Automated parking system and method of operating the same

Abstract

In an automated parking system with a large number of pallets that can be moved longitudinally and transversely within a parking deck for vehicles to be stored thereon, and with a plurality of transport modules permanently installed on a parking deck to receive the pallets, which are arranged at least partially adjacent to one another in rows and columns, and are designed for the optional transport of the pallets in longitudinal and transverse directions and for their transfer to the transport module adjacent in the respective transport direction, it is provided that the number of pallets that can be moved in the parking system is dynamically adjusted to the occupancy of the parking system by collecting pallets from the transport modules or providing additional pallets using a pallet pick-up device.In this process, unused pallets can be grouped into pallet stacks using a stacking device, which remain movable on the transport modules in the longitudinal and transverse direction, and existing pallet stacks on the transport modules can be broken up to provide additional pallets.

Description

[0001] The present invention relates to an automated parking system with a plurality of pallets movable in the longitudinal and transverse direction within a parking deck for vehicles to be stored thereon, and with a plurality of transport modules fixed on a parking deck for receiving the pallets, which are arranged at least partially adjacent to one another in rows and columns, and are designed for the selective transport of the pallets in the longitudinal and transverse direction and for their transfer to the respective adjacent transport module in the transport direction, as well as a method for operating the same.

[0002] A parking system of the type mentioned above is known from European Patent EP 3 924 576 B1 of the applicant. The transport modules provided in the parking system are mostly equipped with empty or occupied pallets. Retrieving a vehicle is accomplished by moving the pallet occupied by the vehicle, like a sliding puzzle, to a transfer point where the vehicle can be taken over by its driver. For this purpose, adjacent transport modules are cleared by corresponding pallet movements within the system, so that the pallet with the vehicle to be retrieved can be transported piece by piece towards the transfer point. While the parking system allows for the storage of a maximum number of vehicles, retrieval requires a relatively large number of pallet movements, depending on the current location of the vehicles in question, and is therefore time-consuming.

[0003] One object of the invention is to optimize such a parking system with regard to the relocation time and the achievable maximum utilization and to specify a correspondingly improved method for operating it.

[0004] The problem is solved with regard to the parking system by the features of claim 1 and with regard to the method by the features of claim 13. Advantageous embodiments can be found in the dependent claims.

[0005] A key aspect of the present invention lies in a pallet picker device, which is designed and controlled to adapt the parking system to its capacity by collecting individual unoccupied pallets from the transport modules or providing additional pallets. This allows the number of pallets that can be moved within the parking system to be flexibly adjusted to the current or expected capacity. Fewer pallets in the system means that more transport modules are free of pallets and available for transporting a pallet to be retrieved, as well as for maneuvering pallets that are blocking the path of the pallet to be retrieved to the transfer point. Thus, with fewer pallets in the system, the retrieval time is significantly reduced.At the same time, pallets can be released back into the system when capacity is increased, so that the improvement in retrieval time does not come at the expense of the parking system's capacity.

[0006] In a particularly advantageous embodiment, the pallet handling device is designed as a stacking device. This serves to collect unused pallets and group them into pallet stacks. The pallet stacks remain movable on the transport modules in both longitudinal and transverse directions, just like pallets normally loaded with vehicles. Furthermore, the stacking device serves to provide additional pallets on the transport modules by dissolving existing pallet stacks and thus separating the stacked pallets for use or for loading with parked vehicles.

[0007] The stacking device can be installed, in particular, above one of the transport modules on the ceiling of the parking system. Thus, it does not take up any space in the parking system.

[0008] Parking system and can be implemented as a simple lifting device, for example by means of a hydraulically operated scissor mechanism.

[0009] The stacking device may in particular include a vertically movable gripping or coupling device for the pallets, which serves and is designed to pick up pallets for stacking or unstacking, lift them and lower them onto another pallet or an existing pallet stack or an unoccupied transport module.

[0010] Advantageously, the parking system has a control device for controlling the transport modules, which is programmed to move a pallet with the vehicle on it from a transfer point to an available transport module for storing a vehicle, by controlling transport modules located at least on a first trajectory between the transfer point and the available transport module to transport the pallet, and to move the pallet loaded with the vehicle from its transport module to the transfer point for retrieving a vehicle, by controlling transport modules located at least on a second trajectory between the relevant transport module and the transfer point to transport the pallet. The transport modules along the respective entry and exit points are configured to move the pallet from its transport module to the transfer point.The transport modules located along the outbound trajectory (which can also be identical) are thus approached one after the other, to transport the pallet loaded with the vehicle along the trajectory to its destination, i.e. either a transport module serving as a storage location or the transfer point.

[0011] If necessary, transport modules along the trajectory that are occupied by pallets must first be cleared by transferring or temporarily storing the respective pallets on other transport modules. The trajectory is advantageously chosen to minimize the number of repositioning movements required.

[0012] To ensure the fastest possible storage and, above all, retrieval, the control system can be programmed to determine the first and / or second trajectory for each pallet and for each storage and retrieval strategy in advance and retrieve it when a storage or retrieval request is made. This means that even before a retrieval request is made, it is already known which route a pallet will take and which pallets may need to be moved, allowing the retrieval process to be started and carried out very quickly.

[0013] The control device can be programmed to determine the first and / or second trajectory according to one of two or more storage and retrieval strategies, which are selected depending on the current occupancy status of the parking system or the number of pallets that can be moved within the parking system. The storage and retrieval strategy thus depends on the occupancy status and therefore on the number of pallets that can be moved within the system. If fewer pallets are in the system, i.e., more free transport modules are available, a more direct route can be chosen, requiring fewer transfer movements than with a higher occupancy and thus more available pallets or fewer free transport modules.

[0014] Preferably, the control device can be programmed to control the pallet handling device when switching between currently used storage and retrieval strategies. This allows the number of pallets available in the parking system to be adjusted to the new strategy by collecting unoccupied pallets or providing additional pallets. The storage and retrieval strategies are thus optimized and adapted for a specific number or range of available pallets, and the appropriate strategy is selected based on the current capacity and therefore the number of pallets available.

[0015] In a parking system with a number of transport modules arranged in X columns and Y rows, according to a first input and

[0016] The storage strategy should be designed to make the number of pallets movable within the parking system at least X(Y / 2-1) smaller than the number of transport modules, and to arrange the pallets in a waiting state or standard position such that no transport modules in a row or half a column are carrying a pallet. This enables very fast storage and retrieval while still maintaining a considerable pallet capacity.

[0017] A second storage and retrieval strategy can involve making the number of pallets movable within the parking system at least X fewer than the number of transport modules, and arranging the pallets in a waiting state so that no transport modules in an entire row carry a pallet. This still requires relatively few shunting movements to store and retrieve pallets, even though the number of pallets has been increased.

[0018] A third storage and retrieval strategy involves reducing the number of pallets movable within the parking system by at least X / 2 compared to the number of transport modules. In this strategy, the pallets are arranged in a waiting state such that transport modules in half a row are empty. This allows for a further increase in the number of pallets while still maintaining a level that ensures an acceptable retrieval time.

[0019] Instead of predefining the storage and retrieval trajectories for each pallet, the control device can also dynamically determine, upon a storage or retrieval request, the first and / or second trajectory of a pallet to be stored or retrieved, using a rule-based optimization algorithm. This trajectory is the one requiring the fewest movement operations. A self-learning or trained AI algorithm can be used for this purpose.

[0020] In a method for operating an automated parking system of the type mentioned at the outset, it is provided according to the invention that the number of pallets movable in the parking system is adapted to the utilization of the parking system by collecting pallets from the transport modules using a pallet pick-up device or by providing additional pallets, in particular by grouping unused pallets into pallet stacks using a stacking device, which remain movable on the transport modules in the longitudinal and transverse direction, and by dissolving pallet stacks already present on the transport modules to provide additional pallets.

[0021] To store a vehicle, a pallet with the vehicle on it can be moved from a transfer point to an available transport module by targeting transport modules located between the transfer point and the available transport module, at least along a first trajectory. Similarly, to retrieve a vehicle, the pallet loaded with the vehicle can be moved from its transport module to the transfer point by targeting transport modules located between the relevant transport module and the transfer point, at least along a second trajectory. In particular, it can be provided that the first and / or second trajectory is determined according to one of two or more storage and retrieval strategies, which are selected depending on the current occupancy status of the parking system or the number of pallets that can be moved within the parking system.Preferably, the first and / or second trajectory for each pallet and for each of the storage and retrieval strategies can be determined and saved in advance and retrieved in the event of a retrieval request.

[0022] Preferably, to change a currently used storage and retrieval strategy, the pallet handling device can be controlled to adjust the number of pallets that can be occupied in the parking system to the new storage and retrieval strategy by collecting unoccupied pallets or providing additional pallets.

[0023] Further advantages and features will become apparent from the following description of exemplary embodiments illustrated in the figures. It shows: Figure 1 shows a simplified embodiment of a parking system with 3 x 3 transport modules, pallets for vehicles arranged on them, and a ceiling-mounted stacking device in the form of a vertically movable coupling device for forming pallet stacks; Figure 2 shows a side view of the stacking device for receiving the pallet below; Figure 3 shows a detail view of a gripping hook provided on the stacking device; Figure 4 shows a first detail of the pallet with a receptacle for the gripping hook to engage. Figure 3 Figure 5 shows a second detail on the pallet with a reinforcement strip for locking the gripping hook. Figure 3Figure 6 shows a stack of pallets that can be moved on the transport modules, Figures 7 and 8 show a detailed view of a centering device provided on the pallets, Figure 9 shows a occupancy plan of a parking system with transport modules arranged in 12 columns and 11 rows based on a first storage and retrieval strategy, Figure 9 shows the corresponding occupancy plan of the parking system. Figure 9a based on a second storage and retrieval strategy and Figure 9, a corresponding occupancy plan of the parking system is shown. Figure 9a due to a third storage and retrieval strategy.

[0024] A first embodiment of a parking system 1 of the type mentioned above is shown in Figure 1The invention is shown. Nine identical transport modules 10 are fixedly mounted on a parking deck, for example, the floor of a warehouse level or the like, in a 3 x 3 module grid. The transport modules form the basic building block for constructing a parking system and are designed for the selective transport of pallets 11 in the longitudinal direction (x) and transverse direction (y), and for transferring the pallets to the adjacent transport module in the respective transport direction. Transport modules usable within the scope of the invention are described in the applicant's European Patent EP 3 924 576 B1.

[0025] The transport modules 10 are designed to each carry and transport one pallet 11 with a vehicle. For this purpose, the modules are arranged in a straight line and adjacent to each other both longitudinally and transversely, with spacer frames optionally interposed between them.

[0026] To enable each pallet 11 to be moved to a desired location on the parking deck, the transport modules 10 are equipped with several upward-projecting rollers with a horizontal pivot axis, allowing pallets to be transported either lengthwise or crosswise. The rollers can be pivoted around a vertical axis, allowing their direction of travel to be set either lengthwise or crosswise. Additionally, where space constraints allow, transport modules with fixed longitudinally oriented rollers can also be used, enabling transport only in the longitudinal direction.

[0027] At least some of the rollers are driven, for example by an electric or hydraulic motor. In addition to the driven rollers, there may be further non-driven support rollers to better distribute the load on the pallets.

[0028] To allow pallets to be moved from one transport module to the next without tipping, each module has four rollers near the corner of the pallet it supports. A fifth, driven roller can be provided in the center of the transport module. All rollers are oriented in the same direction and can be driven synchronously to transfer a pallet onto the adjacent transport module.

[0029] As explained, the rollers can be swivelled 90 degrees around their vertical axis to change the direction of transport. A swivel drive, for example in the form of an electric motor or a hydraulic cylinder, is provided for swiveling the rollers. The force transmission and synchronization of the swiveling movement can be achieved, for example, via a lever linkage or a circulating chain. Further details can be found, as mentioned, in EP 3 924 576 B1, to which full reference is made here to avoid unnecessary repetition.

[0030] The control device 20 controls the transport modules in such a way that a free parking space is assigned to a vehicle to be parked and its pallet is automatically transported from a transfer point to this parking space, or that a vehicle to be removed is transported back to the transfer point.

[0031] The depicted parking system 1 is a simplified representation for clarity – real parking systems can have any number of transport modules, which can be installed adjacent to each other in almost any arrangement along the x and y directions. For the application of the storage and retrieval strategies described below, sections with a rectangular grid, known as fields, can be considered. A complex parking deck can thus be divided into rectangular fields; depending on the layout of the parking deck, there can be several fields. Multi-story parking systems with multiple parking levels can also be implemented, with the parking levels connected vertically by one or more elevators. These elevators can transport pallets loaded with vehicles between levels or from their respective levels to a transfer point.

[0032] Vehicle transfers during storage or retrieval preferably take place in a video-monitored transfer booth. In the booth, users park their vehicles on pallets. A sensor-based system preferably assists drivers in positioning their vehicles precisely in the center of the pallet as they drive in. To improve efficiency and reduce waiting times, multiple transfer booths can be provided. In a multi-story parking system, the transfer booth can also be integrated into an elevator.

[0033] After leaving the transfer cabin or elevator, the pallet enters the actual storage area. This area is organized as a grid of transport modules 10. To enable efficient pallet movement, there are always more transport modules 10 than pallets 11 on each storage level.

[0034] A further component of the parking system 1 according to the invention is a pallet pick-up device, which is designed and controlled to collect individual unoccupied pallets from the transport modules or to provide additional pallets in order to adapt the parking system to its utilization. In principle, the pallet pick-up device can be designed as desired, for example by means of a forklift fork with which a pallet can be lifted and moved to a storage location.

[0035] According to a particular aspect of the invention, the pallet pick-up device, as shown in Figure 1This is shown, implemented by a stacking device 15, with which individual pallets 11 can be picked up, lifted, and lowered onto another pallet. The underlying principle is to group unused pallets into pallet stacks for collection, which remain movable in the longitudinal and transverse directions on the transport modules 10. A pallet stack 12 consisting of four stacked pallets 11 is shown in Figure 1 to recognize. To provide additional pallets on transport modules 10 if needed, existing pallet stacks can be broken down again.

[0036] The freely movable pallet stacks 12 offer flexible storage of excess pallets 11 depending on the active storage and retrieval strategy. These stacks 12 are formed by stacking up to five pallets 11 on top of each other. The pallet stacks 12 move through the parking system on the transport modules 10. The key advantage of the freely movable pallet stacks 12 is their dual function. When not used as stacks 12, they serve as additional storage spaces 11. Depending on the layout or size of a parking deck, several pallet stacks 12 can be located in the storage area.

[0037] The stacking device 15 is mounted on the ceiling 16 of the hall in which the parking system is located, above one of the transport modules 10. Figure 2The stacking device 15 is shown in more detail. It has a scissor frame 18 actuated by a hydraulic cylinder 17, which carries four electrically lockable and unlockable gripping hooks 19 at its lower end. One such gripping hook 19 is located in Figure 3 in detail 19a from Figure 2 as can be seen. By lowering the scissor frame 18, the gripping hooks engage in designated receptacles of a pallet 11, which is located on the transport module 10 below the stacking device 15. In the Figures 4 and 5 Two alternatives for such recordings for the grappling hook 19 are shown. Figure 4 The gripping hook 19 engages through an opening 21 in the top of the pallet 11 and into a cutout 23 in a square profile 22. Figure 5 The gripping hook 19 reaches through an opening 21 in the top of the pallet 11 and behind a reinforcing strip 24.

[0038] The pallet 11, attached by means of the gripping hooks 19, can then be, as in Figure 1The pallet 11 can be seen being lifted. By appropriately controlling the transport modules 10, another pallet 11 or the pallet stack 12 can then be moved onto the transport module 10 located below the stacking device 15, whereupon the lifted pallet 11 can then be lowered. The gripping hooks 19 are then unlocked and the stacking device 15 is raised.

[0039] Similarly, the pallet stack 12 can be moved under the stacking device 15 and the stacking device 15 lowered until the gripping hooks on the top pallet 11 lock. This pallet can then be lifted and the remaining pallet stack 12 moved away, whereupon the lifted pallet 11 can be placed onto the now empty transport module 10.

[0040] The pallet stack 12, consisting of four pallets 11, is in Figure 6 shown in more detail. In the Figure 7In the enlarged detail 25, a reinforced recess 26 for a conical tip 27 of a foot 28 serving as a centering device can be seen, which is located on the underside of the pallet 11 stacked above it (see Figure 8 The recess 26 and the point 27 are used to align the pallets 11 during stacking and to secure them against slipping.

[0041] The pallet stacking device 15 enables the creation and management of free-floating pallet stacks 12 by stacking up to five pallets 11 or by providing pallets 11 from the stack 12 as needed to adapt the number of pallets to changing occupancy and the active storage and retrieval strategy.

[0042] The pallet stacking device 15, designed as an overhead lifting system, is installed on the ceiling 16 of each parking level, preferably next to a transfer cabin or elevator. The pallet stacking device 15 descends from the ceiling to grasp a pallet 11, either from a pallet stack 12 or directly from a transport module 10. It can retrieve pallets from a stack 12 and make them available as additional pallets 11 in the system, or it can remove free pallets 11 from the system to enable a faster and more efficient storage and retrieval strategy.

[0043] The storage and retrieval strategy determines the movements each transport module must perform to create clear delivery routes. This strategy depends on the occupancy of the parking deck, specifically the number of empty transport modules in each bay.

[0044] The parking system, i.e. the transport modules 10 and the stacking device 15, is controlled via the control device 20, on which a corresponding control program runs.

[0045] One task of the control device 20 is to create unobstructed delivery paths (trajectories) for pallets 11 that are to be stored or retrieved. These trajectories result consistently from a standard pallet configuration in which empty transport modules 10 are arranged in both the x and y directions. For each conveyor belt, the trajectories of a single pallet are predefined for every possible storage and retrieval strategy. These trajectories originate from a standard position of the system, to which it automatically returns after each storage or retrieval operation. This approach enables the predefinition and storage of all possible delivery paths for various scenarios in a comprehensive database.

[0046] The control program dynamically adjusts the storage and retrieval strategy to the occupancy level in the parking system, which is based on the number of available pallets. For example, if the occupancy level is lower than a certain value, a first storage and retrieval strategy is applied; if the occupancy level is between the first and second values, a second storage and retrieval strategy is applied; and if the occupancy level is higher than the second value, a third is applied. This adaptive approach ensures that the most suitable storage and retrieval strategy is selected based on the current occupancy level of pallets in the system.

[0047] In the parking system according to the invention, optimal use of space is of paramount importance. The system is typically installed within predefined architectural constraints regarding footprint and maximum height. Each parking space requires the allocation of a single pallet. A range of storage and retrieval strategies are defined and numerically labeled to meet project-specific requirements. The first strategy is consistently preferred due to the rapid pallet delivery, albeit at the cost of reduced parking space availability. This strategy typically achieves an occupancy rate of 70-75%, which is common during most operating hours. The other strategies allow for greater parking capacity, but at the expense of longer retrieval times. Typically, three storage and retrieval strategies are sufficient in a given application to accommodate different occupancy scenarios.

[0048] A key feature of the control program is the dynamic adaptation of storage and retrieval strategies based on predefined occupancy levels. Each transport module (10) within the system is assigned its own delivery route, corresponding to the respective predefined storage and retrieval strategy. In a system with 100 transport modules and three storage and retrieval strategies, for example, a total of 300 trajectories are generated and stored in a database. Depending on the active storage and retrieval strategy, the control program selects the appropriate trajectory.

[0049] In connection with the transition between storage and retrieval strategies, a trigger mechanism is activated based on the required number of free transport modules 10 in the storage area. If predefined occupancy thresholds are exceeded or fallen below, necessitating a strategic adjustment, the control program triggers the transition process. This transition requires the intervention of the stacking device 15, which is controlled accordingly by the control program or the control device 20.

[0050] The stacking device 15 can be controlled to insert pallets 11 from a pallet stack 12 into the system. This increases the available storage spaces, albeit at the cost of a reduced retrieval speed. Conversely, the stacking device 15 can be controlled to pick up pallets 11 from the transport modules 10 and transfer them to pallet stack 12. This process reduces the available storage spaces while simultaneously increasing the retrieval speed in the event of a retrieval request for a stored vehicle.

[0051] In the Figures 9a to 9cThe standard pallet positions for three different storage and retrieval strategies are shown. The parking deck has one bay with 13 columns AM (x-direction) and 11 rows (y-direction). The individual bay positions are numbered A1-M11 accordingly. Each of these bay positions contains an x / y-capable transport module 10. In the middle of the first column A is the transfer point 30, for example, as described above, in the form of a transfer booth. The gray hatched bay positions are occupied by pallets 11, which are supported by the respective transport module 10 located at that bay position. The pallets can be empty, loaded with a stored vehicle, or supporting a pallet stack 12.The transport modules 10 at the light-colored field positions are unoccupied and can be used to transport pallets 11 for storage or retrieval, and to shunt pallets 11 to clear a trajectory for a vehicle to enter or exit storage. The pallets 11 can be moved individually or synchronously by controlling the respective transport modules 10.

[0052] At the in Figure 9aIn the depicted storage and retrieval strategy, the entire sixth row (6) and the upper half of the ninth column (I) are free of pallets 11. This is the standard position to which pallets 11 are moved after each storage or retrieval operation of a vehicle within this strategy. From this position, each pallet 11 can be transported very quickly to the transfer point. For example, if the pallet at field position D9 is to be retrieved, the pallets at positions I7-I11 are first moved synchronously to positions I1-I5. Now positions I7-I11 are free. Then, the entire block of columns EH in rows 7 to 11 can be shifted one column in the x-direction. Now positions E7 to E11 are free, providing an unobstructed path for pallet D9 to be retrieved via positions E9 - E6 - B6 to transfer point 30.

[0053] At the in Figure 9bIn the second storage and retrieval strategy shown, in the standard configuration, positions I1-I5 are additionally occupied with pallets 11, leaving only the sixth row free. Consequently, transporting any pallet 11 to transfer station 30 may require more movement operations, thus increasing the retrieval time. For example, to retrieve the pallet at position D9, the pallets at positions D7 and D8 can be moved sequentially in the y-direction to the sixth row and then in the x-direction to positions F6 and E5. Now, an unobstructed path is available for pallet D9 to be retrieved, via positions E9 - E6 - B6, to transfer station 30.

[0054] Moving a pallet from a more distant column, for example, the pallet at position M10, is somewhat more time-consuming. This can be done, for instance, by synchronously moving the pallets in the seventh to tenth rows in columns B to L one position in the Y-direction. Positions B10 to L10 are now free. Pallet M10 can then be moved in the X-direction to position D10. Next, the entire block of pallets in the sixth to ninth rows in columns C to L can be moved back synchronously one position in the Y-direction, so that the sixth row is free again from column C onwards. Finally, the pallets in positions B6 to B9 can be moved to positions C6 to F6, creating an unobstructed path for the pallet to be moved to B10 from its original position M10, via positions B9 to B6, to transfer station 30.

[0055] The standard setup for a third storage and retrieval strategy is in Figure 9c This can be seen in the diagram. Additionally, field positions I6-IM6 in the sixth row are occupied with pallets 11 each, leaving only half of the sixth row free. Here again, a suitable trajectory for retrieval can be found for each pallet by regrouping them. This may require more transfer operations than the second storage and retrieval strategy, thus increasing the average retrieval time.

[0056] As explained above, for each of the three storage and retrieval strategies and for each pallet or pallet position, the storage and retrieval trajectories are determined in advance and stored in a database of the control device 20, so that they can be easily retrieved and executed accordingly when a retrieval request is made.

[0057] The first storage and retrieval strategy, in which (minus the positions required by the transfer point) X(Y / 2-1) positions are free, is executed up to a parking system occupancy of approximately 70%, the second storage and retrieval strategy up to a parking system occupancy of approximately 70% up to a maximum of 85%, and the third storage and retrieval strategy depending on the size of the parking system from an occupancy of approximately 80-85%.

[0058] In the exemplary embodiment, the freely movable pallet stacks 12 and the ceiling-mounted stacking device 15, combined with in- and

[0059] Outsourcing strategies that predetermine the delivery route for each transport module 10 based on the respective storage and retrieval strategy, as well as a control program that dynamically adjusts the storage and retrieval strategy in response to the varying occupancy level within the automatic parking system, optimizing delivery times depending on the occupancy level without reducing the capacity of the parking system.

[0060] Instead of predefining the storage and retrieval trajectories for each pallet, the control system can also determine, upon a storage or retrieval request, that the first and / or second trajectory of a pallet to be stored or retrieved requires the fewest movement operations. This is achieved using a rule-based optimization algorithm. A self-learning or trained AI algorithm can be used for this purpose. In this case, it is also unnecessary to return the pallets to a standard position after a storage or retrieval operation; the control system simply "remembers" which pallet is located in which aisle position.

Claims

1. Automated parking system with a plurality of pallets (11) that can be moved longitudinally and transversely within a parking deck for vehicles to be stored thereon, and with a plurality of transport modules (10) permanently installed on a parking deck for receiving the pallets (11), which are arranged at least partially adjacent to one another in rows and columns, and are designed for the optional transport of the pallets (11) in the longitudinal and transverse directions and for their transfer to the transport module (10) adjacent in the respective transport direction. characterized by a pallet receiving device which is designed and controlled to adapt the parking system to its utilization by collecting individual unoccupied pallets (11) from the transport modules (10) or by providing additional pallets (11).

2. Parking system according to claim 1, in which the pallet receiving device is designed as a stacking device (15) which, for collecting unused pallets (11), groups them into pallet stacks which remain movable on the transport modules (10) in the longitudinal and transverse direction, and, for providing additional pallets (11), breaks up pallet stacks already present on the transport modules (10).

3. Parking system according to claim 2, wherein the stacking device (15) is installed above one of the transport modules (10) on a ceiling of the parking system.

4. Parking system according to claim 2 or 3, wherein the stacking device (15) has a vertically movable gripping or coupling device for the pallets (11) to pick up, lift and lower pallets (11) for stacking or unstacking onto another pallet or an existing pallet stack.

5. Parking system according to one of the preceding claims with a control device (20) for controlling the transport modules (10), which is programmed to move a pallet (11) with the vehicle placed on it from a transfer point (30) to a free transport module for storing a vehicle, by controlling transport modules (10) located at least on a first trajectory between the transfer point (30) and the free transport module for transporting the pallet (11), and for retrieving a vehicle, to move the pallet (11) loaded with the vehicle from its transport module (10) to the transfer point (30), by controlling transport modules (10) located at least on a second trajectory between the transport module in question and the transfer point (30) for transporting the pallet (11).

6. Parking system according to claim 5, wherein the control device (20) is programmed to determine the first and / or second trajectory according to one of two or more storage and retrieval strategies, which is selected depending on the current occupancy state of the parking system or the number of pallets (11) that can be moved in the parking system.

7. Parking system according to claim 6, wherein the control device (20) is programmed to determine in advance the first and / or second trajectory for each pallet (11) and for each of the storage and retrieval strategies and to retrieve it in the event of a storage request.

8. Parking system according to claim 6 or 7, wherein the control device (20) is programmed to control the pallet receiving device to change a currently used storage and retrieval strategy in order to adapt the number of pallets (11) that can be occupied in the parking system to the new storage and retrieval strategy by collecting unoccupied pallets (11) or providing additional pallets (11).

9. Parking system according to claims 6 to 8 with a number of X times Y transport modules (10) arranged in X columns and Y rows, wherein the control device (20) is programmed to make the pallets (11) movable in the parking system smaller by at least the number X(Y / 2-1) than the number of transport modules (10) in a first storage and retrieval strategy, and wherein the pallets (11) are arranged in a waiting state such that transport modules (10) in a row and in half a column do not carry a pallet (11).

10. Parking system according to claims 6 to 9 with a number X times Y transport modules (10) arranged in X columns and Y rows, wherein the control device (20) is programmed to make the pallets (11) movable in the parking system at least X smaller than the number of transport modules (10) in a second storage and retrieval strategy, and wherein the pallets (11) are arranged in a waiting state such that transport modules (10) in an entire row do not carry a pallet (11).

11. Parking system according to claims 6 to 10 with a number of X times Y transport modules (10) arranged in X columns and Y rows, wherein the control device (20) is programmed to make the pallets (11) movable in the parking system at least X / 2 smaller than the number of transport modules (10) in a third storage and retrieval strategy, and wherein the pallets (11) are arranged in a waiting state such that transport modules (10) in half a row do not carry a pallet (11).

12. Parking system according to claim 5, wherein the control device (20) is programmed to determine, in the event of a storage or retrieval request, the first and / or second trajectory of a pallet (11) to be stored or retrieved by means of a rule-based optimization algorithm as the trajectory in which the fewest shifting operations have to be carried out.

13. Method: Operation of an automated parking system with a plurality of pallets (11) that can be moved longitudinally and transversely within a parking deck for vehicles to be stored thereon, and with a plurality of transport modules (10) permanently installed on a parking deck for receiving the pallets (11), which are arranged at least partially adjacent to one another in rows and columns, and are designed for the optional transport of the pallets (11) in the longitudinal and transverse directions and for their transfer to the transport module (10) adjacent in the respective transport direction. characterized by the fact thatThe number of pallets (11) that can be moved in the parking system is adjusted to the utilization of the parking system by collecting pallets (11) from the transport modules (10) using a pallet pick-up device or by providing additional pallets (11), in particular by grouping unused pallets (11) into pallet stacks using a stacking device (15), which remain movable on the transport modules (10) in the longitudinal and transverse direction, and by breaking up pallet stacks already present on the transport modules (10) to provide additional pallets (11).

14. Method according to claim 13, wherein, for storing a vehicle, a pallet (11) with the vehicle parked on it is moved from a transfer point (30) to a free transport module by controlling transport modules (10) located at least on a first trajectory between the transfer point (30) and the free transport module for transporting the pallet (11), and for retrieving a vehicle, the pallet (11) loaded with the vehicle is moved from its transport module (10) to the transfer point (30) by controlling transport modules (10) located at least on a second trajectory between the transport module in question and the transfer point (30) for transporting the pallet (11), in particular wherein the first and / or second trajectory is determined according to one of two or more storage and retrieval strategies, which depend on the current occupancy state of the parking system or thethe number of pallets (11) that can be moved in the parking system is selected, wherein preferably the first and / or second trajectory for each pallet (11) and for each of the storage and retrieval strategies is determined and stored in advance and retrieved in the event of a retrieval request.

15. Method according to claim 14, wherein, in order to change a currently used storage and retrieval strategy, the pallet receiving device is controlled in order to adapt the number of pallets (11) that can be occupied in the parking system to the new storage and retrieval strategy by collecting unoccupied pallets (11) or providing additional pallets (11).

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