EP3999699A1

EP3999699A1 - Conveying device for moving vehicles, and robot system comprising such a device

Info

Publication number: EP3999699A1
Application number: EP20753788.7A
Authority: EP
Inventors: José IRIARTE
Original assignee: Stradot Par Actions Simplifiee A Associe Unique Et Capital Variable Ste
Current assignee: Stradot Par Actions Simplifiee A Associe Unique Et Capital Variable Ste
Priority date: 2019-07-18
Filing date: 2020-07-20
Publication date: 2022-05-25
Also published as: US20230258016A1; FR3098835B1; CN114174615A; WO2021009420A1; FR3098835A1; FR3098836A1

Abstract

A conveying device (3; 3a;...; 3i) for moving and parking vehicles (2), the conveying device (3) being movable and comprising at least one vehicle gripping means (8) configured to be movable between a gripping position wherein the gripping means (8) extends at least partially below the vehicle (2), and a release position wherein the gripping means (8) does not extend below the vehicle (2), the gripping means (8) being configured to support the weight of the vehicle (2), the device being characterised in that it comprises at least one computer which is associated with sensors (8d) and configured to control the movement of the conveying device (3; 3a;...; 3i) and the gripping means (8). The invention also relates to a robot system and a corresponding program.

Description

Conveyor device for moving vehicles, and robotic system comprising such a device

The invention relates to the field of managing the parking of vehicles, in particular of motor vehicles such as cars. The invention relates more particularly to a conveyor device for moving and parking vehicles, allowing an increase in the number of parked vehicles per unit area, as well as an increase in the speed of parking operations.

In particular, but not exclusively, the present invention is intended for the automatic or semi-automatic parking of motor vehicles.

In this field, users conventionally arrive in a vehicle parking area with several parking spaces. The user or a driver must then drive through the entire parking area until they find a parking space.

This classic solution does not give full satisfaction because it consumes time and generates fatigue for the driver. In addition, it requires access routes at ground level, defined in advance or created transiently during operations of parking or retrieving a vehicle in a compact car park.

This need for access roads implies a reduction in the effective speed of parking operations because several movements or intermediate maneuvers of vehicles are generally necessary to place or search for a specific vehicle in a compact parking lot.

In addition, this implies a reduction in the number of parking spaces available, or in the average density of the parking lot in view of the surface required by the access roads and / or the areas of intermediate maneuvers.

These drawbacks have made so-called automatic or robotic parking systems not very applicable for parking lots with high demand during rush hour, as is the case for businesses, park and ride facilities, and shopping centers. Moreover, it is preferable for such a system to be mobile in order to be able to be used on existing parking areas, which has not been the major axis of development in this field. The American patent US Pat. No. 2,904,200 proposes a device for moving and parking which is of certain interest, however, this device is not fully satisfactory. Indeed, this device comprises four columns associated with four longitudinal and transverse uprights which are fixed in the high position above the vehicle to be moved, and two longitudinal uprights which are in the low position below the chassis of the vehicle to be carried. This device comprises vertical rails between the low longitudinal uprights and high longitudinal uprights. Levers can slide in the rails to lift the vehicle, and lifting is done by winding a cable.

Unfortunately, the traction system of this vehicle requires physical grooves or guides on the ground, which represents a higher investment cost and low flexibility if one wishes to change the configuration of the parking lot.

In addition, this device allows vehicles to step over only in the longitudinal direction and its movement requires wheels which are specific to the grooves on the ground.

In addition, the device of US patent US 2,904,200 can only be operated manually and slowly, which reduces its effectiveness.

Thus, a first objective of the invention is to provide a more easily manageable device for moving vehicles in a parking area while limiting the adaptations of the parking area.

A second objective is to provide a better traction system and optimize the movement of the conveyor device compared to the prior art.

A third objective is to provide better vehicle pick-up means compared to the prior art.

To achieve these objectives, the invention provides a conveyor device for moving and parking a vehicle, the conveyor device being mobile and comprising at least one vehicle gripping means configured to be movable between a gripping position in which said gripping means extends at least partially below the vehicle, and a release position in which said engagement means does not extend below the vehicle, said engagement means being configured to support the weight of the vehicle, characterized in that it comprises at least one computer associated with sensors, configured to control the movement of the conveyor device as well as said gripping means.

Advantageously, this arrangement makes it possible to produce a robotic device controlled by the computer.

According to one aspect, the conveyor device comprises at least one column, and at least one longitudinal upright connected to said column, said longitudinal upright being equipped with said gripping means, said computer being further configured to control said longitudinal upright.

In particular, said longitudinal upright is movable between a low position in which said longitudinal upright makes it possible to dispose said gripping means below the vehicle, and a high position in which said longitudinal upright is disposed above the height of the vehicle.

Advantageously, the transporter device does not require a fixed upright in the low position, which makes it possible to have room laterally at the bottom and to be able to step over vehicles on the side of the longitudinal upright. The transporter device is easy to handle because it allows you to step over vehicles sideways to pick up another vehicle. In addition, the device does not require significant modifications to the parking area to be functional.

According to other aspects taken in isolation, or combined in any technically feasible combination:

the transporter device comprises a traction system associated with multidirectional wheels, controlled by said computer; and or

- the columns and / or uprights are adjustable in size; and or

the conveyor device further comprises at least one fixed upright carrying one or more of said movable uprights; and or

- Said gripping means comprises independent articulated arms; and or

- Said gripping means can vary its position along said longitudinal upright; and or

- Said gripping means is configured to achieve a vehicle grip by the chassis, by the running bands or by a carrying platform; and or - The transporter device comprises a lifting system and the lifting system comprises pivoting structures fixed to at least one upright; and or

- The transporter device comprises a lifting system and the lifting system comprises telescopic structures; and or

the conveyor device comprises a lifting system and the lifting system comprises lifting chains, jacks, ball screws and / or rack and pinion, and is associated with movable upright guides preferably arranged in the columns; and or

- the lifting system is integrated into the upright and the guides are integrated into the columns; and or

the conveyor device comprises a preferably robotic handling / inspection arm; and or

the conveyor device is characterized by a centrally symmetrical structure, in particular for one or more of said gripping means, said upright, said column, said traction system, and / or said lifting system; and or

the conveyor device comprises reception and / or transmission antennas arranged in diagonal extremes of the conveyor device.

The invention further relates to a system for moving and parking a vehicle, comprising at least two transport devices according to the invention, controlled in tandem.

Another object of the invention relates to a method of moving and parking a vehicle, comprising steps of picking up, moving and parking the vehicle by means of at least one transporter device according to the invention, or a movement system. and parking according to the invention.

In particular, the method is carried out by means of a movement and parking system according to the invention, for at least one stuck vehicle whose access is blocked by at least one cornering vehicle, and the method comprises steps for taking into account loads said stuck vehicle, take charge of said stuck vehicle, move said stuck vehicle, move said stuck vehicle, relocate said stuck vehicle, and put down said stuck vehicle. Preferably, the method is implemented with at least two conveyor devices, and is characterized by steps of controlling said devices in tandem.

The invention further relates to a computer program comprising program code instructions for executing the steps of a method according to the invention or the steps for implementing a conveyor device according to the invention, when said program runs on a computer.

The invention will be further detailed by the description of non-limiting embodiments, and on the basis of the appended figures illustrating variants of the invention, in which:

[Fig.1] schematically illustrates a front view of a conveyor device according to a first preferred embodiment of the invention;

[Fig.2] schematically illustrates a side view of the conveyor device according to the first embodiment;

[Fig.3] schematically illustrates a top view of the conveyor device according to the first embodiment;

[Fig.4] schematically illustrates means for gripping a longitudinal upright of the conveyor device according to the first embodiment;

[Fig.5] schematically illustrates another variant of gripping means;

[Fig.6] schematically illustrates another variant of gripping means;

[Fig.7] schematically illustrates a lifting system of the conveyor device according to the first embodiment;

[Fig.8] schematically illustrates another variant of the lifting system [Fig.9] schematically illustrates the conveyor device according to the first [Fig.10] schematically illustrates the possibilities of pivoting of the conveyor device according to the first embodiment;

[Fig.11] schematically illustrates the operation of multidirectional wheels in a variant of the conveyor device according to the invention;

[Fig.12] schematically illustrates the operation of type wheels

[Fig.13] schematically illustrates a conveyor device according to a second embodiment having a side frame different from that of the first embodiment as well as additional wheels; [Fig.14] schematically illustrates a conveyor device according to a third embodiment having a side frame similar to that of the second embodiment and different from that of the first embodiment, and allowing lifting of the gripping means;

[Fig.15] schematically illustrates a conveyor device according to a fourth embodiment having a side frame different from those of the first three embodiments;

[Fig.16] schematically illustrates a variant of the conveyor device according to the fourth embodiment;

[Fig. 17] schematically illustrates part of another variant of the conveyor device according to the fourth embodiment;

[Fig.18] schematically illustrates a conveyor device according to a fifth embodiment having a side frame different from those of the first four embodiments;

[Fig.19] schematically illustrates a conveyor device according to a sixth embodiment associated with detection means;

[Fig.20] schematically illustrates side views of a conveyor device according to a seventh embodiment having longitudinal uprights adjustable in size;

[Fig.21] schematically illustrates front views of a conveyor device according to an eighth embodiment having transverse uprights adjustable in size;

[Fig.22] schematically illustrates a top view of an alternative variant of the eighth embodiment;

[Fig.23] schematically illustrates a conveyor device according to a ninth embodiment having height adjustable columns;

[Fig.24] schematically illustrates a conveyor device according to a tenth embodiment having two handling / inspection arms;

[Fig. 25] schematically illustrates longitudinal and transverse spans of a conveyor device according to the first embodiment; and

[Fig.26] schematically illustrates a method implementing at least two transport devices according to the invention for a stuck vehicle whose access is blocked by a cornering vehicle. The invention relates to the management of a parking area 1 (or car park) for vehicles 2, in particular motor vehicles such as cars. The invention relates to a transporter device 3 for moving and parking vehicles. The conveyor device is in certain cases a straddle device. The transporter device 3 is mobile on the parking area 1. It is in particular a robotic type device equipped with sensors and / or other environmental sensing devices allowing its movement and for detecting its environment and more. particularly the objects, their relative positions and the edges of the vehicle 2 to be moved. Optical sensors and / or a radar system can be envisaged.

In particular, the transporter device 3 comprises at least one computer and distance sensors, in particular at least one passive optical sensor (camera (s)), at least one active optical type sensor (LIDAR), one radar type sensor and / or acoustic type. Advantageously, this aspect makes it possible to carry out faster and more secure operations, also allowing automated applications.

More particularly, the transporter device 3 comprises at least one computer and a radio frequency positioning device, in particular of the GNSS type (or else an indoor RF positioning device such as for example of the UWB type) allowing the measurement of positions and heading. Advantageously, this allows use in a context of low visibility for the operator and / or perception of the sensors. This can be practical in an outdoor environment.

More particularly, the conveyor device 3e comprises reception and / or transmission antennas 4 for positioning by radio frequency, in particular of the GNSS or UWB type placed in the diagonal extremes of the device. This variant can be illustrated by FIG. 19. Of course, the variants of the figures can be combined in any technically feasible combination. Advantageously, this positioning of antennas allows a maximization of the reception and / or transmission field of the antennas 4, in particular when the vehicle 2 is in a high position. This increases the availability, reliability and accuracy of position measurements. This positioning also maximizes the distance between the two antennas, an aspect which improves heading measurement. According to a variant, in addition to the computer, the transporter device also comprises encoders allowing navigation by odometry. Advantageously, this allows use in a context of low visibility and to improve the accuracy of knowledge of position and heading. A variant can also be envisaged with, in addition, an inertial measurement unit (IMU). It increases the reliability and availability of position and heading knowledge in the event of a transient loss of other sensors sensitive to the environment (in particular RF and optical).

According to a variant, in addition to the computer, the carrier device also includes a wireless communication device (in particular in RF) allowing the command and the bidirectional exchange of remote data. Advantageously, this allows remote manual or automatic piloting or monitoring, the reception of positioning corrections by RF (in particular differential GNSS or RTK).

Furthermore, the carrier device may include at least one communication device allowing in particular the wireless sending of data and commands.

The conveyor device 3 can be fully automatic and controlled by a robot. Alternatively or in combination, the conveyor device can be semi-automatic, that is to say allow a check carried out partially by a human operator. Alternatively or in combination, one can consider fully manual control even if this variant is not preferred.

Now concerning the structure of the conveyor device 3, it preferably has a central symmetry, which makes it possible to facilitate manufacture by producing the same part several times. In particular, the lateral sides consist of two generally identical frames.

The conveyor device 3 comprises columns 5. These are in particular pillars supporting the general structure of the conveyor device 3. More particularly, there are four columns 5 distributed along prism heights, preferably parallelepiped. The columns 5 are configured to extend around the four corners of the vehicle 2 to be moved. The columns 5 are preferably generally identical. In particular, the longitudinal and transverse distances between the columns 5 are greater than those of the vehicle 2 to be transported. This makes it possible to step over The conveyor device 3 comprises at least one longitudinal upright 6 fixed to the columns 5. These are in particular two longitudinal uprights 6 in the lateral position. In the preferred variant, the conveyor device 3 further comprises at least one transverse upright 7, for example two transverse uprights 7. The transverse upright 7 makes it possible to transfer torque as well as a possibility of making actuations. In the preferred embodiments, the longitudinal uprights 6 and the transverse uprights 7 form a rectangular frame in top view.

The longitudinal upright 6 is equipped with at least one vehicle socket 8. In particular, it is a structure configured to take hold of the vehicle 2 to carry and move it. For example, the structure comprises pivotable gripping arms 8a. More particularly, the gripping means 8 is configured to carry out a gripping of the vehicle 2 either by the frame 2a, or by the treads 2b of the wheels of the vehicle 2, or by a carrying platform (not shown) on which the vehicle 2 is arranged. Thus, the gripping means 8 is configured to at least partially support the weight of the vehicle 2 to be carried. In particular, the transporter device 3 comprises several gripping means 8 which together are configured to support the entire weight of the vehicle 2 to be carried.

In addition to the gripping means 8, the corresponding longitudinal upright 6 is also configured to at least partially support the weight of the vehicle 2. In particular, the two longitudinal uprights 6 are configured to together support the entire weight of the vehicle 2 to be carried.

The gripping means 8 is configured to be movable between a gripping position, that is to say deployed, and a release position, that is to say folded up. In the engagement position, the engagement means 8 extends at least partially below the vehicle 2. For example, the engagement arms 8a are pivoted to be disposed below the vehicle. In particular, once in the gripping position, if the gripping means 8 is raised, it allows the motor vehicle 2 to be carried. The gripping position can be illustrated by FIG. 10. In the release position, the gripping means 8 does not extend below the vehicle 2. For example, the gripping arms 8a are pivoted to be disposed at a certain distance from vehicle 2. In particular, once in the release position, if the gripping means 8 is raised, it rises alongside the vehicle 2 without allowing the motor vehicle to be carried 2. The release position can be illustrated by Figures 3 to 6.

Preferably, each gripping means 8 is independent of the others in their changes of position and / or configuration. In a variant detailed below, each gripping arm 8a can position itself and / or change its configuration (e.g. deployed, folded) independently of the other arms. Advantageously, this allows a faster and more robust grip of the wheels 2a compared to simultaneous actuation of a pair of arms. In addition, it allows a more effective grip vis-à-vis the contact angles of wheels 2a of different diameters. In addition, independent gripping means 8 allow the gripping of wheels 2a of cars 2 with different distances between axles. In addition, it allows overall centering of the car within the robot rectangle, as well as a reduction in the length of the uprights (and therefore the robot) required for all car sizes and associated axle positions.

According to a variant, means for moving the gripping means 8 are arranged in the corresponding longitudinal upright 6. This is for example an engine, preferably individual engines, each associated with a transmission element such as a worm, chains, a rack and pinion system, ball screws. Advantageously, this makes it possible to simplify the lifting system, to step over other vehicles 2 also by a lateral movement without being hampered by the means of movement. The longitudinal post 6 has sufficient space for this purpose.

FIG. 4 shows an exemplary embodiment of the gripping means 8 and its means for moving in the longitudinal upright 6. The arms 8a can be separated by a fixed distance. The longitudinal upright 6 comprises a horizontal linear positioning system 6a for positioning the gripping means 8. In the preferred variant, there is one per gripping means 8. In addition to the gripping arms 8a, the gripping means 8 comprises an articulated mobile device 8b such as a trolley with at least one articulated arm 8a by mobile device 8b. The gripping means 8 further comprises a channel or strand of cables 8c with one end for horizontal displacement. Preferably, the gripping means 8 further comprises a proximity detection device 8d. Figure 5 shows another embodiment of the gripping means 8 and its displacement system in the longitudinal upright 6. The arms 8a can be separated by a variable distance. The variable distance between gripping arm 8a can be achieved by an actuator 8e connecting the two carrying carriages 8b of an arm 8a each for example as illustrated in FIG. 5, or by independent actuations between each carriage 8b and the upright 6. The 8e actuator type can be a worm / ball screw motor, jacks, 8f rack and pinion, chain or a combination of at least two of these. The actuators 8e ensure the change of position and the securing of the carriages 8b along the upright 6. Additional wheels 8g can be provided for guiding and transferring mechanical loads. FIG. 6 illustrates a rack variant 8f with a guide preferably integral with the upright 6.

According to the invention, the longitudinal upright 6 is movable between a low position in which the longitudinal upright 6 makes it possible to dispose the corresponding gripping means 8 below the vehicle 2, and a high position in which the longitudinal upright 6 is arranged at the- above the height of the vehicle 2. In particular, the gripping means 8 is also arranged above the height of the vehicle 2.

Advantageously, the conveyor device 3 according to the invention makes it possible to have room laterally at the bottom when the longitudinal upright 6 is in the high position. It is therefore possible to step over vehicles 2 laterally unlike the solutions of the prior art. In addition, the transporter device 3 is easily manoeuvrable because it allows vehicles 2 to be stepped over laterally to pick up another vehicle. In addition, the transporter device 3 does not require significant modifications to the parking area 1.

In addition, this enables a transfer of the mechanical torque from the weight of the vehicle 2 to the main structure of the conveyor device 3 more efficiently.

Preferably, the longitudinal upright 6 is further movable in one or more intermediate positions between the low position and the high position. This makes it possible to use the conveyor device 3 in parking areas 1 with a low ceiling height. Now concerning the lifting system of the transporter device 3 making it possible to lift the carried vehicle, it may include pinions and racks associated with a lifting actuator. It may include one or more lifting cylinders with telescopic arms detailed below. Chains or lifting cables, preferably loop type, or vertical ball screws are also possible variants.

In a variant, the lifting system comprises pivoting structures 9, for example levers in scissor structures, fixed to the longitudinal uprights in another embodiment such as that of figure 15. According to the preferred variant, at least one column 5 comprises at least one movement guide 10 for the movements of the movable uprights 6. This is for example at least one female structure 10a cooperating with at least one male structure 10b, preferably with bearings 11 (or rollers).

In particular, column 5 comprises a concave primary female structure 10a, for example in the shape of a "C" or "U"; and the post 6 comprises the primary male structure 10b housed in the primary female structure 10a.

In addition, the primary male structure 10b comprises a secondary female structure 10c in the form of side panels forming a bearing support associated with bearings 11; and the primary female structure 10a comprises a secondary male structure 10d with transverse protuberances 12, for example in the shape of a “T”, cooperating with the bearings 11.

Advantageously, these guides 10 make it possible to constrain the vertical movement of the uprights 6 and thus the effective transfer of mechanical loads directly between the upright 6 and the columns 5. It is in particular advantageous for transferring loads of the type longitudinal forces, lateral forces and the torque along the longitudinal axis. The guides 10 positioned near the columns 5 make it possible to free up the space between columns 5 and give the ability to span between them when the upright 6 is in the upper position.

These guides 10 in the low position also make it possible to reduce the load levels between the columns 10 and the uprights (upper 19), an aspect which makes it possible to reduce the structural sections and then the sizes of the device and / or to increase the useful height of the devices. gantry cranes (device height). Indeed, the loads supported by the bearings make it possible to relieve the efforts in the upper zone. This reduces the tendency of the columns to open due to the weight of the vehicle 2.

In a variant such as that illustrated in FIG. 8, it is possible to use lifting chains 10e with corresponding upper and lower pulleys 10f. A pulley 10f, for example the upper one, can be associated with a motor. The mobile upright 6 then comprises a mounting support 10g which can be equipped with rolling or sliding means such as at least one roller (s) 10h to be guided by a guide structure 10a of the column 5. The support 10g can be equipped a fixing structure 10i to be fixed to the lifting chain 10e.

According to a variant, the mobile upright 6 of the transporter device 3b comprises its own lifting device for lifting the gripping means 8. This lifting device makes it possible to lift the vehicles even when the mobile upright is in the low position. This aspect can be illustrated by figure 14. This own lifting device can include a system of jacks. Advantageously, this aspect allows a simplification of the lifting system, in particular for applications with movements with low separation from the ground, such as, for example, car parks with low ceilings.

Preferably, the lifting system comprises a locking mechanism allowing the positioning of the movable longitudinal uprights 6 at different heights and thus allowing the transport of the vehicles 2 at different distances from the ground.

As regards traction now, according to a variant, the transporter device 3 comprises a traction system 13 associated with main wheels 14, preferably multidirectional. These are in particular at least four wheels 14 arranged to the right of or near the columns 5.

Preferably, at least one steering motor is provided per column 5 which does not participate in traction. In fact, this motor causes the orientation of the main traction wheel to change, but does not inject energy directly into the traction action. This can be implemented, for example, by pinions associated with a ring gear and a rack, or by jacks. In a variant, at least two wheels 14a are provided per column, each wheel being provided with an individual motor allowing it to participate in the traction. For example, it is an integrated “hub motor” type motor. directly around the axis of the wheel. Figure 11 illustrates the overall movement of the wheels of a column (top arrow) according to the direction of rotation of the side wheel motors 14a (bottom arrows). Advantageously, this makes it possible to reduce the footprint of the wheels in order to gain in parking density.

In addition, the proposed traction systems also allow for rapid rotations and changes of direction of travel and to minimize the radius of curvature.

In particular, at least one of said main wheels 14 provided per column is of the “Mecanum” type. These are motorized wheels equipped at the periphery with casters. Figure 12 illustrates the overall movement of the wheels of the conveyor device 3, for wheels 14 of this type. The advantages explained above are amplified by the use of “Mecanum” type wheels because there is no need to pivot the wheel 14: the direction, translation and / or rotation are defined by the combination of the movements of all of them. the wheels 14a of the transporter device 3. The use of the “Mecanum” wheels 14 also makes it possible to reduce the number of motors participating in the traction and steering control function.

The traction system can also be placed next to column 5 as can be seen in Figure 2.

In one embodiment, the longitudinal 6 and / or transverse 7 uprights of the transporter device 3a comprise secondary wheels 15. This embodiment can be illustrated in FIG. 13. Advantageously, for movements under load at a low height from the ground (for example for applications with low ceiling height), the secondary wheels 15 of the uprights 6 participating in the taking of the vehicle 2 make it possible to transmit and reduce the mechanical loads to be supported by the main structure and the lifting system. This has the benefit of reducing the size of the column sections 5, uprights 6 and of the lifting system, an aspect which allows a reduction in the footprint of the conveyor device 3 and an increase in the stocking density.

According to one embodiment, the longitudinal upright 6 is adjustable in size. Thus, the longitudinal distance between the main columns 5 can be varied by the longitudinal uprights 6 provided for example with a telescopic device. 16. The longitudinal uprights 6 can be fixed and / or movable, that is to say that the adjustment is fixed or adjustable during piloting. This is also the case for the fixed longitudinal uprights 19 where appropriate. Advantageously, this makes it possible to optimize the space assigned to each parked car, not to be limited by the wide dispersion of lengths between the car models, and to optimize the size of the transporter device 3f for its transport. This aspect can be illustrated by figure 20.

According to one embodiment, the transverse post 7 is adjustable in size. Thus, the lateral distance between the main columns 5 is variable by transverse uprights, provided for example with a linear telescopic device 16 or a foldable device 17. The transverse uprights 7 can be fixed and / or mobile, that is to say. say that the setting is fixed or adjustable during piloting.

Advantageously, this makes it possible to optimize the space assigned to each parked car in order to increase the overall density (cars per m2) of the car park, and not to be limited by the wide dispersion of widths between the car models. This also allows the size of the 3g conveyor device to be optimized for its transport. This aspect can be illustrated by figure 21, for the linear telescopic device 16, or by figure 22 for the foldable device 17.

According to one embodiment, the column 5 is adjustable in size. In particular, the height of the columns 5 is variable by telescopic devices 16. Advantageously, this makes it possible to optimize the size of the transporter device 3h for its transport, to optimize the size for accessing spaces at reduced height and to level the load. vehicle 2 moving in relation to a sloping ground. This aspect can be illustrated by figure 23.

According to one embodiment, the conveyor device 3c or 3d further comprises at least one fixed upright 19 carrying one or more of said movable uprights 6. This variant can be illustrated by FIGS. 17 and 18. FIG. 17 only illustrates the relevant part of the conveyor device for simplicity of illustration. In particular, the conveyor device 3c or 3d comprises, in each side frame, at least one fixed longitudinal upright 19 and at least one movable longitudinal upright 6 connected to each other for example by a telescopic system 16 and / or a system of levers in chisel 9. A telescopic system 16 associated with the fixed upright 19 makes it possible to serve as a "passive" mechanical guide as can be illustrated in FIG. 17. The guides 10 are then not necessary in the columns 5. The embodiment of FIG. 18 has a lower fixed amount 19 and a moving amount 6 which rises. In addition, the lifting actuation can be integrated into this telescopic structure (eg a vertical cylinder parallel to the telescopic segments, or a cylinder between two rotating segments of the scissors, or angular actuators between two rotating segments of the scissors, etc.) .

A telescopic system between the two types of uprights 6, 19 allows for example a simplification of the columns, see their withdrawal as can be seen in figure 18.

Furthermore, a scissor-like structure in its folded configuration is one of the most compact. When the fixed upright 19 is high, this makes it possible, among other advantages, to maximize the useful lifting height for a given total height of the conveyor device 3. This feature is particularly useful for applications with low ceiling height and / or heavy lifting needs. '' step over with lateral movements. In addition, this makes it possible to facilitate the transport of the conveyor device 3 (smaller size). The scissor structure also makes it possible to multiply the stroke of a cylinder participating as a lifting actuator. This aspect is particularly useful in the case of electric cylinders with low stroke speed.

Preferably, the movable uprights 6 can each have a base 20 in the fixed upright 19, and each base 20 is movable independently of the other in the fixed upright 19. Thus, all the vehicle plugs can vary their position along the length of the frame. fixed upright 19. This advantageously makes it possible to have a grip centered along the conveyor device 3 for the various wheelbases and lengths of vehicles, which makes it possible to reduce the size of the device. This reduces its footprint, and allows to increase the density of storage, reduce the cost of manufacture, the size of structural sections and facilitate its transport.

According to one variant, the transporter device 3i further comprises at least one manipulation arm 21 articulated and / or robotized on its frame. The handling arm 21 is preferably disposed on a transverse post 7, more preferably in the middle thereof. It is also possible to consider placing said arm 21 on at least one column 5 and / or at least one longitudinal upright 6, 19. It can have a fixed or variable position.

The handling arm 21 is configured to allow handling and carrying of various objects 22 such as cables and electric charging sockets for cars, cameras or other type of inspection device, and fire extinguishers. We can speak of inspection arm 21 when the arm includes a camera or other type of inspection device. Thus, the invention further relates to a parking device comprising said handling / inspection arm 21.

Advantageously, the handling arm 21 allows the disconnection, porting and / or connection of the recharging cables of electric cars between two parking places. This can be done on the car side and / or on the charging station side to manage different formats and locations of charging sockets.

In addition, the inspection arm 21 allows a more efficient inspection of the interior (people or forgotten objects) and exterior (damage, fire) of vehicles and of the parking lot as a whole.

Furthermore, the handling arm 21 can allow the removal of objects or obstacles in the path of the conveyor device 3i such as branches, residues, and snow.

In addition, the manipulation arm 21 can allow the effective action of a fire extinguisher without endangering the intervention of a human in the event of a fire in a parking lot.

The manipulation arm 21 can allow intervention on devices and vehicles, i.e. unlocking a mechanism, towing the vehicle.

The invention also relates to a system for moving and parking vehicles, comprising at least two transport devices 3 as described above, controlled in tandem. For example, the same robotic control is performed on the conveyor devices 3, to carry out additional grips and movements.

This makes it possible to implement selective access to any position in the parking area at the same time.

Another object of the invention relates to a method of moving and parking vehicles, comprising steps of picking up, moving and vehicle parking 2 by means of at least one transporter device 3 as described above, or a movement and parking system as described above.

This is in particular a control method comprising steps of particularly lateral spanning and / or comprising steps of piloting robots in tandem.

The longitudinal and transverse distances between the main columns 5 being sufficient, the conveyor device 3 can easily span in the front / rear direction, and also in a lateral direction. This can be illustrated in Figure 25. Advantageously, this allows access to a parking space from the lateral sides without the need for access.

In particular, in a generally simultaneous manner, the transporting devices 3 position themselves for the pick-up and movement of several neighboring vehicles 2, taking advantage of the closest free lane in a platoon of vehicles 2.

More particularly, the method is carried out by means of a movement and parking system as described above, but it can be adapted for other types of vehicle parking devices. The method allows the movement and parking of at least one stuck vehicle 23 to which access is blocked by at least one stuck vehicle 24.

According to the invention, the method comprises steps for taking charge, in particular stepping over the wedging vehicle 24, taking over, in particular stepping over the stuck vehicle 23, moving the stuck vehicle 24, moving the stuck vehicle 23, repositioning the vehicle wedging 24, and resting the wedged vehicle 23. Depending on the number of vehicles 23, 24, the sufficient number of tandem-driven conveyor devices is provided.

Advantageously, this allows the rapid release of any vehicle 2 in a platoon without waiting for the serialization of several individual catches and movements, as would be the case with devices without selective access. This process has a notable advantage for indoor car parks where the ceiling height does not allow one car to be moved over others. The invention further relates to a computer program comprising program code instructions for executing the steps of a method as described above, when said program is running on a computer. The invention further relates to a computer program comprising program code instructions for executing the steps of implementing a conveyor device as described above, in particular steps of controlling the elements of a device. transporter as described above, when said program is running on a computer. Each movement or action of the conveyor device or part of it can be considered as a step in a computer-implemented process.

Another object of the invention relates to a controlled system for moving and parking vehicles, such as an automatic or semi-automatic robotic system.

The controlled system comprises a control unit in which is loaded a program as described above, as well as at least one conveyor device as described above.

The control unit can be remote from the conveyor device, for example in a control area in the parking area.

Claims

[Claim 1]. Transporter device (3; 3a; ...; 3i) for moving and parking the vehicle (2), the transporter device (3) being mobile and comprising at least one vehicle gripping means (8) configured to be movable between an engagement position in which said engagement means (8) extends at least partially below the vehicle (2), and a release position in which said engagement means (8) does not extend below the vehicle (2), said gripping means (8) being configured to support the weight of the vehicle (2), characterized in that it comprises at least one computer associated with sensors (8d), configured to control the movement of the conveyor device (3; 3a; ...; 3i) as well as said gripping means (8).

[Claim 2]. Conveyor device (3; 3a; ...; 3i) according to the preceding claim, characterized in that it comprises at least one column (5), and at least one longitudinal upright (6) connected to said column (5), said longitudinal upright (6) being equipped with said gripping means (8), said computer being further configured to control said longitudinal upright (6).

[Claim 3]. Conveyor device (3; 3a; ...; 3i) according to the preceding claim, characterized in that said longitudinal upright (6) is movable between a low position in which said longitudinal upright (6) enables said gripping means ( 8) below the vehicle (2), and a high position in which said longitudinal upright (6) is disposed above the height of the vehicle (2).

[Claim 4]. Conveyor device (3; 3a; ...; 3i) according to one of the preceding claims, characterized in that it comprises a traction system associated with multidirectional wheels (14), controlled by said computer.

[Claim s]. Conveyor device (3f; ...; 3h) according to one of claims 2 to 4, characterized in that the columns

(5) and / or uprights (6; 7; 19) are adjustable in size.

[Claim 6]. Conveyor device (3; 3a; ...; 3i) according to one of claims 2 to 5, characterized in that it further comprises at least one fixed upright carrying one or more of said movable uprights.

[Claim 7]. Conveyor device (3c; 3d; 3f; 3h) according to one of the preceding claims, characterized in that said gripping means (8) comprises independent articulated arms.

[Claim 8]. Conveyor device (3c; 3d; 3f; 3h) according to one of claims 2 to 7, characterized in that said gripping means (8) can vary its position along said longitudinal upright (6).

[Claim 9]. Conveyor device (3; 3a; ...; 3i) according to one of the preceding claims, characterized in that said gripping means (8) is configured to carry out a gripping of the vehicle by the chassis, by the treads or by a carrying platform.

[Claim 10]. Conveyor device (3; 3a; ...; 3i) according to one of claims 2 to 9, comprising a lifting system characterized in that the lifting system comprises lifting chains, jacks, ball screws and / or rack and pinion (8f), and is associated with guides (10) of the movable upright preferably arranged in the columns (5).

[Claim 11]. Conveyor device (3c; 3d; 3f; 3h) according to one of claims 2 to 10, comprising a lifting system characterized in that the lifting system comprises pivoting structures (9) fixed to at least one upright (6; 7; 19).

[Claim 12]. Conveyor device (3c) according to one of claims 2 to 11, comprising a lifting system characterized in that the lifting system comprises telescopic structures (16).

[Claim 13]. Conveyor device (3e) according to one of the preceding claims, characterized in that it comprises at least one handling / inspection arm (21), preferably robotic.

[Claim 14]. Conveyor device (3; 3a; ...; 3i) according to one of the preceding claims, characterized by a centrally symmetrical structure, in particular for one or more of said gripping means (8), at least one post (6 , 7, 19), said column (5), said traction system, and / or said lifting system.

[Claim 15]. Conveyor device (3; 3a; ...; 3i) according to one of the preceding claims, characterized in that it comprises reception and / or transmission antennas (4) arranged in diagonal ends of the transport device (3; 3a; ...; 3i).

[Claim 16]. Vehicle movement and parking system (2), comprising at least two transport devices (3; 3a; ...; 3i) according to one of the preceding claims, controlled in tandem.

[Claim 17]. Method of moving and parking a vehicle (2), comprising steps of picking up, moving and parking the vehicle by means of at least one transporter device (3; 3a; ...; 3i) according to one of claims 1 to 15, or a movement and parking system according to the preceding claim.

[Claim 18]. A method of moving and parking a vehicle according to the preceding claim, carried out by means of a moving and parking system according to claim 16, for at least one stuck vehicle (23) whose access is blocked by at least one cornering vehicle ( 24), characterized in that it comprises steps for taking charge of said stuck vehicle (24), taking charge of said stuck vehicle (23), moving said stuck vehicle (24), moving said stuck vehicle (23), relocating said stuck vehicle (24), and resting said stuck vehicle (23).

[Claim 19]. Method of moving and parking a vehicle (2) according to one of claims 16 or 17, with at least two conveyor devices (3; 3a; ...; 3i), characterized by steps of controlling said devices in tandem.

[Claim 20]. A computer program comprising program code instructions for performing the steps of a method according to one of claims 17 to 19, when said program is running on a computer.