be taken over by surface-manoeuvrable driverless transporting means (1) of the same or of a different system area.
When receiving automotive vehicles (7) transversely relative to the direction of travel, it is advantageous that the surface-manoeuvrable driverless transporting means (1) can be adjusted, in order to adapt the spacing between the supports (4) to the length of the automotive vehicle (7), by a displacement unit (5). Likewise, it is very advantageous that the automotive vehicles (7) can be received directly from parking areas with the help of the pairs of forks (3) and can be deposited correspondingly directly on parking areas.
Before the automotive vehicle (7) is received by the surface-manoeuvrable driverless transporting means (1), it is measured by a measuring unit (6) and assigned to the different length categories. The parking spaces (10 and I 1) are disposed transversely relative to the direction of travel in 1 ... n rows of parking spaces for different vehicle lengths and 1 n parking space gaps. The automotive vehicles (7) are deposited in 1. n rows of parking spaces and 1 n parking space gaps. Corresponding to the length category and taking into account visitor profiles and the parking duration, a parking space (10) is assigned to the automotive vehicle (7). The surface-manoeuvrable driverless transporting means (1) transports the automotive vehicle (7) to the defined parking space (10) and deposits the automotive vehicle (7) = transversely relative to the direction of travel of the automotive vehicle (7). It is favourable in particular to deposit the automotive vehicles (7) = in the parking space gaps nose-to-tail in the direction of travel of the automotive vehicle (7). It is thereby also possible to deposit automotive vehicles (7) of smaller length categories on parking spaces (11) of the larger length categories.
For depositing the automotive vehicle, the method of receiving, as described above, is implemented in reverse sequence. The forks of the pairs of forks therefore release the wheels mutually by horizontal displacement of the individual forks (2). The horizontally extending pairs of forks are then withdrawn towards one side of the automotive vehicle (7), the surface-manoeuvrable supports (4) which are disposed respectively on one side moving past the automotive vehicle (7), when returning, at the front- and rear-side at a small spacing.
The retrieval process begins when the driver requests the automotive vehicle (7). This process is organised to be as user-friendly as possible:
the driver requests his deposited automotive vehicle (7) for example via applications on mobile telephones, a customer centre, the payment terminal at the car park or web applications and stipulates a pick-up time so that the automotive vehicle (7) is available at the correct time. If the driver is a registered customer at the car park and if he has arranged an automatic debit for example, the driver is informed about the transfer station and the parking fee is automatically debited. If the parking fee has to be paid at the automatic car park, the automotive vehicle (7) is released for retrieval only when the parking fee has been paid.
When retrieving a parked vehicle, the surface-manoeuvrable driverless transporting means (1) receives instructions about collecting the automotive vehicle (7) deposited transversely relative to the direction of travel and transports the latter to the defined transfer station. The automotive vehicle (7) is deposited in the transfer station such that the driver can leave the transfer station in the direction of travel.
It is very advantageous in the case of the driverless transporting means (1) that these can be retrofitted even in already existing multi-storey car parks. A further advantage of this system is the parking and depositing of automotive vehicles on navigable parking areas, it is hence possible in a special situation to retrieve automotive vehicles (7) manually from the parking garage.
Figure 5 shows a plan view on a driverless transporting means according to the invention, in which several advantageous developments of the invention are produced. The driverless transporting vehicle shown in Figure 5 has four wheels (12a), 12b), (12c), (12d) which can be rotated advantageously by 3600 .
In an advantageous embodiment, the driverless transporting means (1) has a beam (13) which is disposed between two main bodies (la) and (lb) and enables a length adjustment of the total length of the driverless transporting vehicle (1). For this purpose, the beam (13) can be retracted into one of or both of the main body parts (la) or (lb) of the driverless transporting vehicle (1), preferably until the main bodies (la) and (lb) are in contact in the maximum retracted state. It is thereby advantageous if the beam can be retracted into both main bodies (la) and (lb) to the same extent since consequently the greatest change in length in the overall length of the driverless transporting vehicle (1) can be achieved.
For changing the length by displacement of the main bodies (la) and (lb) relative to each other, a toothed belt, which is not shown in the Figure, can be fitted on the beam (13) and can be actuated by a motor.
Particularly advantageously, the motor can be driven in instantaneous operation so that it compensates precisely for the occurring frictional forces on the linear guides. This means that the beam can be moved without resistance and without additional forces arising. The toothed belt can hereby be connected rigidly to the main body respectively on one side. Alternatively, instead of the toothed belt, also racks, spindles or Bowden cables can be used in order to effect the length change.
The solution of driving the motor for adjusting the length in instantaneous operation makes it possible to change the length by actuating the two main bodies (la) and (lb) via their respective wheels (12a), (12b), (12c) and (12d) differently in the direction of a longitudinal direction of the beam (13). As a result, the main bodies (la) and (lb) can be moved towards each other or away from each other. The change in length can be produced even completely without a drive on the beam (13). In this case, the forces occurring on the guide of the beam (13) can likewise be compensated for by a different drive of the wheels of the two main bodies (la) and (lb).
Of the illustrated wheels, those two wheels (12c) and (12d) can be actuated respectively in the main bodies (I a) or (lb). The steering of the wheels can also be actuated actively via a steering motor on the respective wheel. The wheels (12a) and (12b) on the extension arms (4) can be passive and freely rotatable, however they can also be actively actuatable. This independent controllability of the wheels enables the above-described change in length.
Driving manoeuvres can be implemented for example with the driverless transporting vehicle (1) according to the invention, as follows. In transverse travel, i.e. during travel in the direction of a motorcar disposed next to the transporting vehicle (1), for example for receiving a motorcar, two or four of the wheels (12a) to (1.2d) can be displaced actively such that the two main bodies (la) and (lb) of the driverless transporting vehicle move towards each other and hence the result is a length adjustment of the vehicle (1). Preferably at least two wheels, which are situated one opposite the other or crosswise, are hereby intended to be actuated. Two further wheels can align themselves passively. Also actuation of all the wheels is possible. At the beginning of the transverse travel, all the wheels (12a) to (12d) are positioned parallel to each other, during travel the wheels can now be rotated towards each other at the same angle but in the opposite direction. As a result, the two main bodies (1.a) and (lb) move apart or towards each other in order to adapt to the length of the vehicle.
When moving in the longitudinal direction, i.e. for example when a motorcar is received in the direction of travei of the motorcar, the driverless transporting vehicle (1) can likewise be adjusted in length by various manoeuvres. For example, during travel, one of the main drives of one of the wheels (12c) to (12d) can travel somewhat more slowly or somewhat faster than the other wheels so that the two main bodies (la) and ( lb) move at different speeds and therefore move relative to each other. The result is therefore an adjustment in length. However, it is also possible to adjust the length from the stationary state by either travelling with the two main drives of the wheels (12c) and (12d) in the opposite direction or one of the wheels (12c) or (12d) remaining stationary whilst the other wheel is moved towards the latter or away from it.
Since the vehicle is surface-manoeuvrable, also further travel manoeuvres are possible which lead to a change in the length of the driverless transporting vehicle (1). Basically it is possible to adjust the length during any travelling manoeuvre by actuating the wheels such that either the speed is changed or the trajectories of the wheels are moved. towards each other or away from each other.
The application of the invention is not restricted to automatic multi-storey car parks for parking the automotive vehicles of road users. Also the application for space-saving interim storage and preparation in the context of the production and sales of automotive vehicles is advantageous.
The problem underlying the invention is to store heavy automotive vehicles transversely relative to their longitudinal axis on parking spaces of a storage facility several rows deep and thereby to waste as little space as possible in front of and behind the automotive vehicle and thereby to ensure manoeuvrability over the surface and, at the same time, stability of the transporting means.
This problem is resolved in the case of a device according to patent claim 1 by surface-manoeuvrable supports being disposed on the transporting means respectively at the end-side, which supports extend horizontally and parallel to the pairs of forks and, when the pairs of forks move under the wheels, move past the automotive vehicle at the front- and rear-side at a small spacing, by the spacing between the = supports being adjustable, by a measuring device, before the automotive vehicle is received, determining its length, axle positions and the position of the automotive vehicle in space, by the surface-manoeuvrable, driverless transporting means adapting, with the data transmitted from the measuring device, its length determined by the spacing of the supports and the position of the pairs of forks automatically to the dimensions of the automotive vehicle to be received, and by the load absorbed upon lifting the automotive vehicle being transmitted, on the one hand, by the transporting means and, on the other hand, by the surface-manoeuvrable supports to the travel surface.
Likewise, this problem is resolved by a method with the method course indicated in claim 5.
Advantageously, the transporting means is disposed, upon receiving the automotive vehicle, with a longitudinal direction parallel to a longitudinal axis of the automotive vehicle, the longitudinal direction of the transporting means being that direction which is perpendicular to the forks and the supports and parallel to the travel surface. The longitudinal direction of the automotive vehicle may be that direction in which the automotive vehicle is travelling if it is travelling straight on.
Advantageously, the transporting means, when receiving the automotive vehicle, is disposed next to the automotive vehicle.
The pairs of forks are disposed on the transporting means at one side, which means that they are disposed and/or mounted only at one side of the transporting means. Preferably, all the forks of all the pairs of forks extend from the point of their mounting in the same direction.
The pairs of forks move under the wheels of the automotive vehicle, preferably only from one side, namely in that direction in which the forks extend from their mounting point on the transporting means.
The advantages achieved with the invention reside in particular in storing automotive vehicles with optimised surface area. This advantage results in particular by storage, several rows deep, transversely relative to the direction of travel and the storage of the automotive vehicle in rows of parking spaces of different sizes. As a result, a minimum spacing between the vehicles is guaranteed and hence the vehicle lengths which are nowadays significantly different are taken into account during parking. Furthermore, parallel operation in the automatic parking system is possible due to the surface-manoeuvrable driverless transporting means; since, for example in comparison with stacked storage, travel can take place simultaneously in a plurality of levels and with a plurality of driverless transporting means simultaneously on one level. As a result of the stability of the surface-manoeuvrable driverless transporting means, no guides, such as e.g. rails on the ground of the storage facility, are required, which has an advantageous effect on the flexibility of the system.
An embodiment of the invention is explained in more detail with reference to the drawing. There are shown:
Figure 1: A plan view of the surface-manoeuvrable driverless transporting means Figure 2: A plan view of the surface-manoeuvrable driverless transporting means with a received automotive vehicle Figure 3: A plan view of the transfer station Figure 4: A plan view of the storage facility Figure 5: A plan view of the surface-manoeuvrable transporting means with a beam as device for length adjustment The surface-manoeuvrable driverless transporting means (1), represented in Figures 1 to 3, has, at its ends which are parallel next to the pairs of forks (3), surface-manoeuvrable supports (4), which, in addition to the transporting means, absorb a part of the load caused by the automotive vehicle (7) and prevent tilting. The pairs of forks (3) are mounted, on one side, on the surface-manoeuvrable driverless transporting means (1) and can be displaced individually and, on the other side are self-supporting. In order now to be able to receive automotive vehicles (7) of different lengths with the surface -manoeuvrable driverless transporting means (1), the spacing between the supports (4) on the surface-manoeuvrable driverless transporting means (1) is adjustable in length by a displacement mechanism (5), e.g.
a linearly guided, electrically operated spindle, and hence, before receiving the automotive vehicle (7), can be adapted to the length thereof. The surface-manoeuvrable supports (4) are fixed rigidly on the surface-manoeuvrable driverless transporting means (1) on one side after the adjustment process and transfer the load to the ground via a surface-manoeuvrable mechanism, e.g. rollers or wheels, which can have a pivotable configuration.
The length, the axle positions and the position of the automotive vehicle (7) in space are determined by a measuring device (6). Also the front and rear overhang of the automotive vehicle (7) are thereby determined.
The surface-manoeuvrable driverless transporting means (1) receives information about the length and axle position of the automotive vehicle (7) to be received from the measuring device (6), and now adapts its length via the displacement unit (5) and the positions of the forks (2) to the automotive vehicle (7) to be parked and moves the pairs of forks (3) under the automotive vehicle (7). This is particularly advantageous since, as a result of the length adaptation of the surface-manoeuvrable driverless transporting means (1) during storage of the automotive vehicle (7), as illustrated in Figure 4, it can be moved into parking spaces (10 and 11) of different sizes. It is particularly advantageous for optimum utilisation of the area of the parking system to deposit automotive vehicles (7) of the same length category on the parking space rows (11) transversely to the direction of travel of the vehicle. The two surface-manoeuvrable supports (4) respectively move past the automotive vehicle (7) at the end-side at a small spacing to the outside.
This is particularly advantageous since also heavy automotive vehicles can hence be received and, at the same time, little space is required to the left and right next to the automotive vehicle (7) during storage transversely relative to the direction of travel. The two pairs of forks (3), in the open state, move respectively under the automotive vehicle (7) to the left and right next to the tyres (8). After moving under the automotive vehicle (7) from the side, the two pairs of forks (3) are moved into contact with the tyres (8), e.g. by respectively one electrically actuated spindle which is mounted with a linear guide. The automotive vehicle (7) is subsequently lifted by respectively one lifting unit (9), e.g.
an electrical spindle lifter, on which respectively one pair of forks (3) is fitted, and is transported to its parking space (10) which is defined by the length of the automotive vehicle (7).
The surface-manoeuvrable driverless transporting means (1) moves moveably over the surface, after receiving the automotive vehicle (7), and hence is not fixed constructionally and can therefore move freely between the system areas, e.g. different levels of a car park. A plurality of surface-manoeuvrable driverless transporting means (1) can operate in parallel in this way within one system area. This is particularly advantageous since, by using a plurality of driverless transporting means, shorter waiting times result for retrieving and storing automotive vehicles (7), even if the automotive vehicles (7) are requested from the same system area at the same time. The driverless transporting means can accomplish the retrieval process of n automotive vehicle (7) in 1 n rows of parking spaces, 1 n parking space gaps and in 1 n levels in coordinated cooperation. Central control allocates corresponding tasks and navigates the individual automotive vehicle (7) with the surface-manoeuvrable driverless transporting means (1) in succession to a calculated parking space (10) of a specific row of parking spaces. The surface-manoeuvrable driverless transporting means (1) can be transported by a known lift including the automotive vehicle (7) from level zero to level n. In one systern area, n lifts can be available, which transport the surface-manoeuvrable driverless transporting means (I.) with or without an automotive vehicle (7) between the n levels.
Likewise, it is advantageous that, in the case of a system disruption or a system failure of a surface--manoeuvrable driverless transporting means (1), outstanding transporting tasks in one system area can be taken over by surface-manoeuvrable driverless transporting means (1) of the same or of a different system area.
When receiving automotive vehicles (7) transversely relative to the direction of travel, it is advantageous that the surface-manoeuvrable driverless transporting means (1) can be adjusted, in order to adapt the spacing between the supports (4) to the length of the automotive vehicle (7), by a displacement unit (5). Likewise, it is very advantageous that the automotive vehicles (7) can be received directly from parking areas with the help of the pairs of forks (3) and can be deposited correspondingly directly on parking areas.
Before the automotive vehicle (7) is received by the surface-manoeuvrable driverless transporting means (1), it is measured by a measuring unit (6) and assigned to the different length categories. The parking spaces (10 and I 1) are disposed transversely relative to the direction of travel in 1 ... n rows of parking spaces for different vehicle lengths and 1 n parking space gaps. The automotive vehicles (7) are deposited in 1. n rows of parking spaces and 1 n parking space gaps. Corresponding to the length category and taking into account visitor profiles and the parking duration, a parking space (10) is assigned to the automotive vehicle (7). The surface-manoeuvrable driverless transporting means (1) transports the automotive vehicle (7) to the defined parking space (10) and deposits the automotive vehicle (7) = transversely relative to the direction of travel of the automotive vehicle (7). It is favourable in particular to deposit the automotive vehicles (7) = in the parking space gaps nose-to-tail in the direction of travel of the automotive vehicle (7). It is thereby also possible to deposit automotive vehicles (7) of smaller length categories on parking spaces (11) of the larger length categories.
For depositing the automotive vehicle, the method of receiving, as described above, is implemented in reverse sequence. The forks of the pairs of forks therefore release the wheels mutually by horizontal displacement of the individual forks (2). The horizontally extending pairs of forks are then withdrawn towards one side of the automotive vehicle (7), the surface-manoeuvrable supports (4) which are disposed respectively on one side moving past the automotive vehicle (7), when returning, at the front- and rear-side at a small spacing.
The retrieval process begins when the driver requests the automotive vehicle (7). This process is organised to be as user-friendly as possible:
the driver requests his deposited automotive vehicle (7) for example via applications on mobile telephones, a customer centre, the payment terminal at the car park or web applications and stipulates a pick-up time so that the automotive vehicle (7) is available at the correct time. If the driver is a registered customer at the car park and if he has arranged an automatic debit for example, the driver is informed about the transfer station and the parking fee is automatically debited. If the parking fee has to be paid at the automatic car park, the automotive vehicle (7) is released for retrieval only when the parking fee has been paid.
When retrieving a parked vehicle, the surface-manoeuvrable driverless transporting means (1) receives instructions about collecting the automotive vehicle (7) deposited transversely relative to the direction of travel and transports the latter to the defined transfer station. The automotive vehicle (7) is deposited in the transfer station such that the driver can leave the transfer station in the direction of travel.
It is very advantageous in the case of the driverless transporting means (1) that these can be retrofitted even in already existing multi-storey car parks. A further advantage of this system is the parking and depositing of automotive vehicles on navigable parking areas, it is hence possible in a special situation to retrieve automotive vehicles (7) manually from the parking garage.
Figure 5 shows a plan view on a driverless transporting means according to the invention, in which several advantageous developments of the invention are produced. The driverless transporting vehicle shown in Figure 5 has four wheels (12a), 12b), (12c), (12d) which can be rotated advantageously by 3600 .
In an advantageous embodiment, the driverless transporting means (1) has a beam (13) which is disposed between two main bodies (la) and (lb) and enables a length adjustment of the total length of the driverless transporting vehicle (1). For this purpose, the beam (13) can be retracted into one of or both of the main body parts (la) or (lb) of the driverless transporting vehicle (1), preferably until the main bodies (la) and (lb) are in contact in the maximum retracted state. It is thereby advantageous if the beam can be retracted into both main bodies (la) and (lb) to the same extent since consequently the greatest change in length in the overall length of the driverless transporting vehicle (1) can be achieved.
For changing the length by displacement of the main bodies (la) and (lb) relative to each other, a toothed belt, which is not shown in the Figure, can be fitted on the beam (13) and can be actuated by a motor.
Particularly advantageously, the motor can be driven in instantaneous operation so that it compensates precisely for the occurring frictional forces on the linear guides. This means that the beam can be moved without resistance and without additional forces arising. The toothed belt can hereby be connected rigidly to the main body respectively on one side. Alternatively, instead of the toothed belt, also racks, spindles or Bowden cables can be used in order to effect the length change.
The solution of driving the motor for adjusting the length in instantaneous operation makes it possible to change the length by actuating the two main bodies (la) and (lb) via their respective wheels (12a), (12b), (12c) and (12d) differently in the direction of a longitudinal direction of the beam (13). As a result, the main bodies (la) and (lb) can be moved towards each other or away from each other. The change in length can be produced even completely without a drive on the beam (13). In this case, the forces occurring on the guide of the beam (13) can likewise be compensated for by a different drive of the wheels of the two main bodies (la) and (lb).
Of the illustrated wheels, those two wheels (12c) and (12d) can be actuated respectively in the main bodies (I a) or (lb). The steering of the wheels can also be actuated actively via a steering motor on the respective wheel. The wheels (12a) and (12b) on the extension arms (4) can be passive and freely rotatable, however they can also be actively actuatable. This independent controllability of the wheels enables the above-described change in length.
Driving manoeuvres can be implemented for example with the driverless transporting vehicle (1) according to the invention, as follows. In transverse travel, i.e. during travel in the direction of a motorcar disposed next to the transporting vehicle (1), for example for receiving a motorcar, two or four of the wheels (12a) to (1.2d) can be displaced actively such that the two main bodies (la) and (lb) of the driverless transporting vehicle move towards each other and hence the result is a length adjustment of the vehicle (1). Preferably at least two wheels, which are situated one opposite the other or crosswise, are hereby intended to be actuated. Two further wheels can align themselves passively. Also actuation of all the wheels is possible. At the beginning of the transverse travel, all the wheels (12a) to (12d) are positioned parallel to each other, during travel the wheels can now be rotated towards each other at the same angle but in the opposite direction. As a result, the two main bodies (1.a) and (lb) move apart or towards each other in order to adapt to the length of the vehicle.
When moving in the longitudinal direction, i.e. for example when a motorcar is received in the direction of travei of the motorcar, the driverless transporting vehicle (1) can likewise be adjusted in length by various manoeuvres. For example, during travel, one of the main drives of one of the wheels (12c) to (12d) can travel somewhat more slowly or somewhat faster than the other wheels so that the two main bodies (la) and ( lb) move at different speeds and therefore move relative to each other. The result is therefore an adjustment in length. However, it is also possible to adjust the length from the stationary state by either travelling with the two main drives of the wheels (12c) and (12d) in the opposite direction or one of the wheels (12c) or (12d) remaining stationary whilst the other wheel is moved towards the latter or away from it.
Since the vehicle is surface-manoeuvrable, also further travel manoeuvres are possible which lead to a change in the length of the driverless transporting vehicle (1). Basically it is possible to adjust the length during any travelling manoeuvre by actuating the wheels such that either the speed is changed or the trajectories of the wheels are moved. towards each other or away from each other.
The application of the invention is not restricted to automatic multi-storey car parks for parking the automotive vehicles of road users. Also the application for space-saving interim storage and preparation in the context of the production and sales of automotive vehicles is advantageous.
Claims (7)
1. Device for storing an automotive vehicle transversely relative to its longitudinal axis on a parking space of a storage facility, having a surface-manoeuvrable, driverless transporting means which is disposed parallel to the longitudinal axis of the automotive vehicle when receiving the automotive vehicle and has horizontally extending pairs of forks which are disposed thereon at one side and perpendicularly, the forks of the pairs of forks being displaceable individually horizontally along the transporting means and the pairs of forks respectively moving under wheels of a vehicle axle from one side of the automotive vehicle in order to grip the wheels by displacing the individual forks horizontally towards each other, whereupon the automotive vehicle is lifted for transporting, characterised in that surface-manoeuvrable supports (4) are disposed on the transporting means (1) respectively at the end-side, which supports extend horizontally and parallel to the pairs of forks (3) and, when the pairs of forks (3) move under the wheels (8), move past the automotive vehicle (7) at its front- and rear-side at a small distance , in that the distance between the supports (4) is adjustable, in that a measuring device (6), before the automotive vehicle (7) is received, determines its length, axle positions and the position of the automotive vehicle (7) in space, in that the surface-manoeuvrable, driverless transporting means (1) adapts, with the data transmitted from the measuring device (6), its length determined by the distance of the supports (4) and the position of the pairs of forks (3) automatically to the dimensions of the automotive vehicle (7) to be received, and in that the load absorbed upon lifting the automotive vehicle (7) is transmitted, on the one hand, by the transporting means (1) and, on the other hand, by the surface-manoeuvrable supports (4) to the travel surface.
2. Device according to claim 1, characterised in that the surface-manoeuvrable driverless transporting means (1) has at least one displacement unit (5) for adapting the distance between the surface-manoeuvrable supports (4) to the length of the automotive vehicle (7) to be received.
3. Device according to claim 2, characterised in that a displacement unit (5) is disposed between one of the supports (4) and the transporting means (1) for horizontal displacement of the support (4) along the transporting means (1), and in that the other support (4) is connected rigidly to the transporting means (1).
4. Device according to one of the claims 1 to 3, characterised in that lifting the automotive vehicle (7) is effected by vertical displacement of the pairs of forks (3) abutting against the wheels (8) by means of lifting units (9), respectively one lifting unit (9) for each pair of forks (3) being disposed on the transporting means (1).
5. Method for storing an automotive vehicle (7) transversely relative to its longitudinal axis on a parking space (10, 11) of a storage facility, in which horizontally extending pairs of forks (3) which are disposed on a surface-manoeuvrable, driverless transporting means (1) at one side and perpendicularly move under the automotive vehicle from the side of the automotive vehicle at wheels (8) of respectively one vehicle axle, the forks (2) of the pairs of forks (3) gripping the wheels (8) by displacing the individual forks (2) horizontally towards each other, in which surface-manoeuvrable supports (4) which are disposed on the transporting means (1) respectively at the end-side and extend horizontally and parallel to the pairs of forks (3), when the pairs of forks (3) move under the wheels (8), move past the automotive vehicle (7) at the front- and rear-side at a small distance , in which a measuring device (6), before the automotive vehicle (7) is received, determines its length, axle positions and the position of the automotive vehicle (7) in space in order to adapt, with the data transmitted to the surface-manoeuvrable driverless transporting means (1), the distance between the supports (4), which is adjustable, and the position of the pairs of forks (3) automatically to the dimensions of the automotive vehicle (7), in which the absorbed load is transmitted, on the one hand, by the transporting means (1) and, on the other hand, by the supports (4) to the travel surface, and in which the surface-manoeuvrable driverless transporting means (1) transports the lifted automotive vehicle (7) to the intended parking space (10, 11) of the storage facility and deposits it there in the reverse sequence of the method steps.
6. Method according to claim 5, characterised in that lifting the automotive vehicle (7) is effected by vertical displacement of the pairs of forks (3) which abut on the wheels (8) by means of lifting units (9) which are disposed between each pair of forks (3) and the transporting means (1).
7. Method according to one of the claims 5 or 6, characterised in that the surface-manoeuvrable driverless transporting means (1) stores the received automotive vehicles (7) several rows deep and adjacently on parking spaces (10, 11) of the storage facility.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102010052850.1 | 2010-11-29 | ||
| DE102010052850A DE102010052850B3 (en) | 2010-11-29 | 2010-11-29 | Device and method for the automatic transverse storage of a motor vehicle in a storage facility |
| PCT/EP2011/005983 WO2012072236A1 (en) | 2010-11-29 | 2011-11-29 | Device and method for automatically laterally storing a motor vehicle in a storing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2818840A1 true CA2818840A1 (en) | 2012-06-07 |
| CA2818840C CA2818840C (en) | 2019-01-08 |
Family
ID=45218634
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA2818840A Expired - Fee Related CA2818840C (en) | 2010-11-29 | 2011-11-29 | Device and method for automatic transverse storage of an automotive vehicle in a storage facility |
Country Status (9)
| Country | Link |
|---|---|
| US (1) | US9702159B2 (en) |
| EP (1) | EP2614198B1 (en) |
| JP (1) | JP5900982B2 (en) |
| KR (1) | KR20140011305A (en) |
| BR (1) | BR112013013232A2 (en) |
| CA (1) | CA2818840C (en) |
| DE (1) | DE102010052850B3 (en) |
| DK (1) | DK2614198T3 (en) |
| WO (1) | WO2012072236A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9389614B2 (en) | 2014-04-08 | 2016-07-12 | Unitronics Automated Solutions Ltd | System and method for tracking guiding lines by an autonomous vehicle |
Families Citing this family (80)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9139091B1 (en) | 2011-04-22 | 2015-09-22 | Angel A. Penilla | Methods and systems for setting and/or assigning advisor accounts to entities for specific vehicle aspects and cloud management of advisor accounts |
| US9493130B2 (en) | 2011-04-22 | 2016-11-15 | Angel A. Penilla | Methods and systems for communicating content to connected vehicle users based detected tone/mood in voice input |
| US9648107B1 (en) | 2011-04-22 | 2017-05-09 | Angel A. Penilla | Methods and cloud systems for using connected object state data for informing and alerting connected vehicle drivers of state changes |
| US9697503B1 (en) | 2011-04-22 | 2017-07-04 | Angel A. Penilla | Methods and systems for providing recommendations to vehicle users to handle alerts associated with the vehicle and a bidding market place for handling alerts/service of the vehicle |
| US9371007B1 (en) | 2011-04-22 | 2016-06-21 | Angel A. Penilla | Methods and systems for automatic electric vehicle identification and charging via wireless charging pads |
| US9348492B1 (en) | 2011-04-22 | 2016-05-24 | Angel A. Penilla | Methods and systems for providing access to specific vehicle controls, functions, environment and applications to guests/passengers via personal mobile devices |
| US9230440B1 (en) | 2011-04-22 | 2016-01-05 | Angel A. Penilla | Methods and systems for locating public parking and receiving security ratings for parking locations and generating notifications to vehicle user accounts regarding alerts and cloud access to security information |
| US9189900B1 (en) | 2011-04-22 | 2015-11-17 | Angel A. Penilla | Methods and systems for assigning e-keys to users to access and drive vehicles |
| US9288270B1 (en) | 2011-04-22 | 2016-03-15 | Angel A. Penilla | Systems for learning user preferences and generating recommendations to make settings at connected vehicles and interfacing with cloud systems |
| US9180783B1 (en) | 2011-04-22 | 2015-11-10 | Penilla Angel A | Methods and systems for electric vehicle (EV) charge location color-coded charge state indicators, cloud applications and user notifications |
| US10217160B2 (en) * | 2012-04-22 | 2019-02-26 | Emerging Automotive, Llc | Methods and systems for processing charge availability and route paths for obtaining charge for electric vehicles |
| US9104537B1 (en) | 2011-04-22 | 2015-08-11 | Angel A. Penilla | Methods and systems for generating setting recommendation to user accounts for registered vehicles via cloud systems and remotely applying settings |
| US9809196B1 (en) | 2011-04-22 | 2017-11-07 | Emerging Automotive, Llc | Methods and systems for vehicle security and remote access and safety control interfaces and notifications |
| US9365188B1 (en) | 2011-04-22 | 2016-06-14 | Angel A. Penilla | Methods and systems for using cloud services to assign e-keys to access vehicles |
| US10286919B2 (en) | 2011-04-22 | 2019-05-14 | Emerging Automotive, Llc | Valet mode for restricted operation of a vehicle and cloud access of a history of use made during valet mode use |
| US9818088B2 (en) | 2011-04-22 | 2017-11-14 | Emerging Automotive, Llc | Vehicles and cloud systems for providing recommendations to vehicle users to handle alerts associated with the vehicle |
| US11132650B2 (en) | 2011-04-22 | 2021-09-28 | Emerging Automotive, Llc | Communication APIs for remote monitoring and control of vehicle systems |
| US9229905B1 (en) | 2011-04-22 | 2016-01-05 | Angel A. Penilla | Methods and systems for defining vehicle user profiles and managing user profiles via cloud systems and applying learned settings to user profiles |
| US9346365B1 (en) | 2011-04-22 | 2016-05-24 | Angel A. Penilla | Methods and systems for electric vehicle (EV) charging, charging unit (CU) interfaces, auxiliary batteries, and remote access and user notifications |
| US11294551B2 (en) | 2011-04-22 | 2022-04-05 | Emerging Automotive, Llc | Vehicle passenger controls via mobile devices |
| US11370313B2 (en) | 2011-04-25 | 2022-06-28 | Emerging Automotive, Llc | Methods and systems for electric vehicle (EV) charge units and systems for processing connections to charge units |
| US10289288B2 (en) | 2011-04-22 | 2019-05-14 | Emerging Automotive, Llc | Vehicle systems for providing access to vehicle controls, functions, environment and applications to guests/passengers via mobile devices |
| US9285944B1 (en) | 2011-04-22 | 2016-03-15 | Angel A. Penilla | Methods and systems for defining custom vehicle user interface configurations and cloud services for managing applications for the user interface and learned setting functions |
| US10572123B2 (en) | 2011-04-22 | 2020-02-25 | Emerging Automotive, Llc | Vehicle passenger controls via mobile devices |
| US9536197B1 (en) | 2011-04-22 | 2017-01-03 | Angel A. Penilla | Methods and systems for processing data streams from data producing objects of vehicle and home entities and generating recommendations and settings |
| US10824330B2 (en) | 2011-04-22 | 2020-11-03 | Emerging Automotive, Llc | Methods and systems for vehicle display data integration with mobile device data |
| US9171268B1 (en) | 2011-04-22 | 2015-10-27 | Angel A. Penilla | Methods and systems for setting and transferring user profiles to vehicles and temporary sharing of user profiles to shared-use vehicles |
| US9581997B1 (en) | 2011-04-22 | 2017-02-28 | Angel A. Penilla | Method and system for cloud-based communication for automatic driverless movement |
| US11270699B2 (en) | 2011-04-22 | 2022-03-08 | Emerging Automotive, Llc | Methods and vehicles for capturing emotion of a human driver and customizing vehicle response |
| US9215274B2 (en) | 2011-04-22 | 2015-12-15 | Angel A. Penilla | Methods and systems for generating recommendations to make settings at vehicles via cloud systems |
| US11203355B2 (en) | 2011-04-22 | 2021-12-21 | Emerging Automotive, Llc | Vehicle mode for restricted operation and cloud data monitoring |
| US9123035B2 (en) | 2011-04-22 | 2015-09-01 | Angel A. Penilla | Electric vehicle (EV) range extending charge systems, distributed networks of charge kiosks, and charge locating mobile apps |
| US9855947B1 (en) | 2012-04-22 | 2018-01-02 | Emerging Automotive, Llc | Connected vehicle communication with processing alerts related to connected objects and cloud systems |
| US10000885B2 (en) | 2013-07-04 | 2018-06-19 | Dongbu Daewoo Electronics Corporation | Washing machine and washing method thereof |
| TWI571839B (en) * | 2014-05-22 | 2017-02-21 | 陳江川 | Automatic parking apparatus |
| CN104442746B (en) * | 2014-12-05 | 2016-05-25 | 贵州中鼎博时教育信息咨询有限责任公司 | Be suitable for the free parking equipment in parking lot |
| CN105986693B (en) * | 2015-02-05 | 2019-01-04 | 深圳怡丰机器人科技有限公司 | A kind of intelligent three-dimensional shutdown system based on transfer robot and vehicle-carrying plate |
| CN105986689B (en) * | 2015-02-05 | 2018-07-06 | 深圳怡丰机器人科技有限公司 | A kind of intelligent parking equipment for intelligent three-dimensional shutdown system |
| CN105986687B (en) * | 2015-02-05 | 2018-09-25 | 深圳怡丰机器人科技有限公司 | A kind of vehicle-carrying plate and the intelligent parking equipment using the vehicle-carrying plate |
| CN104612437B (en) * | 2015-02-10 | 2017-06-23 | 广州信邦智能装备股份有限公司 | A kind of liftable parking robot |
| CN104612444B (en) * | 2015-02-10 | 2017-07-07 | 广州信邦智能装备股份有限公司 | A kind of multi-functional parking robot |
| CN104627148B (en) * | 2015-02-10 | 2017-07-28 | 广州信邦智能装备股份有限公司 | A kind of horizontal parking robot |
| 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 |
| CN105035042B (en) * | 2015-02-10 | 2020-02-18 | 广州信邦智能装备股份有限公司 | Transverse parking robot |
| DE102015203506A1 (en) * | 2015-02-27 | 2016-09-01 | Siemens Aktiengesellschaft | Automobile transport unit for positioning vehicles, methods for doing so and parking system |
| FR3036349B1 (en) | 2015-05-20 | 2018-03-16 | Stanley Robotics | MOBILE CONVEYORS FOR MOVING A 4 WHEELED VEHICLE. |
| CN104895369B (en) * | 2015-06-10 | 2017-05-24 | 深圳怡丰机器人科技有限公司 | Intelligent robot capable of moving automobiles in side directions |
| CN107663963A (en) * | 2016-07-28 | 2018-02-06 | 深圳力侍技术有限公司 | One kind parking robot |
| US11427447B2 (en) | 2016-08-01 | 2022-08-30 | Ford Global Technologies, Llc | Angulated parking |
| CN106245958A (en) * | 2016-09-19 | 2016-12-21 | 沈阳通用机器人技术股份有限公司 | A kind of automatic parking device |
| CN106437246B (en) * | 2016-11-22 | 2019-02-19 | 贾赟 | Intelligent automobile goes up and down transfer car(buggy) |
| CN106760778A (en) * | 2016-12-27 | 2017-05-31 | 沈阳通用机器人技术股份有限公司 | Automobile automatic transporting agv |
| CN106677577A (en) * | 2017-02-23 | 2017-05-17 | 上海卡驱久祎机器人科技有限公司 | Self-adaptive fixed type U-shaped vehicle moving system |
| DE102017209791A1 (en) * | 2017-06-09 | 2018-12-13 | Robert Bosch Gmbh | Autonomous transport device for transporting motor vehicles |
| JP6935087B2 (en) * | 2017-08-09 | 2021-09-15 | 新明工業株式会社 | Vehicle lift device, parallel unmanned vehicle, transport vehicle, parallel parking system and parallel parking method. |
| DE102017221655A1 (en) | 2017-10-06 | 2019-04-11 | Zf Friedrichshafen Ag | Parking vehicle and method for transporting and parking a vehicle |
| DE102017220584A1 (en) * | 2017-11-17 | 2019-05-23 | Robert Bosch Gmbh | Transport system and method for transporting a vehicle |
| DE102017223335A1 (en) | 2017-12-20 | 2019-06-27 | Zf Friedrichshafen Ag | Recording system for a parking vehicle and parking vehicle |
| DE102017223337A1 (en) | 2017-12-20 | 2019-06-27 | Zf Friedrichshafen Ag | Recording system for a parking vehicle and parking vehicle |
| DE102018200558A1 (en) | 2018-01-15 | 2019-07-18 | Zf Friedrichshafen Ag | Lifting system for a parking vehicle and parking vehicle |
| DE102018201539A1 (en) | 2018-02-01 | 2019-08-01 | Zf Friedrichshafen Ag | Recording system for a parking vehicle and parking vehicle |
| DE102018202420A1 (en) | 2018-02-16 | 2019-08-22 | Zf Friedrichshafen Ag | Lifting system for a parking vehicle and parking vehicle |
| DE102018204542A1 (en) | 2018-03-26 | 2019-09-26 | Zf Friedrichshafen Ag | Recording system for a parking vehicle and parking vehicle |
| CN108316721A (en) * | 2018-04-10 | 2018-07-24 | 深圳精智机器有限公司 | A kind of c-type homing guidance carrying vehicle device |
| CN108775178B (en) * | 2018-06-13 | 2023-12-29 | 广东怡丰智能车库有限公司 | Belt type vehicle carrier and clamping arm thereof |
| CN108775179B (en) * | 2018-06-13 | 2023-12-29 | 广东怡丰智能车库有限公司 | Belt type vehicle carrier and clamping arm thereof |
| DE102018210208A1 (en) | 2018-06-22 | 2019-12-24 | Zf Friedrichshafen Ag | Protection device for a parking vehicle and parking vehicle |
| CN108999451B (en) * | 2018-07-16 | 2023-12-29 | 广东怡丰智能车库有限公司 | Conveyor belt support assembly and carrier |
| CN109025439A (en) * | 2018-09-11 | 2018-12-18 | 杭州极木科技有限公司 | A kind of intelligent robot of carrier vehicle |
| DE102018221174A1 (en) * | 2018-12-06 | 2020-06-10 | Volkswagen Aktiengesellschaft | Parking robots for a motor vehicle and method for operating such a parking robot |
| FR3090975B1 (en) | 2018-12-20 | 2021-01-29 | Stanley Robotics | Automatic parking management process |
| DE102019202086B3 (en) | 2019-02-15 | 2020-06-25 | Volkswagen Aktiengesellschaft | Parking robot for transporting a parked motor vehicle and method for operating such a parking robot |
| FR3098836A1 (en) * | 2019-07-18 | 2021-01-22 | José IRIARTE | Four-wheel vehicle transporter |
| DE102019211889B4 (en) * | 2019-08-08 | 2023-08-17 | Volkswagen Aktiengesellschaft | Method for lifting and/or lowering a load, lifting platform, parking robot and system |
| CN110512923A (en) * | 2019-09-19 | 2019-11-29 | 鲁肃 | A kind of parking platform and the parking lot using the parking platform |
| JP7185612B2 (en) * | 2019-11-01 | 2022-12-07 | 本田技研工業株式会社 | Vehicle transportation control device, vehicle transportation control method, and vehicle transportation system |
| CN111173332A (en) * | 2020-01-06 | 2020-05-19 | 珠海丽亭智能科技有限公司 | Parking robot inserting and lifting movement method |
| CN113152957A (en) * | 2021-03-17 | 2021-07-23 | 安徽乐库智能停车设备有限公司 | Butt joint structure of parking space frame of planar mobile stereo garage |
| KR20220137393A (en) * | 2021-04-02 | 2022-10-12 | 주식회사 만도 | Vehicle parking robot |
| CN113969678A (en) * | 2021-12-03 | 2022-01-25 | 南京高等职业技术学校（江苏联合职业技术学院南京分院） | Reduce area's intelligent parking area parking equipment |
Family Cites Families (35)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2899087A (en) * | 1959-08-11 | Automatic parking system | ||
| US2847131A (en) * | 1950-01-17 | 1958-08-12 | Miller Leona Nell | Automobile storage |
| US2773614A (en) * | 1954-01-18 | 1956-12-11 | Lukens Steel Co | Apparatus for loading and unloading heavy equipment |
| US3011660A (en) * | 1955-08-31 | 1961-12-05 | Union Ind Co | Parking and handling devices |
| US2930496A (en) * | 1956-04-17 | 1960-03-29 | James E Wheeler | Storage apparatus |
| US2846186A (en) * | 1956-12-03 | 1958-08-05 | Dresser Ideco Company | Vehicle-handling and transfer dolly for mechanical parking garages |
| US3038621A (en) * | 1959-04-23 | 1962-06-12 | Mitchell Frederick Gilbert | Apparatus for lifting and transporting cars and like vehicles |
| US3091349A (en) * | 1960-10-11 | 1963-05-28 | Roth Anton | Vehicle parking installation |
| FR1437539A (en) * | 1965-03-22 | 1966-05-06 | Garage for motor vehicles | |
| US3435965A (en) * | 1965-09-08 | 1969-04-01 | Willi Scharf | Transport trolley for parking garages |
| CH542345A (en) * | 1971-10-11 | 1973-09-30 | Alexander Plymoth Inge | Platform for automobile garages |
| DE2349717C3 (en) * | 1973-10-03 | 1981-12-24 | Sedelmayer jun., Franz Xaver, 8000 München | Lift trucks for vehicles |
| ATE74177T1 (en) * | 1986-12-09 | 1992-04-15 | Sky Park Ab | TRANSPORT ARRANGEMENT FOR TRANSPORTING MOTOR VEHICLES. |
| IL86295A (en) * | 1988-05-06 | 1991-06-10 | Shakbar Investments Ltd | Vehicle parking system |
| DE3909702A1 (en) * | 1988-06-21 | 1990-09-27 | Schwoererhaus Gmbh & Co | Apparatus, in particular for the automatic parking of motor vehicles in a multi-storey car park |
| JPH0732779Y2 (en) * | 1989-02-27 | 1995-07-31 | 堀田鋼機株式会社 | Building with parking |
| US5067869A (en) * | 1990-04-17 | 1991-11-26 | Reuss George F | Automobile transportation apparatus |
| JPH06502461A (en) * | 1990-08-16 | 1994-03-17 | シィース コントラクターズ ビーティワイ・エルティディ | Transfer equipment, multi-level storage system, and method for lifting loaded items |
| DE4216457C2 (en) * | 1992-05-19 | 1994-05-05 | Fraunhofer Ges Forschung | Device and method for storage, in particular transverse storage of a motor vehicle in a storage box |
| JPH062449A (en) * | 1992-06-19 | 1994-01-11 | Nkk Corp | Palletless shifting device |
| IT1259441B (en) * | 1992-10-28 | 1996-03-18 | Gd Spa | TROLLEY FOR HANDLING OF PALLETS. |
| US5667352A (en) * | 1994-04-18 | 1997-09-16 | Genie Industries | Locking system for extension members on portable lifts |
| SE505830C2 (en) | 1994-08-16 | 1997-10-13 | Sky Park Ic Jr Ab | Transport device for automatically transporting a vehicle from a driveway module to a parking space in a parking garage |
| AR004552A1 (en) * | 1995-11-15 | 1998-12-16 | Ingomar Ritsch | TRANSPORTATION DEVICE FOR MOVING AUTOMOTIVE VEHICLES AND PARKING PROCEDURE. |
| JP3056139B2 (en) * | 1997-08-01 | 2000-06-26 | 住友重機械工業株式会社 | Mechanical parking lot |
| US5893696A (en) * | 1997-12-30 | 1999-04-13 | Belinsky; Sidney I. | High-rise automated garage |
| DE10020236A1 (en) * | 2000-04-25 | 2001-11-22 | Johann W Grond | Device to hold vehicle; has movable base element with four wheel holder units, which are slidingly arranged on base element formed as frame with longitudinal and transverse supports |
| JP2003343111A (en) | 2002-05-29 | 2003-12-03 | Mitsubishi Heavy Ind Ltd | Mechanical parking lot and control method thereof |
| DE10253847A1 (en) * | 2002-11-15 | 2004-06-03 | WAP Wöhr Automatikparksysteme GmbH & Co.KG | Pick-up device for a vehicle |
| JP4336161B2 (en) * | 2003-08-11 | 2009-09-30 | 本田技研工業株式会社 | Car body transfer device |
| KR101403977B1 (en) * | 2004-10-13 | 2014-06-10 | 프리돌린 스투츠 | Wholly automated mobile device and corresponding fast, economical and compact method for parking private vehicles |
| DE102006053528A1 (en) | 2006-06-07 | 2007-12-13 | Wendelstein, Thomas, Dr. | Routing or transporting device for vehicle, has arms conveyed from initial position into holding position, in which arms are linked with holding location of vehicle, where vehicle with wheels is movable over surface in non-contact manner |
| JP4749442B2 (en) | 2008-05-28 | 2011-08-17 | Ｉｈｉ運搬機械株式会社 | Vehicle moving device |
| US8777545B2 (en) * | 2009-10-20 | 2014-07-15 | Bright Coop, Inc. | Free lift mast for truck mounted forklift |
| US8632290B2 (en) * | 2010-01-21 | 2014-01-21 | Auto Parkit, Llc | Automated parking system |
-
2010
- 2010-11-29 DE DE102010052850A patent/DE102010052850B3/en not_active Expired - Fee Related
-
2011
- 2011-11-29 KR KR1020137013743A patent/KR20140011305A/en not_active Application Discontinuation
- 2011-11-29 DK DK11793660.9T patent/DK2614198T3/en active
- 2011-11-29 CA CA2818840A patent/CA2818840C/en not_active Expired - Fee Related
- 2011-11-29 WO PCT/EP2011/005983 patent/WO2012072236A1/en active Application Filing
- 2011-11-29 BR BR112013013232A patent/BR112013013232A2/en not_active Application Discontinuation
- 2011-11-29 US US13/989,911 patent/US9702159B2/en not_active Expired - Fee Related
- 2011-11-29 EP EP11793660.9A patent/EP2614198B1/en not_active Not-in-force
- 2011-11-29 JP JP2013540271A patent/JP5900982B2/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9389614B2 (en) | 2014-04-08 | 2016-07-12 | Unitronics Automated Solutions Ltd | System and method for tracking guiding lines by an autonomous vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| EP2614198A1 (en) | 2013-07-17 |
| DK2614198T3 (en) | 2015-04-07 |
| JP2014500922A (en) | 2014-01-16 |
| KR20140011305A (en) | 2014-01-28 |
| US9702159B2 (en) | 2017-07-11 |
| US20130280018A1 (en) | 2013-10-24 |
| JP5900982B2 (en) | 2016-04-06 |
| EP2614198B1 (en) | 2015-01-07 |
| BR112013013232A2 (en) | 2016-09-06 |
| CA2818840C (en) | 2019-01-08 |
| DE102010052850B3 (en) | 2012-06-06 |
| WO2012072236A1 (en) | 2012-06-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2818840C (en) | Device and method for automatic transverse storage of an automotive vehicle in a storage facility | |
| CN108086751A (en) | Parallel operation tunnel stacking multi-storied garage | |
| US9416554B2 (en) | Vehicle parking with automated guided vehicles and vehicle lifts | |
| CN106939716B (en) | A kind of mechanical transport formula double-deck stereo parking apparatus | |
| CN100532765C (en) | Rotary type vehicle carrying board one-position for two-car parking device | |
| CN106013892A (en) | Modularized matrix type stereo garage | |
| WO2015074019A2 (en) | Hall effect sensor grid array guidance system | |
| CN105421841B (en) | Full rotation type multi-storied garage | |
| EP2764183B1 (en) | Automated parking garage/self-storage apparatus and automated guided vehicle | |
| CN108316724B (en) | A kind of parking storage method of parking systems | |
| CN108729706A (en) | A kind of AisleStack parking house for bicycles | |
| CN113104770A (en) | Multifunctional AGV capable of avoiding obstacles and obstacle avoiding method thereof | |
| US5967727A (en) | Transport device for conveying motor vehicles in buildings | |
| CN215632023U (en) | Automatic garage | |
| CN108343299B (en) | A kind of parking systems | |
| CN112360210A (en) | Novel externally-inserted double-tooth parking robot with blocking arm and parking implementation method thereof | |
| JP2597945B2 (en) | Vehicle carry-in / out device and parking device using this device | |
| CN210798429U (en) | AGV that presss from both sides child cooperation gyro wheel and realize vehicle exchange | |
| CN219864330U (en) | Parking space allocation moving device | |
| CN216239985U (en) | Comb tooth hook pull type plane mobile garage | |
| CN215803569U (en) | Stereo garage | |
| CN112922416B (en) | Three-dimensional parking system comprising vehicle carrier and method | |
| CN210067566U (en) | Two segmentation centre gripping car carriers | |
| CN108468455B (en) | Automatic automobile parking device capable of being accessed in parallel | |
| JPH03271468A (en) | Automobile delivery device in sky parking device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| EEER | Examination request |
Effective date: 20160607 |
|
| MKLA | Lapsed |
Effective date: 20210831 |
|
| MKLA | Lapsed |
Effective date: 20191129 |