Parking robot and for run stop robot methodTechnical field
A kind of method the present invention relates to parking robot (Parkroboter) and for running parking robot.In addition,The invention further relates to a kind of parking lot for motor vehicle and a kind of computer programs.
Background technique
39 17 475 A1 of open source literature DE describes a kind of transportation system for parking building.Parking robot herein willCar is transferred to parking stall and from car is extracted there to be out parking building.Parking robot is by having the lifting that can be advancedThe lockable platform of cape forms, which has four lifting devices, four lifting devices enveloping maneuver vehicleWheel to lift.
10 2,012 101 601 A1 of open source literature DE describes a kind of parking building, be equipped in the parking building one orMultiple parking robots.Parking robot being developed by the industrial circle by transportation technology as in high rack warehouse systemScientific and technical research.For this purpose, driving to each vehicle in parking building on the movable landing of transport rack form.
10 2,014 221 770 A1 of open source literature DE describes a kind of method for running traction robot.The tractionRobot can be structured as parking robot.
Known parking robot be potentially based on its size and/or its lack flexibility and being difficult to travel tight narrow turning orIt creeps slope.
Summary of the invention
The present invention is based on task can be considered and be, a kind of parking robot is provided, can be efficiently used for parking machineMotor-car.
The task is by parking robot according to the present invention and according to the present invention for the parking robotMethod solves.Advantageous configuration of the invention is the theme of following expansion scheme.
According on one side, a kind of parking robot is provided, the parking robot includes:
For transporting the height-adjustable transportation surface of motor vehicle；
For adjusting regulating device of the transportation surface relative to the height of tread；
Control device, the control device is configured to so control the regulating device, so that the regulating device existsHeight of the transportation surface later by the transportation surface relative to the tread is loaded with motor vehicle to be displaced to from loading positionIn transporting position, in the loading position, the transportation surface is loaded with the motor vehicle, in the transporting position,The motor vehicle should be transported,
Wherein, the transporting position is located on the loading position, so that the transportation surface is relative to the treadHeight it is bigger compared in the loading position in the transporting position.
A kind of method for running parking robot is provided according to another aspect, the described method comprises the following steps: borrowingHelp the control device so to control the regulating device so that the regulating device with motor vehicle load the transportation surface itThe height by the transportation surface relative to the tread is displaced in transporting position from loading position afterwards, in the loading positionIn, the motor vehicle should be transported, wherein described in the transporting position by loading the transportation surface with the motor vehicleTransporting position is located on the loading position, thus the transportation surface relative to the tread height in the transport positionIt sets bigger compared in the loading position.
A kind of parking lot for motor vehicle is provided according to another aspect, wherein parking lot includes parking robot.
A kind of computer program is provided according to another aspect, comprising program code, for existing when the computer programImplement the method for running parking robot on computer, for example when executing on the control device for the robot that stops.It calculatesMachine is, for example, a part of cloud infrastructure.
The present invention is based on following understanding, i.e., above-mentioned task can solve in the following manner: stop with motor vehicle loadThe spacing between transportation surface and tread is improved after the transportation surface of vehicle robot, parking robot can be travelled or be travelledOn tread.That is, being improved between transportation surface and tread or ground after loading parking robot with motor vehicleSpacing.
Thus for example cause following technological merit: parking robot ground freedom degree with higher, thus the machine that stopsPeople, which can travel, crosses protuberance or slope, and parking robot can not cross protuberance or oblique with lower ground freedom degree travelingSlope, because otherwise parking robot is by stranded (aufsetzen).
Thus for example cause following technological merit: parking robot can be efficiently used for parking motor vehicles.Especially thus drawOr less technological merit: motor vehicle efficiently can be travelled or be transported from the first layer in parking lot via slope by parking robotTo the second layer in parking lot.
Therefore parking robot is especially configured to parking motor vehicles.
Be arranged in another embodiment, the regulating device includes one or more wheel that can be routed up, it is one orMultiple wheels routed up can be displaced to from stowed position to be routed up in position, or on the contrary, in the stowed position, the wheelIt packs up, is routed up in position described, the wheel is at least partly routed up, also, is routed up in position described, and the transportation surface is located atIn the transporting position, wherein the control device is configured to so control the regulating device, so that in order to by the fortuneThe chances of losing games is displaced in the transporting position and the wheel that can be routed up is displaced to described rout up in position from the stowed position.
Thus for example cause following technological merit: transportation surface efficiently can be displaced to transporting position from loading positionIn.
The wheel that can be routed up is routed up or is packed up particularly along curved section or the extension of circular orbit section.
That is, the pendulum motion including wheel is routed up or packed up to the wheel that can be routed up.
Be arranged according to another embodiment, the regulating device includes one or more extensible wheel, wherein it is described canThe wheel of removal can be moved out in outflow location from inflow location, or on the contrary, in the inflow location, the transportation surface positionIn loading position, in the outflow location, the wheel is at least partly removed, also, in the outflow location, the fortuneThe chances of losing games is located in the transporting position, wherein and the control device is configured to so control the regulating device, so that in order toThe transportation surface is displaced in the transporting position and the extensible wheel is moved out to the shifting from the inflow locationIn out position.
Thus for example cause following technological merit, transportation surface efficiently can be displaced to transporting position from loading positionIn.
The removal of wheel moves into therefore particularly in correspondence to longitudinal movement extends.
For example, extensible wheel fluid pressure type is made to remove or move into.Extensible wheel therefore especially can fluid pressure type removeWheel.
For example, the wheel fluid pressure type that can be routed up is made to rout up or pack up.The wheel that can be routed up especially can the wheel routed up of fluid pressure type.
In another embodiment, the parking robot includes one or more scroll wheels, by one or moreA scroll wheel, the transportation surface are merely capable of the row in loading position by rolling of the scroll wheel on the treadInto so that the scroll wheel can not roll in the transporting position on the tread.
Thus for example cause following technological merit: parking robot can efficiently be existed by scroll wheel in loading positionRolling on tread and move.In addition, thus for example causing following technological merit: parking robot can make its transportation surface highIt moves under motor vehicle to be transported to effect, so that motor vehicle to be transported to be loaded on transportation surface.
It is arranged according to another embodiment, the control device is configured to one or more based on motor vehicle to be transportedA geometry parameter controls the regulating device, so that the height of the transportation surface is according to one geometry parameter or described moreA geometry parameter is adjusted.
Thus for example cause following technological merit: the height of transportation surface can be efficiently for specific motor vehicle to be transportedAdjust to individuation.
The geometry parameter of motor vehicle is, for example, length, width or the height of motor vehicle.
It is arranged according to another embodiment, the parking robot includes described to seek for measuring the motor vehicleThe measuring device of one geometry parameter or the multiple geometry parameter.
Thus for example cause following technological merit: can efficiently seek geometry parameter.
According to a kind of embodiment, measuring device includes laser scanner and/or one or more image cameras.
It is arranged according to another embodiment, the parking robot includes communication interface, and the communication interface is configured toThe message sent by least one terminal device is received by communication network, at least one described terminal device is for example by be transportedIncluded by motor vehicle, wherein the message includes motor vehicle mark and/or one geometry parameter or the multiple geometric parametersAmount, wherein the control device is configured to seek one geometry parameter or the multiple several based on the received message of instituteWhat parameter.
Thus for example cause following technological merit: can efficiently seek multiple geometry parameters.
Terminal device is, for example, mobile phone.Terminal device is, for example, the managing system of car parking for being used for managing parking fieldServer.Terminal device is for example integrated in motor vehicle to be transported for example as included by motor vehicle to be transported.
Wording " at least one terminal device " especially includes multiple terminal devices.
According to a kind of embodiment, it is equipped with database, in the database, different motor vehicle marks is stored withBelong to the geometry parameter of corresponding motor vehicle.Control device is configured to for example including processor, the processor from databaseIt reads and belongs to the geometry parameter that the received motor vehicle of institute identifies.
The technical functionality of method is similarly generated by the corresponding technical functionality of parking robot, and vice versa.
It is arranged according to a kind of embodiment, stops and robot construction or be arranged for carrying out or implement for running parking machineThe method of device people.
Wording " either " especially includes wording "and/or".
It is arranged in one embodiment, remote control parking robot.It is arranged in one embodiment, it is long-range to controlThe control device of parking robot is used for controling adjustment device.In one embodiment, parking robot includes communication interfaceIt receives for network by wireless communication corresponding to the remote control command remotely controlled.
In one embodiment, implement long-range control by the managing system of car parking for managing parking field.OneIn kind embodiment, remote control parking robot is used for equipped with the remote control apparatus outside parking robot.Stop machineRemote control apparatus outside people is for example as included by managing system of car parking.In one embodiment, remote control apparatusIt is used to provide cordless communication network including communication interface to send corresponding to the remote control command remotely controlled to the robot that stops.
In one embodiment, stop robot communication interface be configured to receive it is remote outside by parking robotThe remote control command that process control device is sent.
Managing system of car parking is for example configured to for motor vehicle being parked in parking lot automatically.Managing system of car parking exampleSuch as it is configured to AVP managing system of car parking.Abridge " AVP " representative " automated valet parking: automatic generation visitor poolVehicle ".
In one embodiment, one or more environmental sensors are disposed with to spatial distribution in parking lot, it is describedOne or more environmental sensors are configured to detect its corresponding environment, to seek the environmental data corresponding to detection.StopThe long-range control of the either control device of vehicle robot is for example implemented based on environmental data.
Environmental sensor is, for example, video sensor, radar sensor, ultrasonic sensor, laser radar sensor, magneticField sensor, infrared sensor or grating sensor.
It is arranged in one embodiment, in the such controling adjustment device of control device having fail-safe function, so that the adjusting fillsSet so reduces transportation surface from transporting position relative to tread, so that the wheel of the motor vehicle transported contacts tread.
Thus for example cause following technological merit, it can be high by the friction of the wheel and tread of the motor vehicle transportedImitate Brake stop robot.This can for example especially when motor vehicle has the parking brake of the gear being linked into and/or tensionEfficiently implement.
The decline of transportation surface such as packing up and/or implement by the immigration of extensible wheel by the wheel that can be routed up.
Failure is for example defined as follows: the communication link between the remote control apparatus outside parking robot and the robot that stopsThe failure connect or interruption, the functional fault of control device, the robot that stops brake failure or functional fault.
It is arranged in one embodiment, if wheel is located in the position packed up, the robot that stops can be in load positionIt sets and is rolled on the wheel packed up.
It is arranged in one embodiment, if wheel is located in inflow location, the robot that stops can be in loading positionIn rolled on extensible wheel.
Therefore especially that is, parking robot not only can be in loading position but also can be on the wheel that can be routed upIt rolls or travels in transporting position.
Therefore especially that is, parking robot not only can be in loading position but also can be on extensible wheelIt rolls in transporting position and either travels.
It is arranged in one embodiment, parking robot not only includes one or more extensible wheels but also including oneA or multiple wheels routed up and, for example, optionally further comprising one or more scroll wheels.
Detailed description of the invention
Hereinafter according to preferred embodiment, the present invention is furture elucidated.Here,
Fig. 1 shows the known parking robot in the traveling of slope；
Fig. 2 shows the first parking robots；
Fig. 3 shows the second parking robot；
Fig. 4 shows third parking robot；
Fig. 5 shows the 4th parking robot；
Fig. 6 shows the flow chart of the method for running parking robot；And
Fig. 7 shows the parking lot for motor vehicle.
In the following, identical appended drawing reference can be applied for identical element or feature.
Specific embodiment
Fig. 1 shows the known parking robot 101 on slope 105 in traveling.
Parking robot 101 includes the transportation surface 103 for transporting motor vehicle.Robot 101 stop with its transportation surface 103It is stranded at the transition 107 of the tread 109 from slope 105 to plane.
Reason in particular, in that, the spacing between transportation surface 103 and tread 109 or slope 105 is too small.Common slope needleGeneral size design to motor vehicle.
But the transportation surface 103 for the robot 101 that stops allows generally for only so height, so that transportation surface 103 can also be transportedIt moves under motor vehicle to be transported.Correspondingly, the ground freedom degree of parking robot 101 must be small.
In addition, parking robot 101 is longer than common motor vehicle length, so as to transport motor vehicle.But parking machineDevice people 101 can also be more shorter than common motor vehicle length.But parking robot is usually more than common motor vehicle lengthIt is long.
Therefore, the size of parking robot 101 is not directed to slope traveling design.
Fig. 2 shows multiple views (the top, intermediate and bottoms in the parking of different moments first robot 201).
Parking robot 201 includes height-adjustable for transporting the transportation surface 203 of motor vehicle (not shown).
Motor vehicle is for example parked on transportation surface 203.Such as motor vehicle is sticked on transportation surface 203 with its downside.
The robot 201 that stops includes multiple extensible wheels 207 on the downside of transportation surface 203 205, such as four removableWheel out.
In the view of the top, extensible wheel 207 is in inflow location, in the inflow location, transportation surface 203In loading position, in the loading position, transportation surface 203 can be loaded with motor vehicle.
The medial view of first parking robot 201 is shown in the middle position between inflow location and outflow locationExtensible wheel 207, in the middle position, transportation surface 203 is located in transporting position, in transporting position, answers transporterMotor-car.
The bottom view of first parking robot 201 shows the outflow location of extensible wheel 207.
Multiple extensible wheels 207 by length can be changed can fluid pressure type advance telescopic rod 211 and transportation surface 203 underSide 205 connects.
Therefore transportation surface 203 and the spacing of tread 208 increase with the removal of extensible wheel 207.
Therefore the corresponding movement of extensible wheel 207 corresponds to longitudinal movement, this passes through straight arrow 213 symbolicallyIt shows.
Extensible wheel 207 and can the bar 211 that changes of fluid pressure type length formed herein for adjust transportation surface 203 relative toThe regulating device of the height of tread 208.
For controling adjustment device 207；211, parking robot 201 includes control device 209, the control device constructionFor such controling adjustment device 207；211, so that the regulating device will transport after loading transportation surface 203 with motor vehicleFace 203 is displaced in transporting position relative to the height of tread 208 from loading position, wherein transporting position is located at load positionOn setting, so that transportation surface 203 is compared with the height of tread 208 is in the transporting position in the loading positionIt is bigger.
Fig. 3 shows multiple views (the top, intermediate and bottom in the parking of different moments second robot 301).
Parking robot 301 includes multiple wheels 303 routed up, such as four wheels 303 that can be routed up.
In the top view of the second parking robot 301, the wheel 303 that can be routed up is located in stowed position, describedIn stowed position, wheel 303 is packed up.
Wheel 303 contacts in stowed position with tread 208, so that the second parking robot 301 is in stowed positionIn can be rolled on the wheel 303 that can be routed up.
In the medial view of the second parking robot 301,303 part of wheel that can be routed up is routed up.
In the bottom view of the second parking robot 301, the wheel 303 that can be routed up is routed up completely, that is, is located at and is routed up positionIn setting.
The wheel 303 that can be routed up is connect by a bar 305 with the downside 205 of transportation surface 203 respectively in order to rout up.?This, bar 305 is connect by unshowned swinging joint with downside 205, so as to so that bar 305 is shown or routed up.
Therefore the corresponding movement for the wheel 303 that can be routed up includes circular orbit section, this passes through corresponding curved arrow 307Symbolically indicate.
In routing up position, the wheel 303 that can be routed up also contacts tread 208, so that the second parking robot 301 is routing upIt can be rolled on tread 208 on the wheel 303 that can be routed up in position.
Transportation surface 203 is packed up compared with the height of tread 208 is in the routing up in position of the wheel 303 that can be routed up at itIt is higher in position.
The wheel 303 that can be routed up is connected together with its unshowned swinging axle with bar 305 and is formed herein for adjusting transportation surface 203The regulating device of height relative to tread 208.
Second parking robot 301 control device 209 be in this regard configured to such controling adjustment device 303,305, so that the wheel 303 that can be routed up is displaced to from stowed position and is routed up in order to which transportation surface 203 to be displaced in transporting positionIn position.
That is, according to fig. 2, the first parking robot 201 by take turns 207 about transportation surface 203 downside 205 verticallyIt removes, to increase the spacing of transportation surface 203 Yu tread 208.
That is, the second parking robot 301 is routed up taking turns 303 along circular orbit section, according to Fig. 3 to increaseSpacing between transportation surface 203 and tread 208.
Advantageously caused by the increase of spacing: can to avoid parking robot according to the present invention it is stranded on slope to flatTread transition position.Therefore, it can effectively be avoided as shown, for example in fig. 1 in parking robot according to the present inventionSituation.
Fig. 4 shows third parking robot 401, and which is substantially similar to according to the second of Fig. 3 the parking 301 structure of robotIt makes.
Correspondingly, third parking robot 401 also has the wheel 303 that can be routed up.
In Fig. 4 similar to Fig. 3, the third parking robot 401 in three different locations: the top view is shownThird parking robot 401 with the wheel packed up is shown.Medial view shows the parking of the third in middle position robot401.Bottom view shows the third parking robot 401 with the wheel routed up.
Additionally, third parking robot 401 also has multiple scroll wheels 403, example on the downside of transportation surface 203 205Such as four scroll wheels, by scroll wheel, transportation surface 203 can only added by rolling of the scroll wheel 403 on tread 208It carries and advances in position, so that scroll wheel 403 cannot roll in transporting position on tread 208.
That is, scroll wheel 403 only contacts tread 208 in the stowed position for the wheel 303 that can be routed up.In centreIn position or in routing up position, these scroll wheels 403 are suspended in the air.
Fig. 5 shows the 4th parking robot 501.
4th parking robot 501 is substantially similarly constructed with the first parking robot 201.
Correspondingly, the 4th parking robot 501 also has multiple extensible wheels 207.
Correspondingly, the 4th parking robot 501 with the wheel 207 moved into is shown according to the top view of Fig. 5.According toThe bottom view of Fig. 5 shows the 4th parking robot 501 with the wheel 207 removed.It is shown according to the medial view of Fig. 5The 4th parking robot 501 in middle position.
Similar to third parking robot 401, the 4th parking robot 501 is also including multiple scroll wheels 403, such as fourScroll wheel.
Similar to third parking robot 401, scroll wheel 403 only contacts tread in the inflow location of wheel 207208.In middle position and in outflow location, these scroll wheels 403 are suspended in the air.
Be arranged in an embodiment not shown, parking robot not only include one or more extensible wheels andAnd the wheel and, for example, optionally further comprising one or more scroll wheels that can be routed up including one or more.
Fig. 6 shows the flow chart of the method for running parking robot according to a kind of embodiment.The method packetInclude following steps:
601 regulating devices are so controlled by control device, so that the regulating device is loading transportation surface with motor vehicleThe height by transportation surface relative to tread is displaced in transporting position from loading position later, in the loading position,Through motor vehicle should be transported in the transporting position with motor vehicle load transportation surface, wherein transporting position is located at loading positionOn, so that transportation surface is bigger in the loading position compared with the height of tread is in the transporting position.
Fig. 7 shows the parking lot 701 for motor vehicle.
Parking lot 701 includes that entrance 703 and outlet 705 and multiple parking stalls 707, motor vehicle can be parked in described moreOn a parking stall.
Parking lot 701 includes the parking robot 709 according to another embodiment.For the sake of simplicity, for the machine that stopsPeople 709 only describes a quadrangle.
In short, the present invention especially and is furthermore based on following scheme, i.e., improved after loading transportation surface with motor vehicleSpacing between the transportation surface and ground or tread of parking robot.