DE102017220584A1 - Transport system and method for transporting a vehicle - Google Patents

Abstract

Disclosed is a transport system for transporting a vehicle from a start position to a destination position, comprising at least two lift robots for moving the vehicle vertically and at least one drive robot for moving the vehicle horizontally, the at least one drive robot being positionable under the vehicle and couplable to the at least two lift robots is. Furthermore, a method of transporting a vehicle is disclosed.

Description

The invention relates to a transport system for transporting a vehicle from a start position to a destination position, comprising at least two lift robots for moving the vehicle vertically and at least one drive robot for moving the vehicle horizontally, and a method for transporting a vehicle.

State of the art

Fully automated parking garages and parking facilities are already known, in which robots lift vehicles at a starting position, then transport the vehicles and leave them at a destination. These transport robots can each lift a vehicle and automatically transport it from a pick-up area to a storage area. Alternatively, there are transport robots with transportable racks as storage area, on which a vehicle can be parked, so that the transport robot can transport the vehicle together with the frame to the storage area. Such transport robots can usually be used only in specially designed for such purposes parking garages or parks, since for lifting a vehicle, the parking robot protrude far beyond the dimensions of the vehicle and thus may require additional space when lifting and parking the vehicle. The shelves must therefore be oversized as it would be necessary for the actual vehicle.

In addition, known parking robots often have a large-sized counterweight to prevent tipping when lifting the vehicle. Such park robots require large areas for maneuvering, so that a reliable consideration of several transport robots operated in parallel and other road users, especially in the event of a fault, can be problematic.

Disclosure of the invention

The object underlying the invention can be seen to propose a transport system, which can reduce the dimensioning of an autonomous parking system and reduce the space required for vehicles storage areas.

This object is achieved by means of the subject matter of the independent claims. Advantageous embodiments of the invention are the subject of each dependent subclaims.

According to one aspect of the invention, there is provided a transportation system for transporting a vehicle from a start position to a destination position. The transport system has at least two lift robots for moving the vehicle vertically and at least one drive robot for horizontally moving the vehicle, wherein the at least one drive robot can be positioned under the vehicle and coupled to the at least two lift robots.

In this case, the transport system on several robots, which share different tasks with each other. The lifter robots are used to lift the vehicle and are each equipped with their own drive. Lifting robots can not move the vehicle with their own drive. However, the lift robots can lift the vehicle such that a larger sized drive robot can be placed under the lifted vehicle. In this case, the drive robot moves only after the lifter robots have lifted the vehicle under the vehicle. The drive robot can be made higher than the lift robot and thus have more space for its drive, drive wheels, batteries, sensors and the like. The robots of the transport system preferably each have a plurality of drive wheels. Thus, each robot can maneuver extremely and in particular turn or turn in one place.

The drive robot can make a mechanical connection with the respective lift robots and thus move the lifted vehicle to the lifting robots coupled with it and transport them to the destination position. Preferably, the transport system consists of two or four lift robots, which can lift the vehicle and a drive robot, which can be arranged between the lift robots.

The vehicle can be spaced at the wheels by means of wheel grippers of the lifting robots or at body lifting points from a ground by the lifting robots. The lifting of the vehicle to be transported is optimally carried out by a hydraulic system in the respective lifting robots. The hydraulics can preferably be controlled and controlled electronically.

The transport system according to the invention can be used in existing parking garages, without the need for special conversion measures or additional additional components. Likewise, use in a mixed operation with other road users such as other transport systems or manually driven vehicles without further measures can be realized because the transport system does not protrude or only slightly beyond the dimension of the vehicle to be transported. Components such as transport racks and side or front of the vehicle Contested counterweights can be omitted. By dispensing with components projecting far beyond the vehicle, the safety of the method of transporting a vehicle on uneven surfaces such as, for example, ramps can also be increased significantly. Furthermore, the area for parking a vehicle can be chosen to be slightly larger than the actual footprint of the vehicle to be parked, since the lift robot and the drive robot can be positioned completely under the vehicle or protrude only slightly beyond the footprint of the vehicle. Similarly, areas that are needed in a car park or in a parking lot for driving and maneuvering, have a much smaller area than in known park robots or manual parking. Optimally, the lifting robot and the drive robot can be electrically operated and driven and, if necessary, automatically control a charging station and initiate a charging process of the electrical energy storage.

According to one exemplary embodiment of the transport system, the vehicle lifted by the at least two lift robots can be transported from the start position to the destination position by the at least one drive robot coupled to the at least two lift robots. The drive robot is used to move the vehicle vertically. By mechanical connections to the at least two lift robots, the vehicle can be transported by pulling or pushing the lift robot by the drive robot. The respective tasks of the transport system are shared by the lift robots and the drive robot.

According to a further exemplary embodiment of the transport system, the at least one drive robot can be positioned between at least two lifting robots lifting the vehicle. As a result, the drive robot can be made larger and more powerful without exceeding the vehicle contour. Furthermore, by positioning the drive robot between the lift robots, a mechanical coupling to the lift robots can be implemented in a technically simple manner. For example, laterally extendable cylinders of the drive robot can engage in corresponding recesses of the respective lift robot and be locked there by the lift robots.

According to a further embodiment of the transport system, the at least one drive robot can be positioned in a longitudinal direction or a transverse direction to a vehicle axis between the at least two lift robots. This makes it possible that the drive robot is not bound to an orientation of the lift robot, but can be positioned in different directions to the vehicle longitudinal axis below the vehicle.

According to a further embodiment of the transport system, the vehicle can be raised at its body lifting points by the at least two lifting robots. Here, the lifter robots may have adjustable support receptacles, which direct a lifting force on the body lift points and can lift the vehicle. Each vehicle is equipped with body lift points as standard, where the vehicle can be lifted from a lift, for example in case of repair, without damaging the bodywork. The body lift points are located in the sill area of the vehicle, however, the distances between the body lift points may vary widely depending on the vehicle type. According to the invention, the support receptacles of the lifter robots can be adapted to the vehicle-specific different distances between the body lift points. Preferably, each support receptacle can be varied in its length or range, for example by a hydraulic system. If the transport system has only one transport robot, preferably at least four support receptacles are provided on it.

After transporting the vehicle to a destination position, the vehicle can be parked by the transport system on a ground or a parking area. The transport system can then be used for further transport tasks and does not have to remain at the parked vehicle.

According to a further embodiment of the transport system, the vehicle can be raised at its wheels by the at least two lifting robots. Here, the lift robot on wheel grippers, which can interact positively with the wheels to lift the vehicle. The wheel grippers can be fork-shaped and be adaptable in their dimensions. The wheel grippers can be opened or closed, for example. This makes it easier to position the wheel grippers on the wheels of the vehicle and to adapt the wheel grippers to the tire width and tire size of the vehicle. The vehicle can thus be safely lifted by at least two lift robots, since the wheel gripper can be clamped accurately on the wheels.

According to a further embodiment of the transport system, the start position and / or the target position is a parking area. The transport system is particularly suitable for use on narrow parking areas or cramped multi-storey car parks. Due to its small footprint that has Transport system great maneuverability on a small area. Preferably, the lift robot and the drive robot are designed such that they require a small turning circle. Preferably, the lifted and thus put into a transport state vehicle can be turned or rotated by the drive robot in one place.

According to a further embodiment of the transport system, the at least two lift robots and / or the at least one drive robot each have at least one drive wheel. As a result, a maneuverability of the lifting robot and the drive robot can be increased. Furthermore, the at least two lift robots and / or the at least one drive robot can each have at least one guide wheel for enabling a steering. A steering of the respective robot can in this case also be realized by at least two oppositely rotatable drive wheels.

According to a further embodiment, the transport system is controllable by an external parking management system with an external sensor. In a preferred embodiment, the respective robots of the transport system may be remotely controlled by an external park management system. In this case, the sensors, calculation components and the like may be integrated in the infrastructure of the parking lot or the parking garage. As a result, so-called deadlocks and complexities, such as unexpected road users who are positioned behind a corner, can be reduced or prevented. The external parking management system can preferably communicate with the lift robots and / or the drive robot via a communication device and thus for example transmit control commands wirelessly to corresponding control systems of the lift robots and / or the drive robot.

According to a further embodiment, the transport system is autonomously controllable by integrated into the at least two lift robot and / or the at least one drive robot sensor and control system. The at least two lifting robots and the drive robot act autonomously for the task of parking a vehicle to be transported in individual commands such as lifting the vehicle, coupling the individual robots, transporting the vehicle and the like. Only frame data, such as the target position or the route to the target position, can be specified by an external parking management system. The detection of the environment or, for example, the reactions to obstacles and the like are carried out independently by the at least two lifting robots and / or the drive robot. For this purpose, the robots can have sensors, cameras and other localization components. Alternatively, both the infrastructure or the external parking management system and the robots of the transport system, have localization components and enable joint control of the transport system.

According to a further embodiment, the transport system with the integrated sensor system and the integrated control system is controllable in cooperation with the external parking management system. As a result, a combination of a so-called "smart" infrastructure and "smart" robots can be realized.

According to a further exemplary embodiment of the transport system, in the case of an error or a recognized dangerous situation, the lifted vehicle can be lowered by the at least two lifting robots. As a result, the at least two lifting robots can immediately land the transported vehicle on the ground in the event of a recognized dangerous situation or in the event of a detected fault. If the transported vehicle has engaged in a gear or has chosen the parking setting for a vehicle with an automatic transmission, then the vehicle placed on the ground itself can decelerate. Alternatively or additionally, the vehicle may have an activated parking brake or a handbrake applied by which the vehicle can be braked when dropped onto the ground. As a result, in particular an uncontrolled situation in which the robots roll unrestrained 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 of the transport system 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 the transport robot, a so-called deadlock situation, incorrect direction of the transport robot, unexpected behavior of neighboring road users and the like. Possible errors of the transport system or the parking management system may be, for example, defective or misadjusted sensors, software errors and the like. A dangerous situation can also be caused by errors of the robots of the transport system. Such errors can be done by a self-diagnosis of the respective robot or a central control unit of the parking management system. For example, the parking lot management system may monitor the at least two lift robots and the drive robot and interpret, for example, observed deviations from a planned transportation route as a fault.

According to one embodiment of the transport system, the at least two lift robots and / or the drive robot can be coupled to the lowered vehicle at least temporarily. The at least two lifting robots preferably remain mechanically positively or non-positively connected to the remote vehicle, wherein the drive robot is optimally decoupled from the lifting robots before the vehicle is set down and removed from under the vehicle. Thus, the braking devices of the transported vehicle can be effectively used to prevent or mitigate a dangerous situation during transportation.

According to a further embodiment of the transport system, the at least two lift robots and the at least one drive robot can be synchronized. The actions such as lifting the vehicle by the at least two lift robots or moving the vehicle by the drive robot can be coordinated by prior synchronization of the robots of the transport system. In one embodiment, the task of synchronization is performed by a selected robot. In another embodiment, the synchronization can be performed by several lift robots and / or the drive robot and verified with each other. Alternatively, the synchronization can be done by an external park management system.

According to a further aspect of the invention, a method is provided for transporting a vehicle from a start position to a destination position with a transport system according to the invention. In a first step, the destination position is determined and a route from the start position to the destination position is determined. At least two lifting robots are then positioned below the vehicle parked at the starting position. After aligning the lift robot under the vehicle, the vehicle is lifted by the at least two lift robots. Under the lifted vehicle at least one drive robot is positioned and coupled to the at least two lift robots. In a further step, the at least two lifting robots and the lifted vehicle are moved from the starting position to the destination position by the at least one drive robot.

By the method, the vehicle may first be lifted by smaller lift robots to create a space for the drive robot. The drive robot can be positioned under the lifted vehicle and mechanically coupled to the lift robots. In such a coupled state, the vehicle may be transported with the lift robots to the target position based on the determined route.

At the target position, the mechanical connection between the drive robot and the lift robots is released so that the drive robot can travel under the vehicle. Subsequently, the lifter robots can synchronize the vehicle or simultaneously lower to the ground and also leave the target position.

As a result, vehicles can be parked to save space at a destination, the robots used for this purpose transport of the system not occupy the surface occupied by the vehicle or only slightly.

• 1a eine schematische Darstellung eines Transportsystems gemäß einer ersten Ausführungsform der Erfindung mit unter einem Fahrzeug angeordneten Heberobotern,
• 1b eine schematische Darstellung des Transportsystems gemäß der ersten Ausführungsform der Erfindung mit einem durch Heberoboter angehobenen Fahrzeug,
• 1c eine schematische Darstellung des Transportsystems gemäß der ersten Ausführungsform der Erfindung mit einem in einen Transportzustand versetzten Fahrzeug,
• 2 eine schematische Untersicht auf ein unter einem Fahrzeug angeordnetes Transportsystem gemäß der ersten Ausführungsform der Erfindung und
• 3 eine schematische Untersicht auf ein unter einem Fahrzeug angeordnetes Transportsystem gemäß einer zweiten Ausführungsform der Erfindung.

In the following, preferred exemplary embodiments of the invention are explained in greater detail on the basis of greatly simplified schematic representations. Show here

• 1a a schematic representation of a transport system according to a first embodiment of the invention with arranged under a vehicle lift robots,
• 1b a schematic representation of the transport system according to the first embodiment of the invention with a lifting robot lifted by vehicle,
• 1c a schematic representation of the transport system according to the first embodiment of the invention with a staggered in a transport vehicle,
• 2 a schematic bottom view of a arranged under a vehicle transport system according to the first embodiment of the invention and
• 3 a schematic bottom view of a arranged under a vehicle transport system according to a second embodiment of the invention.

In the figures, the same constructive elements each have the same reference numerals.

The 1a . 1 b and 1c show schematic representations of a transport system 1 according to a first embodiment of the invention for illustrating the method for transporting a vehicle 2 from a start position to a destination position. The transport system 1 here has four separate lift robots 4 on which in the 1a under the vehicle 2 are arranged. The lift robots 4 are at body lift points of the vehicle 2 positioned. For this purpose, the lifter robots 4 own drives and robot-internal sensors 5 for detecting the body lifting points and for aligning lifting devices 6 the lifter robot 4 respectively. Every lifter robot 4 has according to the embodiment, a lifting device 6 in the form of a hydraulically actuated cylinder. In the 1a is the lifting device 6 the lifter robot 4 extended so that the lift robot 4 free under the vehicle 2 can drive.

In the 1b became the vehicle 2 through the lifting devices 6 the lifter robot 4 spaced from a substrate or raised. This can be under the vehicle 2 a space for a larger sized drive robot 8th be created. The drive robot 8th is also part of the transport system 1 according to the first embodiment of the invention and was in the longitudinal direction of the vehicle 2 under the vehicle 2 positioned. The drive robot 8th also has a robot-internal sensor 5 on which of a control system 9 can be evaluated. Thus, the drive robot 8th through the control system 9 being controlled. The control system 9 has an integrated communication device 11 on, through which the control system 9 Commands from the external park management system 16 can receive and implement.

This is indicated by the transport system 1 an external park management system 16 which is on a sensor 18 access and evaluate an infrastructure. The external parking management system 16 is implemented as an external control unit and can via a communication device 20 with the communication device 11 of the control system 9 communicate wirelessly. In particular, the external parking management system 16 via the communication device 20 the drive robot 8th remote control or for example warnings to the drive robot 8th send. Thus, the drive robot 8th also through the external parking management system 16 controllable executed. The lift robots 4 also have an integrated control system 13 on which with the robot-internal sensors 5 can communicate.

The 1c shows a step of the method in which the drive robot 8th a mechanical connection with the lifting robots 4 received. Through the coupling devices 10 can the drive robot 8th and the individual lift robots 8th be mechanically coupled to a single unit. The drive robot 8th can be in one with the lift robots 4 coupled state the lift robot 4 with the through the lifter robots 4 raised vehicle 2 move and maneuver. By the one with the lift robots 4 coupled drive robot 8th is the lifted vehicle 2 in a transport state. Thus, the vehicle can 2 through the coupled drive robot 8th moved from a start position to a target position and parked there. Wherein at a parking of the vehicle 2 at the target position of the drive robot 8th first from the lift robots 4 decoupled and under the vehicle 2 is moved out. Subsequently, the vehicle 2 from the lift robots 4 deposited on the ground and the lifter robots 4 under the vehicle 2 removed or moved to a next vehicle.

In the coupled state, the control system 9 of the drive robot 8th on the control systems 13 and the sensors 5 the lifter robot 4 access and thus its own sensors 5 expand or optimize. Furthermore, the tasks of the control systems 9 . 13 the respective robot 4 . 8th be divided among themselves.

The 2 shows a schematic bottom view of a under a vehicle 2 arranged transport system 1 according to the first embodiment of the invention. The transport system 1 is completely under the vehicle 2 arranged. The vehicle 2 is in a transport state and can by the drive robot 8th can be arbitrarily moved and maneuvered. The transport system 1 consists of four lifting robots 4 and one via coupling devices 10 with the lift robots 4 coupled drive robot 8th , The lift robots 4 lift the vehicle 2 at the body lift points. The drive robot is in the longitudinal direction of the vehicle 2 under the vehicle 2 between each two lifting robots 4 positions and takes over the task of moving the lifted vehicle 2 and the lift robot 4 which the vehicle 2 spaced from the ground.

In the 3 is a schematic bottom view of a under a vehicle 2 arranged transport system 1 represented according to a second embodiment of the invention. The transport system 1 here has two lift robots 4 and one with the lift robots 4 coupled drive robot 8th on. The lift robots 4 have end wheel grabs 12 which is for transmitting a lifting force to the vehicle 2 be used. The wheel gripper 12 can be adjusted by means not shown lifting devices in a height electrically or hydraulically, so that the vehicle 2 can be raised on his wheels. The drive robot 8th can be between the two lift robots 4 of the transport system 1 in the transverse direction to the vehicle 2 under the vehicle 2 arranged and with the two lift robots 4 be coupled. The drive robot 8th can be in one with the lift robots 4 coupled state his movements directly to the lift robot 4 and the lifted vehicle 2 transfer. The drive robot 8th has its own drive for driving drive wheels 14 and a sensor for monitoring an environment of the vehicle 2 on. Furthermore, the drive robot 8th and the lift robots 4 a communication device for communicating with an external park management.

Alternatively or in addition to those in the 2 and the 3 described embodiments of the transport system, the at least two lift robots can be arranged in the longitudinal direction of the vehicle or in the transverse direction of the vehicle for transmitting a lifting force to the wheels or the body lift points of the vehicle. Thus, regardless of whether the vehicle is lifted at its wheels or the body lift points, the drive robot can be positioned longitudinally or transversely of the vehicle. To enable exact positioning of the respective lifting robot and the drive robot, the robots each have their own sensors and their own drives, which can also communicate with an external parking management system or an infrastructure.

Claims (15)

Transport system (1) for transporting a vehicle (2) from a start position to a destination position, comprising at least two lift robots (4) for moving the vehicle (2) vertically and at least one drive robot (8) for moving the vehicle (2) horizontally thereby in that the at least one drive robot (8) can be positioned below the vehicle (2) and can be coupled to the at least two lift robots (4). Transport system after Claim 1 in which the vehicle (2) lifted by the at least two lifting robots (4) can be transported from the starting position to the destination position by the at least one drive robot (8) coupled to the at least two lifting robots (4). Transport system after Claim 1 or 2 wherein the at least one drive robot (8) is positionable between at least two lift robots (4) lifting the vehicle (2). Transport system according to one of Claims 1 to 3 wherein the at least one drive robot (8) is positionable in a longitudinal direction or a transverse direction to a vehicle axis between the at least two lift robots (4). Transport system according to one of Claims 1 to 4 in which the vehicle (2) can be raised at its body lifting points by the at least two lifting robots (4). Transport system according to one of Claims 1 to 4 , wherein the vehicle (2) can be raised at its wheels by the at least two lifting robots (4) Transport system according to one of Claims 1 to 6 , wherein the start position and / or the target position is a parking area. Transport system according to one of Claims 1 to 7 wherein the at least two lift robots (4) and / or the at least one drive robot (8) each have at least one drive wheel (14). Transport system according to one of Claims 1 to 8th , wherein the transport system (1) by an external parking management system (16) with an external sensor (18) is controllable. Transport system according to one of Claims 1 to 9 , wherein the transport system (1) is autonomously controllable by sensors (5) and control system (9, 13) integrated in the at least two lift robots (4) and / or the at least one drive robot (8). Transport system after Claim 9 or 10 , wherein the transport system (1) with the integrated sensor system (5) and the integrated control system (9, 13) is controllable in cooperation with the external parking management system (16). Transport system according to one of Claims 1 to 11 , wherein in the case of an error or a recognized dangerous situation, the raised vehicle (2) from the at least two lift robots (4) is lowered. Transport system after Claim 12 in which the at least two lifting robots (4) and / or the drive robot (8) can be coupled to the lowered vehicle (2) at least temporarily. Transport system according to one of Claims 1 to 13 , wherein the at least two lift robots (4) and the at least one drive robot (8) are synchronizable. Method for transporting a vehicle (2) from a start position to a destination position with a transport system (1) according to one of the preceding claims, wherein the target position is determined and a route from the start position to the target position is determined by a control system (9, 13) or an external parking management system (16), at least two lift robots (4) are positioned below the vehicle (2) parked at the start position and the vehicle (2) is lifted by the at least two lift robots (4), at least one drive robot (8) is positioned underneath the raised vehicle (2) and coupled to the at least two lift robots (4), - By the at least one drive robot (8), the at least two lift robot (4) and the raised vehicle (2) are moved from the start position to the target position.

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