• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Transport system (1) for automatically transporting a vehicle (2) from a starting position to a destination position comprising at least one transport robot (4) with a lifting device (16) for lifting the vehicle (2) and drive means (14) for moving the vehicle (2). The transport robot (4) has at least one carrier (4) for lifting the vehicle (2) to at least one vehicle lifting point (10), the carrier (6) being oriented in the position of the lifting point of the vehicle bodywork (10).
    公开号:FR3073767A1
    申请号:FR1860521
    申请日:2018-11-15
    公开日:2019-05-24
    发明作者:Martin Kroeger；Rolf Nicodemus；Stefan Nordbruch；Ting Wang
    申请人:Robert Bosch GmbH；
    IPC主号:
    专利说明:

    Field of the invention
    The present invention relates to a transport system for automatically transporting a vehicle from a start position to a destination position, comprising at least one transport robot with a lifting device for lifting the vehicle and a drive means for move the vehicle.
    State of the art
    Fully automated parking buildings and parking facilities are already known in which robots lift the vehicles to the starting position, then transport and deposit them at a destination. These transport robots can thus respectively lift a vehicle and transport it automatically between the pick-up area and the drop-off area. Alternatively, there are transport robots with transportable chassis constituting the drop zone on which the vehicle is deposited so that the transport robot can transport the vehicle on the chassis to the drop zone.
    Such transport robots can usually only be used in parking buildings or parking facilities specially designed for this purpose because to lift the vehicle, the parking robot very much exceeds the dimensions of the vehicle and it therefore needs to additional place to raise and lower the vehicle. The deposit areas must therefore be oversized compared to what would be necessary for the vehicle itself.
    In addition, known parking or parking robots often have a counterweight of large dimensions to avoid tilting when lifting the vehicle. Such parking robots require large maneuvering surfaces, which requires that several transport robots operating in parallel, as well as other traffic participants, be taken into account in safety, in particular in the event of failure.
    Purpose of the invention
    The object of the present invention is to develop a transport system making it possible to reduce the size of the autonomous transport system and to reduce the storage areas necessary for vehicles.
    Presentation and advantages of the invention
    To this end, the subject of the invention is a transport system for automatically transporting a vehicle from a starting position to a destination position, comprising at least one transport robot with a lifting device for lifting the vehicle and a means drive for moving the vehicle, this transport system being characterized in that the transport robot comprises at least one support for lifting the vehicle to at least one body lifting point, the support being oriented at the position of the body lift.
    The lifting device and the drive means of the transport robot can thus be activated jointly or successively. The device may for example be in the form of a support arm for carrying out the movement and a support saddle or a support plate for transmitting the movement to the lifting points of the bodywork and thus of the vehicle . Normally, each vehicle is equipped with body lifting points that allow the vehicle to be lifted, for example, for repair, using a lifting bridge without damaging the body. Body lift points are located in the vehicle sill area, but the interval between body lift points can vary greatly from one type of vehicle to another.
    According to the invention, the support must be adapted to the specific, different interval, of body lifting points. Preferably, each support is thus adjustable in length or in range, for example, using hydraulic means. Insofar as the transport system comprises a single transport robot, this preferably comprises at least four supports.
    Alternatively, two transport robots can be used, each having two supports. Transport robots can optimally adapt the distance between extendable supports according to the distance between two neighboring body lifting points. This allows the load of the vehicle mass to be distributed over two transport robots.
    The transport system as proposed can be applied to existing parking buildings without requiring special transformations or additional accessory components. Likewise, provision can be made for use in mixed mode with other traffic participants such as other transport robots or manually driven vehicles, without requiring any particular means since the transport robot does not exceed or only slightly exceed the dimensions of the transport vehicle. Components such as the transport chassis and the counterweights on the side or in front of the vehicle are removed. By removing components that extend well beyond the vehicle, it significantly increases the safety of the vehicle transport process on uneven surfaces such as, for example, ramps. In addition, the surface for parking a vehicle can, at a minimum, be larger than the actual bearing surface of the vehicle to be parked because it is possible at least to position the transport robot completely under the vehicle or only allow it to protrude slightly. of the support surface of the vehicle. Similarly, the areas required in a parking building or parking lot for driving and maneuvers will require significantly less area than those required by known parking robots or for manual maneuvering in the parking lot.
    The shape or the respective dimensions of the transport robot of the system according to the invention may vary or be adapted to the vehicle to be transported. The lifting of the vehicle is preferably done with the lifting device. The transport robot has for this purpose a hydraulic circuit for the vertical movement of the vehicle. The hydraulic circuit is optimally controlled by electrical regulation. In addition, the transport robot includes a drive means for the horizontal movement of the transported vehicle. The transport robot preferably comprises several drive wheels pivotally mounted around a vertical axis to facilitate maneuvering. These robots allow full pivoting on site. Preferably, the transport system is electric and if necessary or at determined intervals, it is automatically loaded in a charging station.
    After lifting, transporting and dropping or lowering the vehicle at its destination, the transport system can again disengage from the vehicle dropped off at its destination. The transport system can thus move away from the deposited vehicle and it does not have to remain associated with the vehicle during the parking period. In particular, the transport system can be used to transport another vehicle.
    According to an exemplary embodiment, the transport system comprises four transport robots each having a support for lifting and moving the vehicle. The transport robots preferably have a height less than the clearance on the ground of the vehicle. Thus, each transport robot can preferably be positioned directly under a lifting point of the vehicle body and exert, by the lifting device, a vertical force. The vehicle is thus lifted simultaneously by the transport robots at the four points of the vehicle body according to the principle of a bridge in a workshop. The transport robots of the transport system are preferably synchronized. The four transport robots in the system are not mechanically linked, which allows them to maneuver in a particularly flexible way and occupy only a small area on the ground. Each of the four transport robots can move independently of the other transport robots and can be placed individually in relation to the other transport robots, under a vehicle body lifting point by automatic positioning. This allows maximum maneuvering capacity for the transport system. In addition, the transport system according to the invention is not bulky and allows, thanks to its small dimensions, to lift and transport the vehicle in the case of very close vehicles.
    According to another development of the transport system, the support is oriented by the movement of the transport robot instead of the body lifting point. The support of the transport robot is connected to an extendable and retractable support arm. This allows the support to be optimally positioned at the lifting point of the vehicle body. The transport robots are positioned so that the lifting mechanism is precisely below the body lifting point. This guarantees the best lifting effect and thus eliminates the counterweights which would balance the weight of the vehicle. Alternatively, each transport robot is connected to a counterweight. The counterweight is preferably flat and its height is less than the clearance on the ground of the vehicle so that the counterweight can be placed under the bowl of the vehicle floor. The transport robots are thus positioned under the vehicle.
    Preferably, the transport robot is completely hidden under the vehicle during transport of the vehicle. Alternatively, a transport robot may protrude slightly from the edge of the vehicle.
    According to another development, the transport system comprises at least two transport robots each having two supports and the distance between the two supports can be modified by at least two support arms of the two transport robots. The length of the support arms is adjustable and can be retracted or deployed by a hydraulic device so that the support arms will be adapted according to the type of vehicle to the corresponding body lift points of the vehicle to be transported. The two transport robots are each positioned under the vehicle to be transported so that each transport robot can position two supports relative to the vehicle body lifting points. This exact positioning of the supports of the two transport robots is done thanks to the two support arms, of adjustable length, of each transport robot. When the supports are directly on or under the vehicle body lifting points, the vehicle can be lifted as regularly as possible by the vehicle lifting devices integrated in the transport robots.
    Preferably, one can place a transport robot at the front axle and another at the rear axle of the vehicle or each time a transport robot on the driver's side and the other on the passenger's side.
    According to another development, the transport system comprises a transport robot with four supports which can be oriented according to the position of the body lifting points. To lift and move the vehicle, all you need is a single transport robot. This avoids having to synchronize several transport robots operated in parallel. Thanks to the preferably flat construction of the transport system with a transport robot, this can be placed, for example, in the middle under the vehicle. Preferably, the transport system does not exceed or only very slightly beyond the chassis of the vehicle to be transported, which simplifies maneuvers, for example, in narrow parking buildings.
    According to another development of the transport system, the supports are oriented by means of support arms of adjustable length and at least one transverse connection of adjustable length between two support arms. Thus, the support arms and the transverse links can adapt to different gaps between the body lifting points of different types of vehicles. The transverse link of variable length of the transport system is preferably perpendicular to the variation in length of the support arms. The transport system can thus modify its reach so that a single transport robot can lift four body lifting points at the same time, which allows a uniform distribution of the lifting effect.
    According to another development, the transport robot is positioned relative to an axle under the vehicle, either in the longitudinal direction or in the transverse direction. Thus, the transverse connection of the transport system coincides with the longitudinal axis of the vehicle or is parallel to it or it is positioned transversely. Thus, the transport system is not linked to an orientation, but can be positioned in different directions under the vehicle relative to the longitudinal axis of the vehicle. This allows the transport system to be positioned under the vehicle from different sides without being constrained by a certain orientation.
    According to another exemplary embodiment of the transport system, the starting position and / or the destination position correspond to a parking surface. The transport system is particularly suitable for narrow parking areas or narrow parking buildings. Thanks to its small surface area, the transport system offers great flexibility on a reduced surface. Preferably, the transport robot is designed to have only a small turning radius. Alternatively, the transport robot can rotate on site.
    According to another development, the transport system is controlled by an external parking management system. According to a preferred embodiment, the transport robot is remote-controlled by an external parking management system. Under these conditions, the sensors, the computational components and the like are integrated into the infrastructure of the car park or the car park building. This helps to reduce or avoid blocked loops, that is, situations in which participants block each other and complex situations such as those generated by participants emerging from behind a corner.
    According to another development, the transport system is controlled by sensors integrated in the transport robot and a control system for autonomous control. Thus, the parking robot, for storing a transported vehicle, responds to lifting orders from the transport vehicle or the like. Only chassis data such as, for example, the destination position or the route to the destination position can be predefined by an external parking management system. The capture of the environment or for example of the reaction to obstacles or the like will be produced independently by the transport robot. For this purpose, the transport robot includes sensors from cameras or other localization components. As a variant, the infrastructure or the external parking management system as well as the transport robot comprise localization components and they allow a common control of the transport system.
    According to another development, the transport system cooperates with its integrated sensors and the integrated control system with the external parking management system. We can thus have, for example, a combination between an “intelligent” infrastructure and “intelligent” transport robots.
    According to another development of the transport system, in the event of an incident or when a dangerous situation is detected, the transport robot lowers the lifted vehicle. This allows the transport robot when it detects a dangerous situation or if an incident is found, to immediately place the transported vehicle on the ground. If the transported vehicle has a gear engaged or if the vehicle is equipped with an automatic gearbox in the parking position, then the deposited vehicle will be braked by itself. Alternatively or additionally, the vehicle may have a parking brake activated or a hand brake pulled so that the vehicle will be braked when it is placed on the ground. This avoids in particular an uncontrolled situation of the transport robot which would roll without being braked with the vehicle and the risk of possible damage.
    This fault concept or safety concept in the form of the method of the invention can reduce, in particular when traveling on ramps, to the passage between parking plans, an uncontrolled circulation of the transport robot with its vehicle or at least to reduce the consequences of this incident. The dangerous situation can be that of too high a speed of the transport robot, a traffic jam situation, an incorrect direction of the transport robot, unexpected behavior of traffic participants, neighbors or others events of this type. Possible faults in a transport robot or the parking space management system may, for example, be caused by faulty or out-of-touch sensors, program faults or incidents of this type. A dangerous situation can also cause faults in at least one transport robot. Such faults can be detected by the internal diagnosis of the transport robot or by a central control unit of the parking space management system. The parking space management system can, for example, monitor the transport robot and observe deviations from the originally planned route and consider that there are faults.
    According to an exemplary embodiment of the transport system, the transport robot is coupled at least temporarily with the lowered vehicle. Thus, the transport robot remains at least for a time, mechanically connected by form or by force with the deposited vehicle. For example, the transport robot can lower the vehicle until the robot can get caught between the vehicle and the ground. This prevents the transport robot from continuing to run in an uncontrolled manner. In particular, the damage that a faulty transport robot could cause is avoided. Thus, the brake devices of the transported vehicle will be used effectively to avoid or reduce a dangerous situation during transport.
    According to another development of the transport system, there are at least two transport robots which can be synchronized. Since more than one transport robot is used, the actions, for example, of lifting or moving at least two transport robots will be synchronized for the different functions or actions. In an exemplary embodiment, synchronization will be done by the selected transport robot. According to another development, synchronization can be done by several transport robots and be checked between them. Alternatively, synchronization can be done by an external parking management system.
    According to another development of the transport system, the position of a body lifting point is automatically determined by at least one sensor of the transport robot. The body lift points are thus determined automatically by the transport system. For example, the transportation system can recognize body lift points using a camera and marking system carried by the vehicle. As a variant, it is possible, for example, to install magnetic marks on vehicles to be transported; these marks will be read by robots, for example, by Hall sensors. In addition, the position of the body lift points may be communicated to the transport robot or to the infrastructure by the vehicle, for example, by an infrastructure link called "vehicle to infrastructure".
    drawings
    The present invention will be described below, in more detail, using a transport system shown in the accompanying drawings in which:
    FIG. 1a is a schematic bottom view of a transport system according to a first embodiment of the invention which has been slipped under a vehicle, FIG. 1b is a schematic representation of a transport system corresponding to a first embodiment of the invention with a vehicle in the raised position, FIG. 2 is a schematic bottom view of a second embodiment of the invention with a transport system under a vehicle, FIG. 3 is a bottom view schematic of a third embodiment of a transport system according to the invention installed under a vehicle and, Figure 4 is a schematic representation of a transport system according to a fourth embodiment of the invention to explain a vehicle lifting operation.
    The same references will be used to designate the same elements in the different figures.
    Description of embodiments of the invention
    FIG. 1a is a schematic bottom view of a transport system 1 according to a first embodiment of the invention placed under a vehicle 2. The transport system 1 comprises a transport robot 4. The transport robot 4 is placed under vehicle 2. Vehicle 2 is in the starting position.
    The transport robot 4 according to this embodiment comprises four supports 6 which are mechanically connected to support arms 8 of adjustable length. Each arm 8 has at the end a respective support 6. The support 6 is used to transmit the lifting force generated by at least one lifting device from the transport robot 4 to the vehicle body 2. This is done by direct or indirect physical contact with the body lifting points 10 of the vehicle 2. In particular, the lifting device shown in FIG. 4 exerts on each support frame 6 separately a lifting force and thus makes it possible to lift the vehicle 2. As a variant, the lifting device generates a lifting force and the applied by each support arm 8 of adjustable length to the support 6 to lift the vehicle 2.
    The support arms 8 of adjustable length are adaptable to the distance between the body lifting points 10 in the transverse direction of the axis F of the vehicle 2. The two support arms 8 are connected by a transverse link 12 of adjustable length to adapt to the distance of the body lift points 10 in the longitudinal direction along the axis F of the vehicle. This makes it possible to adapt or orient the supports 6 of the transport robot 4 automatically to the respective position of the lifting points of any vehicle body 2. The orientation of the supports 6 of the transport robot 4 according to the position of the body lifting points 10 is preferably done by installing the transport robot 4 under the vehicle 2. The arrows in the figures explain the possible adaptations of the lengths of the frame 8 and transverse links 12.
    In addition, the transport robot 4 has a drive means 14. The drive means 14 is used to move the transport robot 4 and to optimally arrange the transport robot 4 under the vehicle 2. In particular, the drive means 14 of the transport robot 4 serves to transport the vehicle 2 in the raised position to pass from the starting position to the destination position.
    FIG. 1b schematically shows the transport system 1 corresponding to the first embodiment of the invention with the vehicle 2 in the raised position or the transport position. The transport system 1 here consists of a transport robot 4 which is located under the vehicle 2 and can transport the vehicle 2 with its drive means 14 to the destination.
    The sensors 5 internal to the robot allow the transport robot 4 to detect or monitor the environment. The sensors 5 internal to the robot are connected to an internal control system 9. The control system 9 makes it possible to use the measurement data supplied by the sensors 5 and to control the transport robot 4 according to the exploitation of the data of measured. The transport robot 4 also has a communication device 11. With the aid of the communication device 11, the control system 9 can, for example, send information concerning its position or its state to an external parking management system. 15.
    For this, the external parking management system 15 also has a communication device 20 for transmitting and receiving data. This external parking management system 15 will be able to access the sensor 18 of an infrastructure. The sensors 18 are, for example, integrated in a building of garages or parking lots and are connected to the external parking management system 15. The external parking management system 15 can thus, for example, observe traffic in the region of transport robot 4 and communicate with the transport robot 4 about the communication links 20. In particular, the external parking management system 15 can remotely control the transport robot 4 by the communication device 20 or, for example, transmit warnings to the transport robot 4. Thus, the transport robot 4 can also be controlled by the external parking management system 15.
    Figure 2 is a schematic bottom view of a second embodiment of a transport system 1 according to the invention installed under a vehicle 2. The transport system 1 comprises two transport robots 4 each formed of an arm support 8 of adjustable length with two supports 6 installed at the ends. The transport robots 4 are each equipped with a drive means 14. The transport robots 4 are arranged transversely to the axis F of the vehicle 2 to lift and transport the vehicle 2. The distance between the transport robots 4 in the longitudinal direction along the axis F of the vehicle and thus the adaptation of the supports 6 to the position of the body lifting points 10 can be done with the drive means 14 of the transport robots 4. The orientation of the supports 6 transversely to the axis F of the vehicle is done by adapting the length of the support arms 8 of the transport robots 4. Thus, the supports 6 can be oriented optimally according to the position of the front body lift points 10 to lift the vehicle 2.
    In a transport system 1 with several transport robots 4, each robot 4 is equipped with its own sensors 5 internal to the robot with a control system 9 for monitoring or detecting the environment. The sensors 5 make it possible to orient the transport robots 4 optimally as a function of the body lifting points 10 and in particular to identify the body lifting points 10 of the vehicle 2. Each transport robot 4 also comprises a communication device 11. The communication devices 11 allow the robot 4 to communicate with each other and, for example, to synchronize the transport operations. In addition, this allows all the transport robots 4 to communicate with the external parking management system 15 or to be remote-controlled by the external parking management system.
    Figure 3 is a schematic bottom view of a third embodiment of a transport system according to the invention installed under the vehicle 2. The transport system 1 similarly comprises the second embodiment of the transport system , two transport robots 4 installed in the direction of the vehicle axis F, under the vehicle 2 to lift it. The supports 6 can be oriented in the longitudinal direction of the axis F of the vehicle by adapting the length of the respective support arms 8 according to the position of the body lifting points 10. The supports 6 can also be adapted to the separation of the body lifting points 10 by the drive means 14 of the transport robots 4. These two mechanisms make it possible to adapt each support 6 of the transport robots 4 to the body lifting point 10 of different types of vehicles 2 of so that despite the difference in arrangement of the body lift points 10, the vehicles 2 can still be lifted optimally using the lifting points 10 provided for this purpose. The determination of the respective body lift points 10 can be done, for example, using optical sensors or magnetosensitive sensors. For this, the vehicles 2 will be equipped with magnetic or optical markers. As a variant or in addition, the transport robots 4 can receive the data from the vehicle 2 with the exact position of the body lifting points 10 so that each transport robot 4 can arrange the supports 6 according to the outline of the vehicle and using the vehicle 2 wheel deviations for calculations. The two transport robots 4 are synchronized so that the lifting operation and the transport operation can be carried out simultaneously and synchronized.
    Figures 4a, 4b, 4c schematically explain a fourth embodiment of a transport system according to the invention. These figures show in particular the lifting operation of a vehicle 2. The transport system 1 comprises in this example four separate transport robots 4. The transport robots 4 each have a drive means 14 and a lifting device
    16. The lifting device 16 is in the form of a hydraulic or electric jack 16. The respective lifting device 16 can thus exert a lifting force on each support 6 and push the support 6 against the body lifting point 10 , respective for lifting the vehicle 2. The different supports 6 of the transport robots 4 can be adapted to the position of the body lifting points 10 by the drive means 14 of the transport robots 4. By the positioning of the transport robots 4 the supports 6 are aligned according to the respective position of the body lifting points 10.
    According to FIG. 4a, the transport robots 4 are placed under the vehicle 2 so that the supports 6 are located respectively each time under a body lifting point 10.
    In FIG. 4b, the lifting devices 16 are activated so that the supports 6 come into physical contact with the body lifting points 10.
    In FIG. 4c, the lifting devices 16 exert a lifting force to lift the vehicle 2 by the body lifting points 10. This operation is carried out in synchronization for the transport robots 4 so as to regularly lift the vehicle 2 In the raised state, the vehicle 2 can be transported to its destination position by the drive means 14 of the four transport robots 4 from its starting position.
    When you reach the destination position, the vehicle 2 is placed on the ground. The lifting devices 16 are deactivated or 5 retracted to reduce the height of the transport robots 4. After lowering the vehicle 2, the transport robots 4 can be removed from the vehicle 2 and used for other transport missions. In particular, the transport robots 4 can then go to the next vehicle and transport it in turn from the start position to a destination position.
    NOMENCLATURE OF MAIN ELEMENTS 124568910111214151820F Transport systemVehicle to transportTransport robotSensorSupportSupport armControl systemBody lift pointCommunication deviceAdjustable transverse link Drive meansParking management systemSensorCommunication deviceVehicle axis
    权利要求:
    Claims (15)
    [1" id="c-fr-0001]
    1 °) Transport system (1) for automatically transporting a vehicle (2) from a start position to a destination position, comprising at least one transport robot (4) with a lifting device (16) for lifting the vehicle (2) and drive means (14) for moving the vehicle (2), transport system characterized in that the transport robot (4) comprises at least one support (6) for lifting the vehicle (2) at least one body lifting point (10), the support (6) being oriented towards the position of the body lifting point (10).
    [2" id="c-fr-0002]
    2 °) Transport system according to claim 1, characterized in that it comprises four transport robots (4) each equipped with a support (6) for lifting and moving the vehicle (2).
    [3" id="c-fr-0003]
    3 °) Transport system according to claim 1 or 2, characterized in that at least one support (6) can be oriented by the movement of the transport robot (4) in place of the body lifting point (10) .
    [4" id="c-fr-0004]
    4 °) Transport system according to claim 1, characterized in that it comprises at least two transport robots (4) with each time two supports (6), the distance between the two supports (6) being able to be modified by two support arm (-8) of the two transport robots (4).
    [5" id="c-fr-0005]
    5 °) Transport system according to claim 1, characterized in that it comprises a transport robot (4) with four supports (6) orientable to the positions of the body lifting points (10).
    [6" id="c-fr-0006]
    6 °) Transport system according to claim 5, characterized in that the supports (6) are orientable by at least two support arms (8), of adjustable length and by at least one transverse connection (12) of adjustable length.
    [7" id="c-fr-0007]
    7 °) Transport system according to one of claims 1 to 6, characterized in that the transport robot (4) can be positioned under the vehicle (2) in the longitudinal direction or in the transverse direction relative to the vehicle axis (F).
    [8" id="c-fr-0008]
    8 °) Transport system according to one of claims 1 to 7, characterized in that the starting position and / or the destination position is a parking surface.
    [9" id="c-fr-0009]
    9 °) Transport system according to one of claims 1 to 8, characterized in that it is controlled by an external parking management system (15).
    [10" id="c-fr-0010]
    10 °) Transport system according to one of claims 1 to 9, characterized in that it is controlled autonomously by sensors (5) integrated in the transport robot (4) and a control system (9) .
    [11" id="c-fr-0011]
    11 °) Transport system according to claim 9 or 10, characterized in that the transport system (1) is controlled by the integrated sensors (5) and by the integrated control system (9) in cooperation with the external system parking management (15).
    [12" id="c-fr-0012]
    12 °) Transport system according to one of claims 1 to 11, characterized in that in the event of a detected fault or dangerous situation, the raised vehicle (2) is lowered by the transport robot (4).
    [13" id="c-fr-0013]
    13 °) Transport system according to claim 12, characterized in that the transport robot (4) is coupled at least temporarily with the vehicle (2) lowered.
    [14" id="c-fr-0014]
    14 °) Transport system according to one of claims 1 to 13, characterized in that at least the two transport robots (4) can be synchronized.
    [15" id="c-fr-0015]
    15 °) Transport system according to one of claims 1 to 14, characterized in that at least one sensor (5) of the transport robot (4) automatically determines the position of a body lifting point (10) .
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    同族专利:
    公开号 | 公开日
    DE102017220580A1|2019-05-23|
    CN109797995A|2019-05-24|
    FR3073767B1|2021-03-12|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
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    US9921582B2|2016-04-20|2018-03-20|GM Global Technology Operations LLC|Reconfigurable automated guided vehicle system|
    CN105888338B|2016-05-26|2017-05-03|山东建筑大学|UWB-positioning-based intelligent automobile transfer robot and control method thereof|
    CN107089223A|2017-06-16|2017-08-25|朱德武|A kind of multipurpose brake auxiliary device|DE102020202626A1|2020-03-02|2021-09-02|Volkswagen Aktiengesellschaft|Device and method for fixing a motor vehicle and motor vehicle|
    DE102020204815A1|2020-04-16|2021-10-21|Volkswagen Aktiengesellschaft|Transport system for transporting transport objects|
    DE102020205451A1|2020-04-29|2021-11-04|Volkswagen Aktiengesellschaft|Mobile lifting device|
    CN112606801A|2020-12-01|2021-04-06|北京星航机电装备有限公司|Adjustable wheelbase formula is parked and is used AGV|
    法律状态:
    2019-11-21| PLFP| Fee payment|Year of fee payment: 2 |
    2020-06-19| PLSC| Publication of the preliminary search report|Effective date: 20200619 |
    2020-11-19| PLFP| Fee payment|Year of fee payment: 3 |
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    优先权:
    申请号 | 申请日 | 专利标题
    DE102017220580.6A|DE102017220580A1|2017-11-17|2017-11-17|Transport system for the automated transport of a vehicle with at least one transport robot|
    DE102017220580.6|2017-11-17|
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