Note : Les descriptions sont présentées dans la langue officielle dans laquelle elles ont été soumises.
CA 02859036 2016-02-03
AUTOMATED PARKING GARAGE/SELF-STORAGE APPARATUS
10 BACKGROUND OF THE INVENTION
1. Field of the Invention. The invention relates to an automated
parking garage, trays for supporting passenger vehicles in an automated
parking garage, automated guided vehicles for moving the trays with or
without the passenger vehicles thereon and a method for operating such
a garage. The invention also relates to an automated self-storage facility,
a combination of parking and self-storage facility, a storage container
carried by an automated guided vehicle for self-storage and a method for
operating such a facility.
2. Description of the Related Art. Urban areas throughout the
world continue to grow in size and population density, and the number of
vehicles in an urban area varies directly with the population size and
density. As a result, parking availability is a major problem in most urban
areas.
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Vehicle lift devices have been used in parking lots for decades to
increase the number of vehicles that can be parked in a given area. More
particularly, a vehicle lift device has one or more platforms that can
receive a vehicle. The lift device then elevates the vehicle on the platform
so that at least one additional vehicle can be parked under the platform.
Vehicle lift devices that can park four or more vehicles in a vertical array
are fairly common. Lift devices of this general type are available from Park
Plus, Inc. and are disclosed in the patent literature. Parking lots that rely
upon vehicle lift devices require considerable room for the vehicle owner
and/or the parking lot operator to maneuver vehicles from the entrance of
the facility to the appropriate vehicle lift device. Most parking lots and
parking garages that rely upon this technology do not have automated
systems for locating the vehicle or for organizing the stacked arrangement
of vehicles. As a result, a significant amount of maneuvering is required to
park or retrieve a vehicle. These parking systems tend to be very labor
intensive and create the potential for minor accidents as the vehicles are
being maneuvered.
Parking garages can extend several stories high, and therefore
permit a larger number of vehicles to be parked with in a given geographic
footprint. However, a conventional parking garage requires considerable
space for vehicle maneuvering. The above-described vehicle lift devices
can be employed in a parking garage to increase the number of vehicles
that can be accommodated. However, few parking garages will permit
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more than two vehicles to be stacked vertically on any floor of the parking
garage.
Some parking systems include complex mechanisms to move a
vehicle through an array of X, Y, Z coordinates from an ingress location to
a parking location. These systems subsequently retrieve the parked
vehicle and return the retrieved vehicle to an egress location. Most of
these existing systems use technology that has been available in
automated warehouses for decades. In particular, the typical automated
parking system of this type requires the vehicle to be driven into a carrier
that has a rectangular platform, four corner stanchions extending up from
the respective corners of the platform and horizontal top supports that
connect upper ends of the stanchions. The vehicle is driven onto the
platform of the carrier and the carrier then is moved through a specified
array of X, Y, Z coordinates to a particular parking location. The vehicle
stays with the three-dimensional carrier for the duration of the parking.
The carrier then is moved through a comparable array of X, Y, Z
coordinates when the vehicle is to be retrieved so that the carrier with the
vehicle thereon can be returned to an egress location where the vehicle is
accessed by the driver. Carriers of this type occupy a large volume of
space even when the carrier is not being used. These large carriers
ideally should remain close to the entrance location of the automated
parking facility so that empty carriers can be made available at the entry
location to receive and process an incoming vehicle without a long wait
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time. As a result, the maneuvering of the carriers in a system of this type
can be extremely complicated. Additionally, the mechanical systems that
move the carriers through the X, Y, Z coordinates can be very
complicated and inefficient.
Accordingly, an object of the invention is to provide an automated
parking system that can process vehicles and their carriers in a manner
that offers both time efficiencies and space efficiencies.
Another object of the invention is to provide an automated parking
system that can achieve more efficient maneuvering of vehicles.
SUMMARY OF THE INVENTION
The invention relates to an automated parking system with a
parking structure or location that has at least one level, and typically
plural
levels or floors. The parking structure has at least one bay for ingress
and/or egress of vehicles. At least one vertically reciprocating conveyor
(VRC) is provided for moving vehicles between the access point and a
parking floor in the parking structure. The system also includes a plurality
of stackable trays, each of which can accommodate a vehicle thereon.
The system further includes at least one automated guided vehicle (AGV)
that can transport at least one tray within the parking structure with or
without a vehicle thereon.
The parking structure preferably has at least one ingress bay and
at least one egress bay spaced from the ingress bay to ensure efficient
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processing of vehicles into and out of the parking structure. Additionally,
each ingress and egress bay preferably may be provided with a dedicated
VRC for moving to or from a specified floor. Each ingress and egress bay
preferably is configured to permit a vehicle to be driven directly onto or off
of a tray. For example, the trays may be nested a magazine disposed in a
recess at the ingress or egress location so that the top of the uppermost
tray is flush with driving surfaces adjacent the ingress or egress. The
ingress locations may be configured so that an AGV can drive beneath
the uppermost tray to remove the tray and transport the tray to a parking
location or to a VRC for conveyance to a different level of the parking
facility. Similarly the egress location may be configured so that the AGV
can deliver the tray to the egress location. The ingress and egress
locations may accommodate plural trays and/or tray magazines in a
horizontal array so that plural vehicles can be processed in and/or out of
the parking facility simultaneously. For example, the ingress and/or
egress locations may have plural bays arrayed so that vehicles are
aligned end-to-end and/or side-by-side.
Each ingress bay preferably has one or more sensors, such as
weight sensors or photo-optical sensors for sensing when a vehicle has
been positioned properly on the respective tray. For example, each
ingress location may have photo-optical sensors for sensing the positions
of the front and/or rear ends of the vehicle to confirm that the vehicle has
been positioned properly on the tray for subsequent movement of the
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vehicle with the tray. The sensors may be disposed and configured for
confirming proper positioning of the vehicle both in a longitudinal direction
and in a lateral direction on the tray. The sensors further may have means
for signaling drivers when further movement is needed or when proper
positioning on the tray has been achieved. The ingress bay further can
include means for paying for the parking service and/or means for issuing
a ticket or receipt that can be used when the vehicle is to be retrieved.
Alternatively, a regular parker can have a machine-readable tag
associated with the vehicle and the ingress location can have a reading
apparatus to identify the vehicle by the tag associated with the vehicle.
Communication between the reader and the tag on the vehicle can be
used for payment purposes and or locating the vehicle when the vehicle is
to be retrieved by the vehicle owner. Sensors at the egress bay can be
similar to those at the ingress bay, but generally can be simplified. More
particularly, sensors at the egress bay typically will be required merely to
sense the presence of a loaded tray at the egress location and to sense
the presence of an unloaded tray. The sensors at the egress location will
be operative to ensure that only one loaded tray will be at each particular
egress bay at any one time and to ensure that an unloaded tray is moved
from the egress bay to an ingress bay or a magazine near an ingress bay.
The VRC may be registered vertically (z-axis) with the ingress bay
and/or with the egress bay. Preferably, however, the VRC or VRCs are
offset from the ingress or egress bays in the horizontal x-axis or y-axis
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directions. This latter option, for example, will permit a tray with a vehicle
thereon to be translated horizontally from the ingress bay to a location
where the tray/vehicle combination will be queued for processing onto a
VRC. This option will ensure that vehicles can be processed through the
ingress bay quickly without delays as the tray/vehicle combinations are
waiting for availability of a VRC.
The various floors of the parking structure may be provided with
means for guiding the automated guided vehicles around the particular
floor between the VRC and the respective parking locations. For example,
barcodes, RFID tags, lasers and/or guide wires may be attached to or
embedded in the floor, ceiling, walls, pillars or the like.
Each tray of the parking system preferably is a generally
rectangular structure dimensioned and structurally sufficient to
accommodate a vehicle thereon. Additionally, each tray has a plurality of
legs extending down and flared slightly in or out from the parking surface.
The inward or outward flaring of the legs enables a plurality of the trays to
be stacked in a nested array for storage when not in use. Thus, storage
space near the VRCs and near the ingress and egress bays can be used
in an optimal manner. The legs preferably are short and are intended
merely to enable an automated guided vehicle (AGV) to advance into a
position beneath the parking surface so that the tray can be lifted slightly
and transported throughout the parking structure.
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The automated guided vehicle (AGV) includes a substantially
rectangular frame that defines a generally rectangular interior for storing
the operative components of the AGV. The horizontal length and width
dimensions of the frame are selected in accordance with the dimensions
of the tray, which in turn is selected in accordance with dimensions of
vehicles. More particularly, the length and width dimensions of the AGV
are selected to enable the AGV to advance between the legs of the tray.
The height dimension of the frame and the height dimension of the legs
are selected to enable the AGV to advance between the floor on which
the tray is supported and the lower side of the vehicle supporting surface
of the tray.
Areas of the AGV inward of the frame include an array of batteries
for providing the motive power to the AGV. Charging connections
preferably extend from the batteries to an external location on the frame
of the AGV. Thus, the AGV can be parked in proximity to a charging
station and/or can be connected to a charging station for periodic
recharging of the batteries. The charging can be carried out through a
wired connection or through induction. Areas of the AGV inward of the
frame further include controls that communicate with a central controller of
the automated parking facility for receiving location and route information
from the central controller of the automated parking facility and for guiding
the AGV to the designated location.
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Each AGV includes two raisable platform lifts that can be moved
vertically relative to the horizontal plane defined by the frame of the AGV.
The platform lifts preferably are disposed at opposite ends of the AGV or
at all four corners of the AGV. The platform lifts are connected operatively
to the control of the AGV and move between a retracted position and an
extended position when the AGV is determined to have been positioned
properly under a corresponding tray for lifting the tray. This relative
positioning of the AGV and the corresponding tray can be determined by
sensors provided on the AGV and/or on the tray.
Each AGV further includes a plurality of drive devices
communicating with the control of the AGV and operative to drive the
AGV to locations dictated by the control of the AGV and/or the control of
the parking system. The preferred AGV includes four drive devices
located respectively near the corners of the AGV. For example, the
above-described platform lifts may be at the extreme opposite ends of the
AGV and the drive devices may be inwardly of the platform lifts. Each
drive device preferably includes two wheels mounted on a common axle
or on two collinear axles. The rotational axes of the wheels all lie in a
common plane that is parallel to the plane defined by the frame of the
AGV and parallel to the horizontal surface on which the AGV is supported.
Each wheel of each drive device preferably is driven by its own motor.
The wheels and the corresponding motors of each drive device are
mounted to a turntable that is rotatable about a vertical axis. The turntable
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of each drive device can be operated by the motors that drive the wheels.
Rotation of the turntable causes rotation of the wheel/motor assembly
about a vertical axis for steering the AGV. The wheels permanently
extend below the lower surface of the frame of the AGV so that the
wheels always carry the weight of the AGV.
The controller is operative to issue control instructions to the drive
devices for operating the respective drive devices independently of one
another, and in certain instances for operating the respective wheels of
each drive device independently. As a result, steering of the respective
drive devices is carried out pursuant to instructions from the controller by
rotating one or more of the turntables and driving selected wheels in
accordance with the required direction of travel.
The parking system of the invention operates by using the AGV to
transport empty trays from the egress bay either to the ingress bay or to a
storage magazine near the ingress bay. The empty tray may be deposited
in a recess in the ingress bay or the egress bay so that the top parking
surface of the tray is substantially flush with the approach surface for a
vehicle entering the ingress bay or the exit surface for the vehicle leaving
the egress bay. An approaching vehicle is guided by electro-optical
signage and/or by audio instructions so that the vehicle can be positioned
properly on the tray. The positioning of the vehicle on the tray is assessed
by photo-optical sensors in the ingress bay and signage that will guide the
driver of the vehicle to a proper stop position at which the vehicle is
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supported properly on the tray. The driver will exit the vehicle and may
receive a receipt that can be used to reclaim the vehicle. The receipt can
be a paper or cardboard receipt or an electronic receipt that can be
loaded electronically onto a cell phone or other electronic device.
Alternatively, the driver can use a credit card and a regular parker may
merely use an assigned PIN. The sensors in the ingress bay may be
operative for determining when the driver and any passengers have
departed the vehicle and the ingress bay. The sensors also may
determine the condition of the vehicle so that pre-existing damage can be
documented. The tray with the vehicle thereon then is prepared for
transport to the VRC. This preparation can include elevating the
tray/vehicle combination sufficiently for engagement by an AGV that will
transport the tray/vehicle combination to an VRC. Alternatively, the
tray/vehicle combination can be advanced to the elevator by a horizontal
conveyor system. Preferably, however, the AGV driving surface in the
parking structure may be at the same level as the surfaces in the ingress
and egress bays that support the trays. Thus, the AGV merely drives
under the trays, lifts the tray and the vehicle thereon with the platform
lifts
and then transports the tray/vehicle combination from the egress bay
toward the VRC. The parking structure can include a queue area between
the ingress bay and the VRC for storing the tray/vehicle combinations
while waiting for an elevator to become available.
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The tray/vehicle combinations are loaded onto a VRC either by the
conveyor system or by an AGV, which the leave the VRC with the tray
and the vehicle therein. The VRC then transports the tray/vehicle
combination to a selected floor for storing the vehicle. The floor and the
storage location are selected and stored by the central controller of the
parking facility. The location may be selected based on an intended
parking duration or pickup time designated by the driver at the ingress
bay. Once at the proper floor, an AGV will move between the legs of the
tray and into a position for supporting the tray and the vehicle thereon.
The platform lifts of the AGV then will activate to lift the tray sufficiently
for
the weight of the tray and vehicle to be supported by the AGV with the
legs of the tray at a slight distance from the floor. The control unit of the
AGV then will control the drive devices to move the AGV with the
tray/vehicle combination thereon to the selected location on the floor of
the parking structure. In this regard, the motors of the respective drive
devices can be operated in accordance with independent instructions
received from the control device on the AGV so that the wheels can be
powered independently for guiding the AGV along an appropriate route to
the selected parking location. Once at the selected parking location, the
platform lifts of the AGV will lower the tray sufficiently for the legs of the
tray to be supported on the floor. The AGV then will depart from the
tray/vehicle combination and will proceed back to the VRC to await the
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next arriving tray/vehicle combination. Alternatively, the AGV may travel to
retrieve a vehicle that must be delivered to the egress bay.
The above described process for parking a vehicle is substantially
reversed for retrieving the vehicle. More particularly, an AGV will be
dispatched
to the vehicle location and move between the legs and under the tray. The
platform lifts of the AGV will activate to raise the tray sufficiently for the
legs to
be spaced slightly from the floor. The AGV then will transport the
tray/vehicle
combination back to the VRC so that the vehicle can be transported to the
egress bay for pickup by the driver.
In a broad aspect, moreover, the present invention provides an
automated guided vehicle for use with a tray having a parking platform capable
of supporting a vehicle thereon, the automated guided vehicle comprising: a
frame having opposite top and bottom surfaces; a plurality of tray support
platforms mounted to the frame for movement along a moving direction
between an extended position where the tray support platforms are raised
above the top surface of the frame and a retracted position where the tray
support platforms are lower than in the extended position; a plurality of
platform
lifts mounted to the frame and operative for moving the tray support platforms
between the extended position and the retracted position; a plurality of drive
devices mounted to the frame, each drive device including: a turntable
rotatable
about a rotational axis substantially parallel to the moving direction of the
tray
support platforms, a plurality of wheels mounted to the turntable and
rotatable
about axes substantially perpendicular to the rotational axis of the
turntable, the
wheels projecting below the bottom surface of the frame, a plurality of
dedicated
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drive motors mounted on the turntable of each of the drive devices and
disposed
so that each of the wheels has one of the drive motors and so that the wheels
and the drive motors of each drive device rotate with the turntable, each of
the
drive motors being independently operable and being selectively reversibly
operable; and a controller for controlling rotational directions of the
respective
wheels and controlling operation of the platform lifts.
In another broad aspect, the present invention provides a vehicle
moving assembly for moving parked vehicles in a parking facility, the assembly
comprising: at least one tray having a parking platform for supporting a
vehicle
thereon and a plurality of legs projecting from the parking platform for
keeping
the parking platform in an elevated position on a supporting surface of the
parking facility; at least one automated guiding device having a frame
dimensioned for fitting between the legs of the tray, a plurality of drive
devices
mounted to the frame, each drive device including: a turntable rotatable about
a rotational axis substantially perpendicular to the supporting surface, a
plurality
of wheels mounted to the turntable and rotatable about axes substantially
parallel to the supporting surface, the wheels projecting below a bottom
surface
of the frame, the frame and the wheels being dimensioned so that the
automated guiding device can move beneath the parking platform of the tray, a
plurality of dedicated drive motors mounted on the turntable of each of the
drive
devices and disposed so that each of the wheels has one of the drive motors
and so that the drive motors rotate the respective wheels, each of the drive
motors being independently operable and being selectively reversibly operable
for selectively moving the automated guided vehicle and rotating the
respective
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turntable, and a plurality of tray support platforms mounted to the frame for
movement between a retracted position and an extended position where the
tray support platforms are raised above a top surface of the frame and a
plurality
of platform lifts mounted to the frame and operative for moving the tray
support
platforms between the extended position and the retracted position for
selectively lowering and raising the tray with the vehicle supported thereon.
In another broad aspect, the present invention provides a parking
system comprising: a parking facility having at least one access location and
a
plurality of vehicle parking locations; a plurality of trays, each of the
trays having
a parking platform for supporting a vehicle thereon and a plurality of legs
projecting from the parking platform for keeping the parking platform in an
elevated position on a supporting surface of the parking facility; a plurality
of
automated guided vehicles, each of the automated guided vehicles having a
frame dimensioned for fitting between the legs of the tray, a plurality of
drive
devices mounted to the frame, each drive device including: a turntable
rotatable
about a rotational axis substantially perpendicular to the supporting surface,
a
plurality of wheels mounted to the turntable and rotatable about axes
substantially parallel to the supporting surface, the wheels projecting below
a
bottom surface of the frame, the frame and the wheels being dimensioned so
that the automated guiding device can move beneath the parking platform of
the tray, a plurality of dedicated drive motors mounted on the turntable of
each
of the drive devices and disposed so that each of the wheels has one of the
drive motors and so that the drive motors rotate the respective wheels, each
of
the drive motors being independently operable and being selectively reversibly
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operable for selectively moving the automated guided vehicle and rotating the
respective turntable, and a plurality of tray support platforms mounted to the
frame for movement between a retracted position and an extended position
where the tray support platforms are raised above a top surface of the frame
and a plurality of platform lifts mounted to the frame and operative for
moving
the tray support platforms between the extended position and the retracted
position for selectively lowering and raising the tray with the vehicle
supported
thereon.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a front elevation view of a parking structure that includes the
system of the subject invention.
FIG. 2 is a cross-sectional view taken along line 2-2 of FIG. 1.
FIG. 3 is a cross-sectional view taken along line 3-3 of FIG. 2.
FIG. 4 is a cross-sectional view taken along line 4-4 of FIG. 2.
FIG. 5 is a perspective view of a tray in accordance with the invention.
FIG. 6 is a side elevational view of the tray.
FIG. 7 is a bottom perspective view of an automated guided vehicle in
accordance with the invention.
FIG. 8 is a bottom plan view of the automated guided vehicle.
FIG. 9 is a cross-sectional view taken along line 9-9 in FIG. 8.
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FIG. 10 is a cross-sectional view taken along line 10-10 in FIG. 8.
FIG. 11 is a perspective view of a drive device for the automated
guided vehicle.
FIG. 12 is a top plan view of the drive device.
FIG. 13 is a bottom plan view of the drive device.
FIG. 14 is a side elevational view of the drive device.
FIG. 15 is a perspective view of a tray magazine loaded with trays.
FIG. 16 is a side elevational view of the frame, lifting device, and
second retracting/extracting device of the tray magazine.
FIG. 17 is an end elevational view of the frame, locking device, and
first retracting/extracting device of the tray magazine.
FIG. 18 is a perspective view of the lifting device.
FIG. 19 is a bottom plan view of the lifting device.
FIG. 20 is a top plan view of a plurality of access points aligned
end-to-end.
FIG. 21 is a top plan view of a plurality of access points aligned
side-by-side.
FIG. 22 is a top plan view of a plurality of two rows of aligned
access points.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
A parking garage in accordance with the invention is identified
generally by the numeral 10 in FIGS. 1 and 2. The parking garage 10
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includes an ingress bay 12 and an egress bay 14, each of which is
dimensioned to receive an automotive vehicle. At least one vertical
reciprocating conveyor (VRC) 16 is disposed in proximity to the ingress
and egress bays 12 and 14. Additionally, a queue area 18 is disposed
between the ingress bay 12 and the VRC 16 to accommodate vehicles
that are waiting for the VRC 16 to become available. Automated doors
preferably are provided between the queue area 18 and in the ingress
and egress bays 12 and 14 to prevent customers from accessing the
queue area 18. The doors to the queue area 18 will be open only after the
customer has left the ingress or egress bays 12 and 14. The parking
garage 10 further includes a plurality of floors that can be accessed by the
VRC 16. Each floor includes a plurality of areas where vehicles can be
parked.
The parking system of the invention utilizes a plurality of trays 24.
Each tray 24 includes a substantially rectangular parking platform 26 with
a top surface 28 for supporting a vehicle thereon and a bottom surface 29.
Legs 30 project down from the parking platform 26 for supporting the
parking platform 26 in a spaced position from the floor. The legs 30 may
flare outward or inward slightly so that a plurality of parking trays 24 can
be nested vertically for storage and transportation.
The ingress and egress bays 12 and 14 each include a recessed
floor 20 dimensioned to receive one of the trays 24 or a magazine of trays
25, as explained further below. The recessed floor 20 is lower than the
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floor 21 at other locations in the ingress or egress bays 12 or 14 by a
distance substantially corresponding to the height of the tray 24 or a
height of the magazine. Thus, the top surface 28 of the parking platform
26 will be substantially flush with the floor 21 adjacent the recessed floor
20 when the tray 24 is positioned on the recessed floor 20 in the ingress
or egress bay 12 or 14, as shown in FIGS. 3 and 4. As a result, a vehicle
that enters the ingress bay 12 can drive across the floor 21 and onto the
upper surface 28 of the parking platform 26 of the tray 24. Similarly a
vehicle on a tray 24 in the egress bay 14 can drive from the upper surface
28 of the parking platform 26 of the tray 24 onto the floor 21 of the egress
bay 14 and out of the parking garage 10. The floor in the queuing area 18
is substantially flush with the floor in the recess 20 as shown most clearly
in FIG. 3. At least one movable platform 31 is provided in proximity to the
recessed floor 20 in the ingress bays 12 and the egress bay 14 and can
be moved between first and second positions. The upper surface of the
movable platform 31 is flush with the floor 21 and flush with the upper
surface 28 of the parking platform 26 of the tray 24 when the movable
platform 31 is in the first position so that a passenger easily can exit or
enter the vehicle in the ingress bay 12 or the egress bay 14 by walking
across the movable platform 31. The upper surface of the movable
platform 31 is displaced sufficiently in the second position so that the
space under the tray 24 can be accessed for lifting and moving the tray
24, as explained further herein. The movement of the platform 31
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between the first and second positions can be vertical, horizontal or a
combination of vertical and horizontal movements.
The parking system of the invention also includes automated
guided vehicles (AGV) 32 for transporting the trays 24 throughout the
parking garage 10 with or without vehicles thereon. Each AGV 32
includes a substantially rectangular frame 34 that includes an interior 36
for accommodating the operative parts of the AGV 32. More particularly,
the interior 36 of the frame 34 includes an array of rechargeable batteries
38 for providing power to operate the AGV 32. The batteries 38
communicate with one or more recharging connectors 40 in a peripheral
region of the frame 34. Additionally, the interior of the frame 34 includes a
controller 42 for controlling the various operative parts of the AGV 32 as
explained herein. The controller 42 further communicates with a central
control for the parking garage 10.
The AGV 32 further includes four platform lifts 44 disposed within
the interior 36 of the frame 34. More particularly, two platform lifts 44 are
disposed in proximity to each of the respective longitudinal ends of the
AGV 32. The two platform lifts 44 at each end of the AGV 32 are
connected to a tray support platform 46 that can be raised or lowered
relative to the frame 34. At the lowered or retracted position, the tray
support platforms 46 are substantially flush with the upper surface of the
frame 34. In the raised or extended position, the tray support platforms 46
project slightly above the upper surface of the frame 34. The platform lifts
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44 and the respective tray support platforms 46 are used to raise and
lower the trays 24 with or without vehicles thereon as explained herein.
The AGV 32 further includes four drive devices 50 disposed at
corners of a rectangle and disposed inwardly of the elevator mechanisms
44. Each drive device 50 includes two wheels 52 mounted for rotation
about a horizontal axis 54. The two wheels 52 of each drive device 50 are
driven respectively by two drive motors 56 so that each wheel 52 has a
dedicated drive motor 56. The assembly of wheels 52 and drive motors 56
on each drive device 50 is mounted to a turntable 60 so that the assembly
of wheels 52 and drive motors 56 on each of the drive devices 50 can be
rotated about a vertical axis. The turntable 60 freely rotatable about a
vertical axis and is driven rotatably by the wheels 52 and their respective
drive motors 56. The drive motors 56 are operated independently
pursuant to signals received from the controller 42 of the respective AGV
32, which in turn is driven by controls of the parking garage.
The longitudinal and lateral dimensions of each AGV 32 enable the
AGV 32 to fit between the legs 30 of a tray 24. Additionally, the height
dimensions of each AGV 32 enable the AGV 32 to fit beneath the parking
platform 26 of the tray 24 when the tray is supported on the legs 30.
In use, a tray 24 will be positioned on the recessed floor 20 in the
ingress bay 12 of the parking garage 10 at a position so that a vehicle can
drive across the floor 21 of the ingress bay 12 and onto the parking
surface 28 of the parking platform 26 of the tray 24. Electro-optical
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signage in the ingress bay 12 will guide the driver of the vehicle to a
proper position on the tray 24. The driver then will exit the vehicle and
issue appropriate instructions regarding parking duration and payment
method. The instructions may be delivered verbally to an employee of the
parking garage 10 or may be delivered electronically, as explained above.
The movable platform 31 will move to the second position after the driver
and any passengers exit the ingress bay 12. An AGV 32 then will move
from the queue area 18 and into the space beneath the parking platform
26 of the tray 24 so that the tray 24 and the vehicle thereon can be raised
and moved to the queue area 18 and/or the VRC 16. This process can be
carried out in reverse at the egress bay 14. More particularly, an AGV 32
can deliver a tray 24 and the vehicle thereon onto the recessed floor 20 in
the egress bay 14. The AGV 32 then will exit the egress bay 14 and return
to the queue area 18. The movable platform 31 then will move from the
second position to the first position where the upper surface of the
movable platform 31 is flush with the floor 21 in the egress bay 14. The
driver and any passengers then will be permitted to enter the egress bay
14 so that the vehicle can exit the parking garage 10.
The tray 24 with the vehicle thereon then will be transported to the
VRC 16. This transportation between the ingress bay 12 and the VRC 16
can be carried out by any of several optional means. Preferably, an AGV
32 will move beneath the tray 24. The platform lifts 44 of the AGV 32 then
will be moved into their extended positions so that the tray 24 with the
19
CA 02859036 2014-06-11
Park Plus 13 PCT
vehicle thereon is elevated slightly from the floor 20 so that the AGV 32
can transport the tray 24 and the vehicle thereon to the VRC 16.
Alternatively, a conveying mechanism can move the vehicle from the
ingress bay 12 to the VRC 16.
The VRC 16 will move the tray 24 with the vehicle thereon to a
selected floor in the garage 10 for parking. An AGV 32 then will transport
the tray 24 and the vehicle to a preselected parking location. More
particularly, the AGV 32 will move between the legs 30 of the tray 24 and
into a position for properly supporting the tray 24. This accurate
positioning can be determined by sensors on the AGV 32 and/or on the
tray 24. The proper positioning of the AGV 32 relative to the tray 24 will be
transmitted to the controller 42 of the AGV 32, which will generate a signal
to operate the platform lifts 44 of the AGV 32. The platform lifts 44 will
cause the tray support platforms 46 to move into the extended position so
that the tray 24 with the vehicle thereon is lifted sufficiently for the legs
30
of the tray 24 to be spaced from the floor. The controller 42 of the AGV 32
then will issue appropriate signals for operating the drive devices 50 of the
AGV 32. More particularly, the control of the AGV 32 will cause the drive
motors 56 to drive the wheels 52 so that the AGV 32 delivers the tray 24
and the vehicle thereon to an appropriate pre-designated parking location.
In this regard, the drive motors 56 all can be operated independently of
one another pursuant to instructions received from the controller 42. In
some instances, the motors 56 on a single drive device 50 will be
CA 02859036 2014-06-11
Park Plus 13 PCT
operated in opposite directions for turning the turntable 60 to steer the
AGV 32 in the required direction.
Once at the designated parking location, the controller 42 of the
AGV 32 will issue instructions to the respective plafform lets 44 to retract
the tray support platforms 46 sufficiently for the legs 30 of the tray 24 to
rest on the floor. The controller 42 of the AGV 32 then will operate the
drive motors 56 to move the AGV 32 away from the tray 24. The AGV 32
then will be directed to another location for performing more work, such as
returning another tray 24 and the vehicle thereon to the appropriate VRC
16 to have the vehicle delivered to the egress bay 14.
FIGS. 15-19 illustrate embodiments of the parking garage 10 that
employ tray magazines 25 at the ingress bay 12 and/or at the egress bay
14. Each tray magazine 25 is configured to accommodate a vertical array
of trays 24 and is operative to sequentially move at least the uppermost
tray 24 into a position where the upper parking surface 28 of the parking
platform 26 of the uppermost tray 24 is substantially flush with the surface
of the floor 21 surrounding the recess in which the tray magazine 25 is
disposed. The tray magazine 25 includes four vertical supports 121
disposed respectively at positions corresponding to the corners of the
vertical array of trays 24 to define a frame. Each vertical support 121
effectively defines a channel or rail. Tray lifting carriages 122 are mounted
in or to each vertical support 121 for vertical movement in response to the
driving forces generated by lifting devices 124. The respective lifting
21
CA 02859036 2014-06-11
Park Plus 13 PCT
devices 124 in the illustrated embodiment are hydraulic or pneumatic
assemblies of a piston 125 and a cylinder 126. The end of the piston 125
remote from the cylinder 124 is connected to a chain, cable or other such
force delivering mechanism that has an end connected to one or more of
the tray lifting carriages 122. Hydraulic or pneumatic forces are provided
pursuant to controls delivered by the control system of the parking garage
for selectively moving the piston 125 into or out of the cylinder 126,
thereby raising or lowering the tray lifting carriages 122 along the vertical
supports 121. Of course, other lifting devices 124 can be provided
10 including lifting devices relying entirely upon rack and pinion
arrangements or other electrical, mechanical, hydraulic or pneumatic drive
devices. Position sensors 127 are mounted on the vertical supports 121
for sensing the positions of the tray lifting carriages 122, and hence
indicating the positions of the trays 24 thereon relative to the floor 21 of
the ingress bay 12 or the egress bay 14. In one embodiment, the position
sensor 127 is an absolute encoder placed on the lifting device 124, the
encoder can measure the position of the lifting tab 130, which indicates
whether the tray 24 has reached its designated position Movement of the
tray lifting carriages 122 along the vertical supports 121 is guided by
rollers 128. The lifting carriages 122 have lifting tabs 130 and locking tabs
132 that are movable relative to the tray lifting carriage 122. The lifting
tabs 130 are moved relative to the respective tray lifting carriages 122 and
into a position for engaging lower surface areas of the parking platform 26
22
CA 02859036 2014-06-11
Park Plus 13 PCT
of at least the uppermost tray 24 in the tray magazine 25, thereby
enabling the tray lifting carriage 122 to lift or lower the uppermost tray 24
relative to the second highest tray 24 as the tray lifting carriage 122
moves along the vertical support 121.
The uppermost tray 24 is moved sufficiently in the upward direction
to enable an AGV 32 to drive between the uppermost tray 24 and the
second highest tray 24. The tray lifting carriages 122 then lift at least the
two highest trays 24 sufficiently so that the upper surface 28 of the
parking platform 26 of the uppermost tray 24 is substantially flush with the
floor 21 of the ingress bay 12. The locking tabs 132 then are moved into
positions for locking the tray lifting carriages 122 relative to the vertical
supports 121. As a result, a vehicle can enter the ingress bay 12 by
driving across the floor 21 and onto the upper surface 28 of the parking
platform 26 of the uppermost tray 24. The driver and any passengers then
exit the vehicle in the same manner as with the embodiment of the
parking garage 10 that does not employ tray magazines 25. The movable
platform 31 moves to the second position after the driver and passengers
exit the ingress bay 12. The AGV 32 then will move across the recessed
floor that became accessible by the movement of the platform 31 to the
second position. More particularly, the AGV 32 will move onto the upper
surface 28 of the parking platform 26 of the second highest tray 24 and
beneath the parking platform 26 of the uppermost tray 24 on which the
vehicle is parked. The AGV 32 then will raise the uppermost tray 24 and
23
CA 02859036 2014-06-11
Park Plus 13 PCT
the vehicle thereon and will remove the tray 24 and the associated vehicle
from the ingress bay 12 and to the queue area 18 and/or the VRC 16 for
movement to a designated parking space.
FIGS 20-22 show alternate ingress bays or egress bays for
processing vehicles more efficiently into and out of the parking garage 10.
More particularly, FIG. 20 shows a bay 112 that can accommodate a
plurality of trays 24 and vehicles thereon with the vehicles in end-to-into
relationship. The vehicles will enter the bay 112 in the direction indicated
by arrow A. The AGVs 32 will enter and leave the bay 112 in either
direction indicated by the arrows B, which are substantially perpendicular
to the ingress direction A for the vehicles. Movable parking platforms 31
are provided and can move between first and second positions as
described above. Each of the tray locations in the bay 112 can
accommodate a single tray 24 or a tray magazine 25 having a vertical
array of stacked trays 24. FIG. 21 shows a bay 212 having a plurality of
tray locations so that the vehicles on the respective trays 24 are arranged
side-by-side. Vehicles enter the bay 212 and drive onto a vacant tray 24
in the direction indicated by the arrow A. AGVs 32 will enter and leave the
bay 212 in either direction indicated by the arrow B. FIG 22 shows a bay
312 that is similar to the bay 112 shown in FIG. 20, but has two rows of
tray locations for accommodating two side-by-side rows of vehicles. The
vehicles in each row will be arranged end-to-end, while the vehicles in
one row will be arranged side-by-side with the vehicles in the other row.
24
CA 02859036 2014-06-11
Park Plus 13 PCT
Once again, the vehicles will enter the bay 312 in the direction indicated
by the arrow A, while the AGVs 32 will enter and leave the bays 312 in the
directions indicated by the arrows B.
The invention has been described with respect to certain preferred
embodiments. However, other changes within the scope of the invention
will be apparent to those skilled in the art after having read this
description
of the preferred embodiments and the accompanying drawings. For
example, the tray magazines can take other embodiments. In this regard,
it may be unnecessary to move the uppermost tray 24 relative to the
second highest tray if the standard vertical stacking distance of the trays
24 permits the AGV to move between two vertically adjacent trays.
Alternatively, the uppermost tray 24 can be moved relative to the second
highest tray 24 to achieve the required vertical spacing to accommodate
an AGV 32 between the two uppermost trays 24 and then the entire
vertical array can be moved while maintaining this fixed positioned
between the two uppermost trays to achieve the proper elevation of the
uppermost tray 24.
The stacked bays shown in FIGS. 20-22 need not have the same
arrangement at both the ingress and the egress to the parking garage 10.
Additionally, the direction of movement of the AGV need not be
perpendicular to the direction of movement of the vehicle into or out of the
bay. For example, in the bay 212, the vehicle may enter or exit the bay
CA 02859036 2014-06-11
Park Plus 13 PCT
212 in the direction A, while the AGV 32 will enter the bay 212 in the
direction A, but from the opposite end of the bay.
26
