Patent Publication Number: US-2007098528-A1

Title: System and method for parking vehicles

Description:
FIELD OF THE INVENTION  
      The present invention relates to systems and methods for parking vehicles.  
     BACKGROUND OF THE INVENTION  
      Multi-directional robots can move in various directions. These robots usually use one of the following types of wheels: fixed standard wheel. Steered standard wheel, castor wheel, Stanford (Swedish) wheel and the like. Multi-directional steering techniques dramatically improve the mobility of robots.  
      Various examples of multi-directional robotic vehicles are illustrated in the following articles an U.S. patents: “Improved Mecanum Wheel Design for Omni-directional Robots”, O. Diegel, A. Badve, G. Bright, J. Potgieter, S. Tlale, Proceedings 2002 Australian Conference on Robotics and Automation, Auckland, 27-29 November 2002; “Compliant-linkage kinematic design for multi-degree-of-freedom mobile robots”, J. Borenstein, SPIE Symposium on Advances In Intelligent Systems, Mobile Robots VII, Boston, Mass. Nov. 15-20, 1992, pp. 344-351; U.S. Pat. No. 6,793,036 of Enmiji et al. and U.S. Pat. No. 5,186,270 of West.  
      The Center for Self-Organizing and Intelligent systems at the Utah State University designed various robotic vehicles that include a chassis and multiple smart wheels. A smart wheel includes a wheel that is powered by a drive motor. The wheel is connected to the motor via a driving element that is connected to a horizontal disk. The horizontal dist is rotated by a steering motor, thus allowing the wheel to rotate around a vertical rotational axis. The smart wheel also includes a slip ring that allows data and power to pass to the wheel without wires.  
      The development of big urban centers surrounded by substantial residential areas in the suburbs has resulted in a very high concentration of vehicles in the city centers during business hours and hence to a critical shortage in available parking space.  
      Parking space shortage has mandated, in Tokyo, Japan for example, a need to show proof of availability of parking space before a car can be purchased.  
      The number of cars per capita is over 0.650 in the USA and over 0.400 in Europe, and growing. Multi-storey and underground car parks are replacing surface parking but can hardly cope with the growing car population.  
      Modern multi-storey and underground car parks, include ways between floors, access roads, maneuvering spaces and exits and entrances, require an area of about 30-35 m 2  per car. The needed space to park a car in conventional multi-storey and underground car parks is hence approximately 3-4 times the net area occupied by one car.  
      Shortage of parking space has resulted in regulations requiring appropriate parking space in new business and residential buildings thus substantially increasing costs of construction.  
      Automated parking lots are very complex and require a relatively large amount of mechanical accessories. These mechanical accessories usually include conveyors, lifts and the like. The cost of these mechanical accessories is relatively high and they require relatively intense maintenance efforts. In addition, these mechanical accessories are required to operate in a very accurate manner. Deviations can result in damages to the cars and can prevent the usage of empty parking space.  
      EP patent EP0868583B1 titled “Automatic car park” illustrates a complex car park that includes multiple vertical conveyors, pallets and the like.  
      U.S. patent application publication No. 2004/0071532 of Valli titled “Carriage for the horizontal transfer of motor vehicles in automatic mechanical car parks” describes a highly complex carriage capable of lifting a car, that is used to handling a vehicle between a parking bay to a handling platform.  
      PCT patent application publication serial number WO2005/059276A1 titled “Trolley and parking system using the same” describes a highly complex trolley for conveying a car backward or forwards and also for elevating the car.  
      There is a need to provide an efficient method and system for parking cars.  
     SUMMARY OF THE PRESENT INVENTION  
      A method for parking vehicles, a parking system and a parking platform are provided. Conveniently, vehicles are placed on parking platforms that are adapted to perform forward and sideway movements, and a controller controls the straight and sideway movements of the parking platforms as well as control a vertical movement entity that can lift or lower the parking platforms between multiple stories of a multiple storey structure.  
      A vehicle parking system that includes a vertical movement entity, a controller and a multiple storey structure. At least one storey defines multiple vehicle parking spaces as well as a vertical movement space through which the vertical movement entity moves. The controller is adapted to control various movements (including sideway movements) of multiple parking platforms within the structure.  
      Conveniently, each parking platform includes multiple independently controlled platform translators. The controller of the parking system is adapted to control a movement of each of the independently controlled platform translators.  
      Conveniently, the structure further includes at least one charging terminal for charging at least one parking platform. The charging can terminate after the battery of the parking platform is filled, after a predefined charging period, and the like.  
      Conveniently, the vertical movement entity is shaped such as to support multiple parking platforms.  
      Conveniently, a vehicle parking area is slightly bigger than an area of a parking platform. Conveniently, an area of a storey adapted to support K vehicles substantially equals a vertical movement area and K vehicle parking areas.  
      Conveniently, the system includes one or more central controllers that wirelessly control the movements of the multiple parking platforms. Conveniently, the system includes an interface for receiving requests for parking a vehicle within the structure.  
      According to an embodiment of the invention a parking platform is provided. The parking platform includes multiple platform translators and a platform controller. The platform translator is adapted to perform sideway translation as well as straight translation. The platform controller is adapted to receive platform movement instructions and in response to control a movement of the vehicle translators such as to translate the vehicle support platform within multiple vehicle parking spaces defined in a structure. The platform includes an upper surface that can support a vehicle.  
      Conveniently, that parking platform includes at least one proximity sensor adapted to estimate the proximity of the parking platform to foreign objects.  
      Conveniently, the parking platform includes at least one rechargeable battery and a recharge interface.  
      According to an embodiment of the invention a method for parking a vehicle is provided. The method includes: (i) determining a destination of a parking platform; and (ii) controlling vertical movements and horizontal movements of the parking platform within a vertical movement space and multiple vehicle parking spaces defined within a multiple storey structure. The controlling includes controlling sideway movements (and optionally straight movements) of the parking platform.  
      Conveniently, the controlling includes controlling the movements of each of independently controlled platform translators of multiple parking platforms.  
      Conveniently, the method includes charging at least one parking platform.  
      Conveniently, the controlling includes controlling the movements of multiple parking platforms within multiple vehicle parking spaces that are characterized by a vehicle parking area that is slightly bigger than the size of a parking platform.  
      Conveniently, the controlling includes wirelessly transmitting signals from a controller to the multiple parking platforms.  
      Conveniently, the determining is preceded by a stage of receiving requests for parking a vehicle within the structure. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS  
      The present invention will be understood and appreciated more fully from the following detailed description taken in conjunction with the drawings in which:  
       FIG. 1  illustrates a vehicle parking system, according to an embodiment of the invention;  
       FIG. 2  illustrates a first storey and a second storey of the system, according to an embodiment of the invention;  
       FIG. 3  illustrates a first storey and a second storey of the system, according to another embodiment of the invention;  
       FIG. 4  illustrates a second storey of the parking structure, and multiple parking platforms, according to an embodiment of the invention;  
       FIGS. 5A-5C  illustrate various stages in a parking session, according to an embodiment of the invention;  
       FIGS. 6A-6E  illustrate various stages in a vehicle retrieval session, according to an embodiment of the invention;  
       FIG. 7  illustrates a parking platform, according to an embodiment of the invention;  
       FIG. 8  illustrates a parking platform, according to an embodiment of the invention;  
       FIG. 9  illustrates platform translators;  
       FIG. 10  illustrates a controller, according to an embodiment of the invention; and  
       FIG. 11  is a flow chart of a method for parking vehicles, according to an embodiment of the invention. 
    
    
     DETAILED DESCRIPTION OF THE DRAWINGS  
      The illustrated systems and methods utilize highly maneuverable parking platforms that can maneuver within a relatively small space. Accordingly, the area allocated for parking vehicles can be reduced. Especially, maneuvering spaces are reduced to about 10% of the overall area of a storey of the parking system.  
      The methods and systems use a vertical movement element such as an elevator. In addition they use a single entrance/exit point, thus dramatically reducing the area consumed by ways between floors, passages, staircases, and access roads and for separate exits and entrances.  
      Conveniently, the system can include a simple, relatively cheap multiple storey structure. It can be made of various materials such as plastic, metal and the like. The system can also include re-chargers and vehicle holders/brakes.  
      Conveniently, the structure can be moved from place to place.  
      Conveniently, the structure can be increased by adding additional platforms, in a modular manner.  
      Conveniently, the height of the stories is adapted to the height of parked vehicles, thus a relatively low structure can be used to park many vehicles.  
      The system also includes a controller that controls the movements of the multiple parking platforms, the vertical movement element, and optionally controls the re-charging operations. The controlling can include sending detailed instructions to the various motors of a parking platform, or sending to the parking platform its destination.  
      According to an embodiment of the invention the system includes at least two (and conveniently at least three) stories (floors). Conveniently, a vertical movement space is surrounded by multiple vehicle parking spaces.  
      According to an embodiment of the invention the vertical movement element can support one parking platform (and a vehicle supported by the platform).  
      According to other embodiments of the invention the vertical movement element can support multiple parking platforms. Such a configuration can speed the parking/vehicle retrieval process.  
      Conveniently, each parking platform includes four wheels. Each wheel is independently connected to a computer controlled motor and drive mechanism. Said motor and drive mechanism can be aligned to promote forward and backward as well as side-wise motion of the platform. Each platform is also equipped with batteries to drive the motors and a control and communication boxes.  
      According to an embodiment of the invention the parking platforms can be used in existing parking lots. They are controlled by a controller that should be adapted to control at least the horizontal movements of the parking platforms.  
      According to an embodiments of the invention the parking platforms are positioned in most or all the parking spaces. Some of the parking platforms can be empty, while others convey vehicles.  
      According to an embodiment of the invention if one or more parking platforms are not functional they can be replaced by other parking platforms without hampering the over functionality of the parking system.  
      According to various embodiments of the invention the controller is adapted to manage the payment for the parking of vehicles within the system. This is not necessarily so as another device can take care of the payment issues.  
       FIG. 1  illustrates a vehicle parking system  8 , according to an embodiment of the invention.  
      The system  8  includes three stories  10 ,  20  and  30 , a controller  50  and an elevator shaft  40 . It is noted that the number of stories within a parking system can differ from three.  
      Each storey defines nine spaces and most of these spaces are used for parking vehicles that are supported by self-propelled independently controlled parking platforms. The second and third stories include eight vehicle parking spaces and a vertical movement space.  
       FIG. 1  illustrates vehicle parking spaces  13 ,  16 ,  19 ,  24 ,  29 ,  31  and  37 , as well as additional vehicle parking spaces that are not associated with numbers.  
      Vehicles enter and exit system  8  through entrance  40 . When a vehicle is parked a vacant parking platform is positioned at an entrance space defined by entrance  40  and the first and second stories  10  and  20 . The vehicle is positioned above the parking platform that then moves to elevator  42 .  
      If the controller  50  determines that the vehicle should be parked in the first storey  10  then the parking platform, and optionally other parking platforms that are parked at the first storey  10  perform sideway and/or straight (backwards or forward) movements in order to position the parking platform at its destination—a selected vehicle parking space.  
      If the controller  50  determines that the vehicle should be parked at the second storey  20  or at the third storey  30  then the elevator  40  lifts the vehicle platform to the required storey and then it (and optionally other parking platforms parked at that storey) perform sideway and/or straight (backwards or forward) movements in order to position the parking platform at its destination—a selected vehicle parking space.  
      According to various embodiments of the invention the parking platforms can use any of the prior art multi-directional steering techniques. Various examples of parking platforms and especially of translation mechanisms are illustrated in  FIG. 9 .  
       FIG. 2  illustrates a first storey  10  and a second storey  20  of system  8 , according to an embodiment of the invention.  
      First storey  10  defines an entrance space  41 , a vertical movement space  51  and seven vehicle parking spaces  11 - 19  that surround the vertical movement space  51 . The elevator  42  moves through multiple vertical movement spaces such as space  51  and space  52 . Parking system  8  receives a vehicle via entrance  40  and drives across the entrance space to enter the vertical movement space  51 . Seven vehicles can park (on seven parking platforms) at the first storey  10 .  
      Second storey  20  defines a vertical movement space  52  and eight vehicle parking spaces  21 - 29  that surround the vertical movement space  52 . Eight vehicles can park (on eight parking platforms) at the first storey  10 .  
       FIG. 3  illustrates a first storey  10 ′ and a second storey  20 ′ of a parking system, according to another embodiment of the invention.  
      Both stories differ from the corresponding stories of  FIG. 3  by including twelve (and not eight) spaces per storey, and by including a double-size vertical movement space.  
      Thus, elevator  42  can convey two parking platforms at once. Two parking platforms can be located in elevator  42 , thus speeding the parking of (or retrieval of) vehicles at each storey. This elevator  42  can allow to park a vehicle and also to retrieve another vehicle substantially simultaneously.  
       FIG. 4  illustrates a second storey  20  of the parking system  8 , and multiple parking platforms  121 - 129 , according to an embodiment of the invention.  
      Eight parking platforms  121 - 128  are positioned at eight parking spaces  21 - 29  of the second storey. The area of each parking space is just slightly larger than the size of a parking platform. This provides a highly efficient parking system.  
      By using highly maneuverable parking platforms that can perform sideway movement and straight movement each storey can be relatively small in relation to the amount of vehicles that can be parked in the storey. Such a storey usually includes multiple relatively small parking spaces and virtually no additional maneuvering areas.  
      Each parking platform can include four wheels that can be positioned in various orientations. Parking platforms that recently performed straight movements (in relation to an imaginary longitudinal axis of each parking platform) are illustrated as including y-axis oriented wheels. Parking platforms that recently performed sideway movements (in relation to an imaginary longitudinal axis of each parking platform) are illustrated as including x-axis oriented wheels.  
      It is noted that the number of wheels can differ from four, that the wheels of a platform are not necessarily parallel to each other, and that the orientation of the wheels can vary within a relatively large angular range.  
       FIGS. 5A-5C  illustrate various stages in a parking session, according to an embodiment of the invention.  
      A vehicle platform  129  has to be parked at vehicle parking space  26 .  
       FIG. 5A  illustrates an initial condition of the second storey  20 . Parking platforms  121 ,  122 ,  123 ,  124 ,  126 ,  127  and  128  are positioned at vehicle parking spaces  21 ,  22 ,  23 ,  24 ,  26 ,  27  and  28 . The elevator  42  just provided a parking platform  129  and the vehicle parking space  29  is empty. The wheels of parking platforms  121 ,  124 ,  128  and  129  are x-axis oriented while the wheels of parking platforms  122 ,  123 ,  126  and  127  are y-axis oriented. The first stage of the parking session include moving parking platform  126  from vehicle parking space  26  to parking space  29 .  
       FIG. 5B  illustrates a second stage of the parking session. Parking platform  129  is moved from elevator  42  to the vehicle parking space  26 .  
       FIG. 5C  illustrates the final positions of the parking platforms. Parking platform  129  is placed at parking space  26  and the elevator  42  is empty.  
       FIGS. 6A-6E  illustrate various stages in a vehicle retrieval session, according to an embodiment of the invention.  
      Parking platform  126  should be placed on the elevator  42 .  
       FIG. 6A  illustrates a first stage of the vehicle retrieval session. Parking platform  128  is moved from vehicle parking space  28  to elevator  42 . This movement is preceded by changing the orientation of the wheels of the parking platform  128  from x-axis orientation to y-axis orientation.  
       FIG. 6B  illustrates a second stage of the vehicle retrieval session. Parking platform  126  is moved from vehicle parking space  29  to parking space  28 . This movement is preceded by changing the orientation of the wheels of the parking platform  128  from y-axis orientation to x-axis orientation.  
       FIG. 6C  illustrates a third stage of the vehicle retrieval session. Parking platform  129  is moved from vehicle parking space  26  to parking space  26 . This movement is preceded by changing the orientation of the wheels of the parking platform  129  from x-axis orientation to x-axis orientation.  
       FIG. 6D  illustrates a fourth stage of the vehicle retrieval session. Parking platform  128  is moved from elevator  42  to parking space  26 . This movement is preceded by changing the orientation of the wheels of the parking platform  128  from y-axis orientation to x-axis orientation.  
       FIG. 6E  illustrates a fifth stage of the vehicle retrieval session. Parking platform  126  is moved from parking space  28  to the elevator  42 . This movement is preceded by changing the orientation of the wheels of the parking platform  126  from x-axis orientation to y-axis orientation.  
       FIG. 7  is a bottom view of a parking platform  122 , according to an embodiment of the invention.  FIG. 8  is a top view of parking platform  122 , according to an embodiment of the invention.  
      Parking platform  122  includes a horizontal surface  109  on which a vehicle can be placed. It also includes breaks or other vehicle supporting and/or holding elements that are known in the art.  
      Parking platform  122  includes four wheels  202 - 208 , engines  212 - 218  and steering motors  203 - 209 . Each wheel is connected to an engine (or motor) to a steering motor  203 - 209 . Each wheel can rotate about a vertical axis. This is achieved by connecting the steering motors  203 - 209  to surface  209 .  
      Motors  212 - 218  are independently controlled by a platform controller  220 . The platform controller  220  receives commands from controller  50 , and in turn sends control signals to the various motors. It is noted that various control signals can determine the orientation of wheels  202 - 208  in relation to an imaginary longitudinal axis of parking platform  122 . Other control signals can determine the amount of movement, the speed of movement and the like.  
      Conveniently, the platform controller is connected to the various motors via a driver  222 . The driver  222  can send power signals as well as control signals to each motor. It is noted that one or multiple wires can be used per motor. Conveniently the control signal is an analog current, but this is not necessarily so.  
      Optionally, the parking platform  122  includes multiple proximity sensors, such as sensors  251 - 254 . Sensors  251 - 254  are located at each side of the parking platform  122 . Sensors  251 - 254  can communicate with platform controller  220  in various manners, including wireless or wired communication.  
      Conveniently, the rechargeable battery  240 , recharging interface  242 , wheels  202 - 208 , motors  212 - 218 , steering motors  203 - 209 , communication unit  230  (at least a portion of said unit), platform controller  220  and driver  222  are located below upper surface (also referred to as surface)  210 , but this is not necessarily so. The sensors  251 - 154  can also be located beneath surface  210 . An antenna of communication unit  230  can be placed below surface. It is noted that one of more of these components can be placed above surface  210 , at the same level of surface  210  but this is not necessarily so.  
      The platform controller  220  is connected to a communication unit  230  that can receive instructions or other control signals from controller  50 . Conveniently, the controller wirelessly transmits the control signals to the communication unit  230  using short-range communication protocols.  
      The platform controller  220 , the communication unit  230  and the motors  212 - 218  can receive power from rechargeable battery  240 . The rechargeable battery  240  can be recharged in various manners. It can be recharged by recharging elements that are positioned at the vehicle parking spaces, but this is not necessarily so. The recharging elements of the structure contact the recharging interface  242  located at the bottom of the parking platform  122 . The recharging elements can include a telescopic recharging conductor that can be elevated towards the platform once the parking platform is parked, but this is not necessarily so.  
       FIG. 9  illustrates platform translators  201  and  210 ′.  
      Platform translator  201  has a smart wheel configuration. A wheel  202  is mechanically connected, via a mechanical element  250 , to a rotating motor  252 . The wheel  202  is rotated around a translation axis by a driving motor  212 . The driving motor  212  is connected to a horizontal plate  209  that is a part of the parking platform. The wheel  202  and the mechanical element  250  are rotated around a vertical axis by the rotating motor  252 .  
      Platform translator  201 ′ includes a wheel  202  that is connected to a driving motor  212 . The driving motor  212  is not connected to the horizontal plate  209  but is connected to an inverted-U shaped element  254  that is connected to the rotating motor  252 . The rotating motor  252  is connected via an axis to plate  209 . The rotating motor  252  can rotate the wheel  202 , the motor  212  and the element  254  about a virtual vertical axis.  
       FIG. 10  illustrates a controller  50 , according to an embodiment of the invention.  
      Controller  50  includes a processor  52 , a card reader  54  and a communication module  56 . Optionally, controller  50  includes components that allow it to charge money for the parking services. These optional components includes money change unit  51 , money bank  53  and a display  55 .  
      The card reader  52  or other vehicle identification recognition element can determine when a request to park a vehicle or to retrieve a parked vehicle is received. Conveniently, the driver gets a magnetic card that identifies the allocated vehicle parking space. The initial location of the vehicle and its movements in the module are recorded by the system and the vehicle can easily be picked up by passing the card over the card reader  52 .  
      Communication module  56  controls the transmissions between controller  50  and the multiple parking platforms and between controller  50  and elevator  42 . It may include a short-range transmitter as well as a short-range receiver.  
      The processor  52  determines where to park each vehicle, how to retrieve parked vehicles, and controls the movements of the parking platforms and the elevator accordingly. The destination of a certain vehicle can be responsive to a possible retrieval time, to the size of the vehicle and the like.  
      Conveniently, the parking platform  122  transmits information to the controller  50 . Alternatively or additionally, various components of structure also transmit information to controller  50 . This information can include the status of the rechargeable battery, the status of the proximity sensors, the status of the motors, the status of the steering motors, the status of the platform controller, the status of the communication unit, the status of recharging elements, the status of the elevator, the status (vacancy) of various parking spaces, the status of wireless transmitters of the structure, and the like.  
      Conveniently, the controller  50  sends to the platform controller  220  various instructions including: start motor, direction of movement, length of movement, steering instructions, sensor override capabilities.  
      It is noted that each storey can include one or more transmitters that are positioned such as to allow their transmissions to be received by the various parking platforms within that storey.  
       FIG. 11  is a flow chart of a method  500  for parking vehicles, according to an embodiment of the invention.  
      Method  500  starts by stage  510  of determining an initial configuration of the parking system and of the multiple parking platforms.  
      Conveniently a parking session is preceded by an initialization stage in which each parking platform is assigned with a unique parking platform ID, and each parking space is assigned with a unique parking space ID. Each storey can also be assigned with a unique storey ID.  
      Stage  510  is followed by stage  520  of receiving a request to park a vehicle within the structure.  
      Conveniently, referring to the examples set forth in previous figures, a vehicle driver (or another person) passes a card to initiate the parking process. The controller  50  links between the smart card and between a vacant parking platform that should convey the vehicle of the vehicle driver.  
      Stage  520  is followed by stage  530  of determining a destination of a parking platform.  
      Conveniently, referring to the example set forth in previous figures, controller  50  locates an empty parking space and can even select such a parking space between multiple vacant parking spaces. The selection can be responsive to the height of the vehicle (this information can be provided by the vehicle driver), to a possible parking termination time (also can be provided by the driver), and the like.  
      Stage  530  is followed by stage  540  of controlling vertical movements and horizontal movement of the parking platform within a vertical movement space and multiple vehicles parking spaces defined within a multiple storey structure, whereas the controlling comprises controlling sideway movements of the parking platform.  
      Conveniently, referring to the example set forth in previous figures, controller  50  can send to the platform controller of the vacant parking platform the selected parking space. It can also send more detailed instructions representative of the movements (length, direction) that the parking platform has to perform in order to reach to the destinations. It is noted that the instructions can be associated with timing information. Conveniently, the controller  50  also instructs elevator  42  the destination storey. It is noted that the parking platform can also be responsive to sensors information. It may stop moving when it reaches its destiny.  
      Conveniently, stage  540  includes controlling the movements of each of multiple independently controlled platform translators of multiple parking platforms.  
      Stage  540  also includes controlling movements of multiple parking platforms within multiple vehicle parking spaces that are characterized by a vehicle parking area that is slightly bigger than an area of a parking platform.  
      Stage  540  can include wirelessly transmitting signals from a controller to the multiple parking platforms.  
      Method  540  can also include stage  560  of controlling the charging at least one parking platform. Conveniently, the card that is passed by the vehicle driver can be a smart card. Once the vehicle driver starts the parking process the parking start time is recorded. Once the vehicle driver passes the card such as to retrieve the vehicle the parking end time is recorded and the parking fees are calculated. It is noted that the payment can be include using a credit card, a pre-paid card, cash, and the like.  
      It is noted that once a vehicle retrieval process a vehicle retrieval process that resembles method  400  but is executed in a reverse order, is executed. Conveniently, referring to the examples set forth in previous figures, the controller associated between the card and the location of the vehicle associated with the card. The controller  50  sends elevator  42  and the selected parking platform to move such as to return the vehicle to the driver. Once the vehicle is delivered the controller updates the status of the parking platform as vacant and also updated the status of the parking space that are now vacant.  
      Variations, modifications, and other implementations of what is described herein will occur to those of ordinary skill in the art without departing from the spirit and the scope of the invention as claimed. Accordingly, the invention is to be defined not by the preceding illustrative description but instead by the spirit and scope of the following claims.