Methods, control equipment, parking systems, and storage media for cleaning robots cleaning parking surfaces

Abstract

This invention relates to a method for cleaning a parking surface belonging to an automated parking system using a cleaning robot. Here, objects within a drivable area of ​​the parking surface are detected using at least one sensor from the automated parking system, the cleaning robot, and / or a vehicle communicating with the automated parking system. Next, the objects are identified as waste and their location is determined using an analysis and evaluation device of the automated parking system. Furthermore, a route is calculated for the cleaning robot between a starting position and a target position pre-given by the position of the object on the parking surface. Finally, at least one signal is output to the cleaning robot, which directs the cleaning robot to travel along the calculated route between the starting position and the target position and remove the object from the drivable area of ​​the parking surface. The invention also relates to an automated parking system, a control device for such an automated parking system, and a machine-readable storage medium.

Description

Technical Field

[0001] This invention relates to a method for cleaning parking surfaces in an automated parking system using a cleaning robot. The invention also relates to an automated parking system, a control device for such an automated parking system, a computer program, and a machine-readable storage medium for storing the computer program. Background Technology

[0002] In automated parking systems, also known as Automatic Valet Parking (AVP) systems, automated vehicles (e.g., SAE Level 4) are parked by their drivers at a delivery point, typically located in the area between the entrance and exit of a parking garage. The automated vehicle then travels without a driver and with the support of the automated parking system to an available parking space or station within the parking garage, and returns to the delivery point upon retrieving the vehicle from the corresponding parking space. Here, the automated vehicle moves forward within the defined area of ​​the parking garage without direct human interaction and even without human occupants in the case of AVP. For this reason, the vehicle is entirely controlled during its journey by the parking system's infrastructure (AVP-Infrastructure), which typically includes sensors for the automated vehicle in addition to those for the parking garage.

[0003] Here, the automated parking system ensures that vehicles do not collide with objects during transfer. Therefore, if it is impossible to maneuver around an obstacle, the vehicle will stop in front of it. This is especially necessary in narrow driveways, such as at parking garage entrances and exits or ramps, where maneuvering around obstacles is often impossible due to a lack of mobility. Waste such as newspapers, empty beverage containers, and fallen leaves are also commonly present in such areas, which are detected by the AVP infrastructure's sensors and classified as false obstacles. In manually driven vehicles, the driver can stop, get out, and remove the object identified as an obstacle from the road. However, in automated vehicles moving forward without occupants, no one is present to remove the obstacle. In this case, the AVP system notifies the operator, who then assigns an operator to manually remove the obstacle on-site. Because the operator typically must first travel to the parking garage, empty bags may have already caused congestion. Furthermore, operator setup is usually costly. Summary of the Invention

[0004] Therefore, the objective of this invention can be viewed as providing a possibility for cleaning parking surfaces associated with an automated parking system without human intervention. This objective is achieved through the relevant aspects of this invention. Advantageous configurations of the invention are the contents of various preferred embodiments.

[0005] According to the present invention, a method is provided for cleaning a parking surface belonging to an automated parking system using a cleaning robot. Here, objects in the drivable area of ​​the parking surface are detected using at least one sensor of the automated parking system, the cleaning robot, and / or a vehicle communicating with the automated parking system. Furthermore, the object is identified as waste and its location is determined using an analysis and evaluation device of the automated parking system. Next, a route is calculated for the cleaning robot between a starting position and a pre-given target position via the object's location on the parking surface. Finally, at least one signal is output to the cleaning robot, which directs the cleaning robot to travel along the calculated route between the starting position and the target position and remove the object from the drivable area of ​​the parking surface. By using the cleaning robot, objects can be quickly and efficiently removed from the relevant area of ​​the parking surface without operator intervention. This effectively prevents congestion within the parking surface and improves overall traffic flow.

[0006] In one embodiment, the transmitted signals include: at least one route information about a route calculated by the route calculation device of the automated parking system; at least one location information about the location of an object obtained by the analysis and evaluation device of the automated parking system; or at least one control command for directly controlling the cleaning robot along the route. The prerequisite for transmitting the route information is that the route has been calculated in advance by the central computing device of the automated parking system. Parking systems organized in this way already possess relatively high computing power due to their specific requirements, thus allowing for particularly fast and accurate calculation of the desired route. This variant of the system is also suitable for considering the overall traffic on the parking surface when calculating the route. Therefore, the cleaning robot can be guided particularly safely and effectively on the parking surface. The same advantages are obtained when transmitting control commands for directly controlling the cleaning robot. Furthermore, in this variant, it is possible to react particularly quickly to changes within the traffic flow. This allows for particularly flexible use of the cleaning robot. If only location information is transmitted to the cleaning robot, a particularly autonomous cleaning robot can be achieved. By transferring the computation time required for route calculation to the cleaning robot, the computational burden on the automated parking system can be reduced.

[0007] In another embodiment, at least one sensor from the automated parking system, the cleaning robot, and / or a vehicle communicating with the automated parking system monitors the cleaning robot's surroundings as it travels along a calculated route, using potential obstacles that are not waste. Here, if an obstacle is detected along the cleaning robot's current route, the cleaning robot is stopped in front of the obstacle. This stopping can be achieved particularly quickly, thus preventing collisions particularly effectively. Alternatively, an avoidance route can be calculated, allowing the cleaning robot to bypass the obstacle without collision. The cleaning robot is then controlled along the avoidance route. In this way, the cleaning robot can fulfill its current task without significant time delay. Finally, the cleaning robot can also be controlled to an avoidance position, where it continues traveling if no further obstacles are detected along its current route. The cleaning robot is, in principle, also an obstacle to other vehicles, so this measure minimizes the obstruction caused by the cleaning robot to traffic flow towards these vehicles. Furthermore, the risk of collision between the cleaning robot and vehicles is also reduced.

[0008] In another embodiment, route calculation is performed using a central route calculation unit of the automated parking system. The calculated route is then transmitted to either the central control unit of the automated parking system or the control unit of the cleaning robot, which controls the movement of the cleaning robot along the calculated route. This provides the following advantages: the relatively high computing power of the central calculation unit of the automated parking system can be used for route calculation. Therefore, the desired route can be calculated particularly quickly and efficiently because the overall traffic flow of the parking area can be considered during route calculation. If the cleaning robot is controlled by the central control unit, an optimized alternative route can be calculated in principle based on an overview of the entire parking area obtained through multiple different sensors of the automated parking system. This is particularly suitable for situations where multiple potential obstacles are detected for the cleaning robot or for situations where multiple cleaning robots are used simultaneously. If the cleaning robot uses its own control unit to control its movement along the route, it can, in principle, react more quickly to sudden events due to the smaller signal propagation time and accompanying small time delay when necessary. Furthermore, the cleaning robot's basic upper limit of its field of vision relative to the surrounding environment proves advantageous due to the accompanying relatively high level of detail.

[0009] In another embodiment, the automated parking system transmits the current location of an object to a cleaning robot in the form of at least one location information. A computing device associated with the cleaning robot calculates a route between a starting position and a target position based on the transmitted location information. Here, the calculated route is transmitted to a control device associated with the cleaning robot in the form of at least one route information, which controls the movement of the cleaning robot along the calculated route between the starting and target positions. Therefore, a cleaning robot capable of particularly autonomous operation can be achieved. By transferring route calculation to the cleaning robot's computing device, the computational burden on the automated parking system is also reduced.

[0010] In another embodiment, at least one video camera belonging to the automated parking system, the cleaning robot, and / or the automated vehicle located on the parking surface is used to monitor the environment surrounding the parking surface and / or the cleaning robot. Here, objects and / or obstacles in the area of ​​the parking surface are detected by analyzing and evaluating the image data from the video cameras. Such video cameras are particularly well-suited for monitoring large areas of the parking surface. The size, shape, and location of objects within an area can be clearly and simply illustrated by combining multiple video cameras observing an area from multiple perspectives. It is advantageous to consider not only the static video cameras of the automated parking system but also the cameras of the vehicles and the cleaning robot present on the parking surface. Therefore, depending on the situation, monitoring of areas that are difficult to see can also be improved. Furthermore, since the distance to the vehicles or the cleaning robot may be smaller, objects can be sensed at a higher resolution. This improves the detection and identification of these objects.

[0011] According to another aspect, an automated parking system with a cleaning robot is also provided. This cleaning robot cleans parking surfaces associated with the automated parking system. The automated parking system includes a sensor device with at least one sensor configured to detect at least one object in at least one drivable area of ​​the parking surface. Furthermore, the automated parking system includes an analysis and evaluation device configured to analyze and evaluate data from the at least one sensor, wherein the analysis and evaluation device is configured to identify objects detected by the at least one sensor as waste and determine the location of the object. Additionally, the automated parking system includes a route calculation device configured to calculate a route between a starting position of the cleaning robot and a target position corresponding to the object's location, and a control device configured to output at least one signal to the cleaning robot, which directs the cleaning robot to travel along the calculated route between the starting position and the target position and remove the object from the drivable area of ​​the parking surface. This combines the advantages already mentioned in the method for the automated parking system.

[0012] According to another aspect, a control device for the aforementioned automated parking system is provided, the control device being configured to perform at least a portion of the steps in the aforementioned method. This also incorporates the advantages already mentioned in the method.

[0013] According to another aspect, a control device for the aforementioned automated parking system is also provided, which is configured to perform at least a portion of the steps in the described method. This also combines the advantages already mentioned in the method.

[0014] According to another approach, a computer program comprising instructions is provided, which, when executed on a computer, instruct the computer to perform one of the methods described above. Implementing the methods in the form of a computer program provides particularly high flexibility.

[0015] Finally, according to another aspect, a computer-readable storage medium is provided on which the aforementioned computer program is stored. Attached Figure Description

[0016] The invention will now be described in more detail with reference to the accompanying drawings. Herein are shown:

[0017] Figure 1 An automated parking system with automated vehicles is illustrated schematically;

[0018] Figure 2 It shows Figure 1 A parking system equipped with cleaning robots;

[0019] Figure 3 The illustration schematically depicts a situation where an automated vehicle stops in front of an object on the parking surface of an automated parking system and a cleaning robot cleans the object.

[0020] Figure 4 The illustration schematically depicts a situation where the cleaning machine's route is modified to avoid a suddenly appearing obstacle;

[0021] Figure 5 The illustration schematically depicts a situation where a cleaning robot is guided along an alternative route to bypass the obstacle.

[0022] Figure 6 The illustration schematically depicts a situation where a cleaning robot moves to an avoidance position when it encounters a moving obstacle.

[0023] Figure 7 This schematically illustrates a portion of the infrastructure of an automated parking system, where determined route information is transmitted from a central control unit to a cleaning robot; and

[0024] Figure 8 The illustration schematically shows a portion of the infrastructure of an automated parking system, in which determined route information is transmitted from a central control unit to a cleaning robot. Detailed Implementation

[0025] The scheme described here employs a cleaning robot to remove objects identified as waste or other objects not present in the parking area belonging to the automated parking system. These objects may be obstacles hindering traffic flow for automated vehicles. Therefore, Figure 1 An automated parking system 100 is schematically illustrated, having, for example, a parking surface 200 arranged in a parking garage 250 and an automated vehicle 600 moving on that parking surface. Depending on the application, the parking surface 200 may extend to one or more levels of the parking garage 250, or even be implemented as an open-air surface without an underground parking garage 250. Figure 1 It can also be seen that the automated parking system 100 has a corresponding AVP infrastructure that includes multiple different components. In particular, sensor devices 120 typically have multiple sensors, of which only one sensor 121 is shown here for clarity. A video camera capable of monitoring a large area of ​​the parking surface 200 is used as sensor 121. Furthermore, the AVP infrastructure also includes a control device 110 for controlling the automated parking system 100. The control device 110 can be a central computing device or one of multiple computing devices interconnected via a network. In this example, the control device specifically includes an analysis and evaluation device 111, a route calculation device 112, a control device 113, and a storage medium 114 on which computer programs for controlling the automated parking system 100 can be stored.

[0026] In addition to the static, i.e., location-fixed components of the automated parking system 100, a vehicle 600 located in the parking area 210, equipped with specific components such as an in-vehicle communication device 630 or a sensor 621 of an in-vehicle sensor device 620, can also be incorporated into the AVP infrastructure. For this purpose, in addition to corresponding service vehicles such as cleaning robots, vehicles 600 parked here only temporarily are also used. Here, the vehicle 600, shown only as an example, is typically connected to the central component of the AVP infrastructure via a wireless communication connection 132 established between the in-vehicle communication device 630 with an antenna 631 and at least one access point of the automated parking system 200, which also includes a communication device 130 with an antenna 131.

[0027] In the scenario shown here, the automated vehicle 600 senses an object 400 positioned in front of it using its sensor 621, which in this case is configured as a video camera with a forward-pointing sensing area 622. The object 400, located in the drivable area 210 of the parking surface 200, is identified as an obstacle by the analysis and evaluation device 611 of the vehicle's internal control unit 610 using the current sensor data. Therefore, the vehicle's internal control unit 612 stops the vehicle 600 in front of the object 400.

[0028] As from Figure 1 It can also be seen that object 400 is also located within the sensing area 123 of sensor 121, which is preferably also configured as a video camera in the automated parking system 100. By analyzing and evaluating the image data of sensor 121, the internal analysis and evaluation device 111 of the automated parking system 100 identifies object 400 as waste or an object not present at that location. For this reason, the control device 110 of the automated parking system 100 decides to use cleaning robot 300 to remove object 400 from the drivable area 210 of parking surface 200. Figure 2 As schematically shown, the cleaning robot 300 is preferably a mobile device equipped with cleaning equipment 350 that can move freely on the parking surface 200. Different devices can be used as the cleaning equipment 350, such as a suction device for picking up waste, a blower for blowing away waste, or a brush for cleaning the parking surface 200. However, in principle, the cleaning robot 300 can also have other devices capable of removing objects from the area to be cleaned, such as a shovel-like device for pushing objects away or a gripping device for grasping objects. Furthermore, the cleaning robot 300 preferably has its own sensors to perceive its environment; for clarity, only one sensor 321 is shown here, constructed in the form of a video camera with a forward-pointing sensing area 322.

[0029] As from Figure 2 It can also be seen that the cleaning robot 300 also has a control device 310. In this embodiment, the control device has an internal route calculation device 312, a control device 313 for controlling the components of the cleaning robot 300, and a storage medium 314, on which a computer program for controlling the cleaning robot 300 can be stored. In addition, the cleaning robot 300 preferably has a communication device 330 equipped with an antenna 331, through which a wireless communication connection 133 can be established with at least one access point 130, 131 of the automated parking system 100.

[0030] Figure 3The parking surface 200 of the automated parking system 100 is schematically shown from a top-down perspective. In the exemplary configuration illustrated here, an automated vehicle 600, assisted by the infrastructure of the automated parking system 100, travels from the handover area 240 in the entrance area 230 of the parking surface 200 toward the parking surface 220 to which it is assigned. As can be seen here, objects 400 arranged in the area 210 of the parking surface 200 to be traversed by the vehicle 600 impede the vehicle 600 from continuing its journey.

[0031] As already described, in this case, the automated parking system 100 is used in Figure 3 The cleaning robot 300, located at the starting position 510, removes the object 400 from the relevant area 210 of the parking surface 200. To this end, the control device 110 senses the object 400 in the relevant area 210 using sensors 121, 122, which are configured as video cameras in this case. The control device 110 identifies the object 400 as waste and determines its precise location by analyzing and evaluating the image data. Furthermore, the automated parking system 100 transmits appropriate signals to the cleaning robot 300, which instruct the cleaning robot 300 to perform pre-set actions. Various different information and instructions can be transmitted to the cleaning robot 300 using these signals.

[0032] In its simplest case, it essentially transmits only location information with the current position of object 400; however, the signal can also contain instructions about the task to be performed. The cleaning robot 300 then uses its own route calculation device 312 to calculate a suitable route 530 for traveling from the cleaning robot's starting position 510 to a target position 520 pre-given by the position of object 400.

[0033] In an alternative scenario, the internal route calculation device 112 of the control equipment 110 of the automated parking system 100 calculates a suitable route 530 for travel between the starting position 510 and the target position 520. The calculated route 530 is then transmitted to the cleaning robot 300 as a signal in the form of corresponding route information. If necessary, instructions regarding the current task can also be transmitted at the same time.

[0034] Once all information regarding the route and the task to be performed is provided to the cleaning robot 300, the robot independently begins to move and travels from its starting position 510 along the calculated route 530 to a pre-defined target position 520 to remove the object 400 from the relevant area 210 of the parking surface 200. The cleaning robot 300 can then return to its starting position 510 along the same route 530. However, alternative routes can be set for the return trip. Furthermore, after the cleaning process, the cleaning robot can also travel to other locations within the parking surface 200. The timing can be chosen such that cleaning is performed within a time window with virtually no other traffic.

[0035] Instead of the two scenarios described above where the cleaning robot independently performs its movement, it can be meaningful for the automated parking system 100 to fully control the movement of the cleaning robot 300 on the parking surface 200. In this case, a suitable route 530 is calculated using the route calculation device 112 integrated into the control device 110 of the automated parking system 100. Next, the internal control device 113 of the automated parking system 100 generates control commands necessary to control the cleaning robot 300 and sends these control commands along with signals to the cleaning robot 300. The cleaning robot 300 converts the received control commands into corresponding control signals using its internal control device 313 to manipulate the actuators of the cleaning robot. In this case, the cleaning robot 300 also travels from the starting position 510 to the target position 520 along the previously calculated route 530 in order to remove the object 400 from the corresponding area 210.

[0036] To prevent the cleaning robot 300 from colliding with obstacles 600 and 410 while traveling along route 530, it is preferable to continuously monitor the surrounding environment of the cleaning robot 300. This can be achieved not only by using the sensor 321 integrated in the cleaning robot 300 but also by using the fixedly installed sensors 121 and 122 of the automated parking system 100. If obstacles 600 and 410 are detected by the cleaning robot 300, various strategies can be applied to avoid collisions. In the simplest case, the cleaning robot 300 can be stopped.

[0037] Furthermore, the cleaning robot 300 can also bypass obstacles 600 and 410 on alternative route 531. This situation is... Figure 4As shown, a cleaning robot 301 moving along route 530 encounters an oncoming vehicle 600. In this situation, the control device 110 of the automated parking system 100 or the control device 310 of the cleaning robot calculates an avoidance route 531 that allows for safe passage around the obstacle 600. The cleaning robot 301 then continues its journey along this alternative route 531.

[0038] If information about potential obstacles 600, 410 on the appropriate route 530 is provided to the control devices 110, 310 in advance, an alternative route 531 can be calculated before travel begins, and the cleaning robot 300 can then travel along that alternative route 531. Therefore, Figure 5 The corresponding situation is shown, in which vehicle 600 moves in a manner similar to... Figure 4 The situation shown obstructs the initially calculated route 530. As a result, an alternative route 531 is found for the cleaning robot 300, which may be less advantageous, for example, because it is longer, but avoids a collision with the vehicle 600.

[0039] If the information of the entire infrastructure of the automated parking system 130 is considered in order to calculate routes 530 and 531, then the situation where obstacles only represent obstacles during the driving process of the cleaning robot 300 can also be considered. Figure 5 As shown, for example, future obstacles 410 can also be considered, such as vehicles 410 leaving the parking station, or vehicles that initially represent obstacles but no longer block the way when they encounter the cleaning robot 300.

[0040] Another alternative to avoid a collision is for the cleaning robot 300 to move to an avoidance position. Figure 6 The diagram illustrates a situation where a cleaning robot 300 encounters an oncoming vehicle 600 as an obstacle along its calculated route 530. In this case, an avoidance route 531 is calculated for the cleaning robot, and the cleaning robot 300 travels along the avoidance route 531 to an avoidance position 540. If the corresponding control devices 110, 310 then determine that the obstacle 600 is no longer in the way, the cleaning robot 300 continues its journey along the original route 530 to the target position 520.

[0041] exist Figure 7Block diagrams of the systems and components used to implement the method are shown according to the first and second embodiments. Here, the calculation of route 130 is performed within the control device 110 of the automated parking system 100. For this purpose, a signal 701 carrying sensor data from sensors 121 and 122 is first transmitted from sensor device 120 to control device 110. Analysis and evaluation device 111 identifies objects 400 present in the drivable area 210 of parking surface 200 and determines the corresponding positions of these objects based on the sensor data. The information obtained here is transmitted in the form of signal 702 to route calculation device 112 of sensor device 110, which calculates a route 530 suitable for cleaning robot 300 based on the information. The route information thus obtained is transmitted in the form of signal 703 to internal control device 113, which, if necessary, transmits this information along with additional instructions in the form of signal 704 to control device 310 of cleaning robot 300. Based on this information, the internal control unit 313 of the cleaning robot 300 generates appropriate control signals 705, which operate at least one actuator device 340 of the cleaning robot 300. In an alternative embodiment, the internal control unit 113 of the automated parking system 300 has generated control commands for directly controlling the cleaning robot 300 using information available to the internal control unit. These control commands are transmitted to the control device 310 of the cleaning robot in the form of signals 704 and converted into corresponding control signals by the control device 113 to operate at least one actuator device 340.

[0042] exist Figure 8 The block diagram of the system and components used to implement the method is shown according to a third embodiment. Here, the calculation of route 530 is performed within the control device 310 of the cleaning robot 300. In this case, for this purpose, a signal 101 carrying sensor data from sensors 121 and 122 is first transmitted from sensor device 21 to the control device. Analysis and evaluation device 111 identifies objects 400 present in the drivable area 210 of parking surface 200 and determines the corresponding positions of these objects based on the sensor data. The information obtained here is transmitted in the form of signal 702 to route calculation device 312 implemented in the control device 310 of the cleaning robot 300, which calculates a route 530 suitable for the cleaning robot 300 based on this information. The route information thus obtained is transmitted in the form of signal 703 to the control device 313 of the cleaning robot 300. The control device 313 generates appropriate control signals based on this information to operate at least one actuator device 340 of the cleaning robot.

[0043] Despite Figure 7 and 8The cleaning robot 300 is not included in the box representing the automated parking system 100, but it should still be considered as part of the infrastructure of the automated parking system 100.

[0044] Although the invention has been described and illustrated in more detail through preferred embodiments, the invention is not limited to the disclosed examples. Rather, those skilled in the art can derive other modifications from this without departing from the scope of the invention.

Claims

1. A method for cleaning a parking surface (200) belonging to an automated parking system (100) by means of a cleaning robot (300), wherein detecting an object (400) in the drivable area (210) of the parking area (200) by means of at least one sensor (121, 122, 321, 621) of the automated parking system (100), of the cleaning robot (300) and / or of a vehicle (600) in communication with the automated parking system (100), wherein the object (400) is recognized as waste and its position is determined by means of an evaluation device (111) of the automated parking system (100), wherein a route (530) between a starting position (510) and a target position (520) predetermined by the position of the object (400) on the parking area (200) is calculated for the cleaning robot (300), wherein at least one signal (702, 704) is output to the cleaning robot (300) which arranges the cleaning robot (300) to travel along the calculated route (530) between the starting position (510) and the target position (520) and to remove the object (400) from the drivable area (210) of the parking area (200).

2. The method of claim 1, wherein, The transmitted signal (702, 704) comprises one of the following: - at least one route information about a route (530) calculated by a central route calculation device of the automated parking system (100); - at least one position information about a position of the object (400) ascertained by the evaluation device (111) of the automated parking system (100); or - at least one control instruction for directly controlling the cleaning robot (300) along the route (530).

3. The method of claim 1 or 2, wherein, monitoring the surroundings of the cleaning robot (300) during its travel along the calculated route (530) in terms of possible obstacles (410) by means of at least one sensor (121, 122, 321, 621) of the automated parking system (100), of the cleaning robot (300) and / or of a vehicle (600) in communication with the automated parking system (100), wherein in the event of detection of an obstacle (410) along the route (530) of the cleaning robot (300) at least one of the following actions is performed: - stopping the cleaning robot (300) in front of the obstacle (410); - calculating an avoidance route (531) which enables the cleaning robot (300) to circumvent the obstacle (410) without collision and controlling the cleaning robot (300) along the avoidance route (531), and / or, - controlling the cleaning robot (300) to an avoidance position (540) and, if the obstacle (410) is no longer detected along the route (530) of the cleaning robot (300), continuing the travel of the cleaning robot (300).

4. The method of claim 1 or 2, wherein, The calculation of the route (530) is effected by means of a central route calculation device of the automated parking system (100), wherein the calculated route (530) is transmitted to a central control device of the automated parking system (100) or to a control device of the cleaning robot (300), wherein the associated control device controls the movement of the cleaning robot (300) along the calculated route (530).

5. The method of claim 1 or 2, wherein, The automated parking system (100) transmits the current position of the object (400) to the cleaning robot (300) in the form of at least one position information, wherein a calculation device associated with the cleaning robot (300) calculates the route (530) between the starting position (510) and the target position (520) on the basis of the transmitted position information, wherein the calculated route (530) is transmitted to a control device associated with the cleaning robot (300) in the form of at least one route information, the control device controlling the movement of the cleaning robot (300) along the calculated route (530) between the starting position (510) and the target position (520).

6. The method of claim 1 or 2, wherein, For monitoring the parking area (200) and / or the surroundings of the cleaning robot (300), at least one video camera (121, 122, 321, 621) associated with the automated parking system (100), the cleaning robot (300) and / or a vehicle (600) located on the parking area (200) is used, wherein objects (400) and / or obstacles (410) in the area of the parking area (200) are detected by analyzing and evaluating the image data of the at least one video camera (121, 122, 321, 621).

7. An automated parking system (100) having a cleaning robot (300) for cleaning a parking area (200) associated with the automated parking system (100), the automated parking system comprising: - a sensor device (120) having at least one sensor (121, 122, 321, 621) configured to detect at least one object (400) in at least one drivable area (210) of the parking area (200); - an analysis and evaluation device (111) configured to analyze and evaluate data of the at least one sensor (121, 122, 321, 621), wherein the analysis and evaluation device (111) is configured to recognize an object (400) detected by the at least one sensor (121, 122, 321, 621) as waste and to determine the position of the object; - a route calculation device configured to calculate a route (530) between a starting position (510) of the cleaning robot (300) and a target position (520) corresponding to the position of the object (400), and - a control device configured to control the movement of the cleaning robot (300) along the calculated route (530). - a control device configured for outputting at least one signal (702, 704) to the cleaning robot (300), the signal arranging the cleaning robot (300) to travel along the calculated route (530) between the start position (510) and the target position (520) and to remove the object (400) from the drivable area (210) of the parking area (200).

8. A control device for an automated parking system (100) according to claim 7, the control device being arranged for performing the steps of the method according to any one of claims 1 to 6.

9. A control device for a cleaning robot (300) for cleaning a parking area (200) belonging to an automated parking system (100) according to claim 7, wherein The control device is configured for performing the steps of the method according to any one of claims 1 to 6.

10. A computer program product comprising a computer program comprising instructions arranged to cause a computer to perform the method according to any one of claims 1 to 6 when the computer program is executed by the computer.

11. A computer readable storage medium (114, 314) having stored thereon a computer program comprising instructions arranged to cause a computer to perform the method according to any one of claims 1 to 6 when the computer program is executed by the computer.

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