• 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:
    Automated transport system (1) of a vehicle (2) between a starting position and a destination position, comprising a transport robot (4) provided with a lifting device for lifting the vehicle (2) and a drive (10) for moving the vehicle (2). To lift the vehicle (2), the center of gravity of the robot (4) is positioned under the vehicle (2), and the lifting device exerts, via a support arm (8) of adjustable length, a force of lifting on two wheel clamps (6), variable to lift the vehicle (2).
    公开号:FR3073768A1
    申请号:FR1860528
    申请日:2018-11-15
    公开日:2019-05-24
    发明作者:Rolf Nicodemus；Stefan Nordbruch
    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 between a starting position and a destination position, the system comprising at least one transport robot with a lifting device for lifting the vehicle and a means of drive to move the lifted vehicle.
    State of the art
    There are already known parking lots or fully automated parking facilities in which robots lift the vehicles to the initial position, then transport the vehicles and drop them off at the destination. These transport robots automatically lift a vehicle and transport it between the pick-up area and the drop-off area. Alternatively, there are transport robots with chassis transported as drop-off zones on which a vehicle is deposited so that the transport robot can pick up the vehicle with the chassis and transport it to the drop-off zone. Such transport robots can usually only be used in parking buildings or parking facilities specially designed for this purpose, because to lift a vehicle, the parking robot must extend beyond the dimensions of the vehicle. It therefore requires additional space to lift and place the vehicle. The storage areas must, under these conditions, be oversized compared to what would be necessary for a normal vehicle.
    In addition, known parking robots often have an oversized counterweight so as not to tip over when the vehicle is raised. Such parking robots can require large maneuvering areas, so that difficulties can be encountered for several transport robots operating in parallel, and for other traffic participants, in particular in the event of an incident.
    Presentation and advantages of the invention
    The object of the present invention is to remedy these drawbacks and to this end relates to a transport system of the type defined above, characterized in that in order to lift the vehicle the center of gravity of at least one robot is positioned transport under the vehicle to be transported, and the lifting device exerts, by means of at least one support arm of adjustable length, a lifting force on at least two wheel clamps, variable for lifting the vehicle.
    In other words, according to a development, the invention relates to an automated transport system for a vehicle between a starting position and a destination position. The transport system comprises at least one transport robot with a lifting device for lifting the vehicle and driving it to move the vehicle to the raised position. According to the invention, to lift the vehicle, the center of gravity of the transport robot is positioned under the vehicle to be transported and the lifting device acts by at least one support arm of adjustable length to exert a lifting force on at least two variable wheel clamps for lifting the vehicle.
    We can engage at least one transport robot under a vehicle placed in the starting position and use it to lift the vehicle. The vehicle can be lifted by one or two transport robots according to the principle of the lifting platform at its wheels using at least one transport robot. The transport robot can thus be housed under the vehicle and take the vehicle tires from the inside and lift them with the lifting device. The wheel clamps are, for example, fork-shaped and are placed under the wheels of the vehicle, in the axial direction of the wheels. The lifting device is, for example, in the form of a hydraulic circuit with at least one transport robot. The hydraulic circuits are thus regulated and controlled optimally from an electronic point of view. The transport robot can, under these conditions, be placed very close to the vehicle tires. There is thus an optimum angle for the lifting operation, which avoids counterweights because the vehicle will no longer risk tipping. The transport robot could thus be of smaller dimensions and less weight than the known transport robots.
    By lifting the vehicle using the transport robot, the vehicle is brought into the transport position. Thus, the vehicle can be moved by the transport robot and be transported to a destination position. In particular, the transport robot can use an optimized maneuvering capacity to transport the vehicle.
    The transport system as proposed can be applied to existing parking buildings without the need for construction, special modifications or additional components. Likewise, it is possible to envisage a use in mixed mode with other traffic participants and other robots or vehicles driven by hand without any other means since the transport robot does not exceed or only slightly exceed the dimensions of the vehicle. to carry. Components such as transport frames as well as side or front counterweights can be removed. The removal of protruding components from the vehicle can greatly increase the safety of the vehicle transport process on uneven surfaces such as ramps. In addition, the area required to park a vehicle is at least larger than the lateral support area of the vehicle to be parked. In addition, the transport robot is placed completely under the vehicle or only slightly beyond the vehicle's support surface. Likewise, the areas required in a parking building or in a parking lot for driving and maneuvering will occupy a significantly smaller area than that of known parking robots or for manual parking maneuvers. Optimally, the transport robot can be electrically managed and driven, and if necessary it can be automatically controlled to a recharging station and to start the recharging phase of the electric accumulator.
    After lifting, transporting and dropping or lowering the vehicle at the destination, the transport system can again be released from the vehicle dropped off at the destination. This allows the transportation system to move away from the normally dropped vehicle. In addition, there is no need to remain at the vehicle level during removal. In particular, the transport system can be used to transport a neighboring vehicle.
    According to one embodiment of the transport system, the wheel clamps are adapted to the size of the tires of the vehicle. The wheel clamps can be fork-shaped, the dimensions of which are adaptable. The wheel clamps can, for example, open and close, which makes it possible to simplify the positioning of the wheel clamps on the vehicle wheels and to adapt these clamps to the width and size of the vehicle tires. Thus, the vehicle can be lifted securely by at least one transport robot and be transported because the wheel clamps will be tightened precisely on the wheels.
    According to another development of the transport system, at least two wheel clamps are adaptable thanks to the support arms of adjustable length according to the spacing of the wheels of the vehicle. Thus, it is possible to move apart, flexibly, each time two wheel clamps facing each other, which makes it possible to adjust the wheel clamps according to the distance between the wheels (or the track width) of the vehicle . The transport robot can thus be adjusted by its dimensions according to the multiplicity of vehicles and lift them to transport them.
    According to another exemplary embodiment, the transport system comprises at least one transverse link of adjustable length between two support arms of adjustable length to adapt the wheel clamps to the distance between the wheels of the vehicle.
    The invention also relates to a transport system comprising a transport robot for lifting and transporting a vehicle. According to an embodiment of the transport system in a single part, the transport robot has two zones with each time two wheel clamps. These areas are positioned, preferably near the front axle and the rear axle of the vehicle. Thus, the wheel clamps are adaptable to the distance between the axles or the distance between the wheels of the vehicle and the transport robot has a transverse link of adjustable length which makes it possible to spread the wheel clamps, preferably in the longitudinal direction of the vehicle in a variable way. Thus, the transport robot can modify the dimensions and adjust the wheel clamps according to different positions of the wheels by passing over them.
    According to another development of the transport system, the transport robot is positioned under the vehicle in the longitudinal direction of the axis of the vehicle. Thus, the transport robot can be engaged frontally under a vehicle and by lifting the wheels, put it in the transport position. The transport system transport robot preferably has several drive wheels, which increases its maneuverability. The transport robot can optimally rotate or rotate on the spot.
    According to another exemplary embodiment of the transport system, the starting position and / or the destination position is a parking surface. The transport system is particularly suitable for use on narrow parking areas or narrow parking buildings. Thanks to its small support surface, the transport system offers great flexibility of maneuver on small surfaces. Preferably, the transport robot is equipped to have a small turning radius. Alternatively, the transport robot can even rotate on site.
    According to another development, the transport system is controlled or managed by an external parking management system. According to a preferred development, the transport robot is remotely controlled by an external parking management system. Under these conditions, the sensors, the computation components or the like are integrated into the infrastructure of the parking space or the car park. This helps reduce or avoid dead end loops and complexities such as those generated by unexpected traffic participants behind a corner.
    According to another development, the transport system is controlled autonomously by sensors integrated into the transport robot and by a control system. The transport robot intervenes on the parking function of a vehicle to be transported according to different orders such as lifting the vehicle, transporting the vehicle or similar operations, independently. Only the frame 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, that of reactions according to obstacles or the like is carried out autonomously by the transport robot. The transport robot includes sensors, cameras and other localization components. Alternatively, the infrastructure or the external parking management system as well as the transport robot have localization components and allow joint control of the transport system.
    According to another exemplary embodiment, the transport system is controlled using integrated sensors and the integrated control system in cooperation with the external parking management system. This allows, for example, a combination in the form of intelligent infrastructure and intelligent transport robots.
    According to another development of the transport system, in the event of a fault or a situation considered to be dangerous, the lifted vehicle will be lowered by the transport robot. Thus, the transport robot recognizing a dangerous situation or noting a defect, will immediately place the vehicle on the ground. If the transported vehicle has engaged a gear or if the parking position has been selected for a vehicle with automatic gearbox, the vehicle placed on the ground may brake itself. As a variant or in addition, the vehicle comprises a applied parking brake or a applied hand brake which brakes the vehicle when it is placed on the ground. This avoids in particular an uncontrolled situation of the transport robot rolling with the vehicle without being braked. We can thus avoid this situation, reduce this vehicle or reduce the possible consequences. This concept of defect or this concept of safety in the form of the method of the invention can be avoided, in particular when traveling on ramps between parking planes, avoiding uncontrolled movement of the transport robot with the vehicle or reducing the minus the consequences of this situation. As a dangerous situation there is, for example, too high a speed of the transport robot, a dead end loop, the wrong direction of the transport robot, unpredictable behavior of traffic participants, neighbors, or the like. Possible faults of at least one transport robot or the parking space management system could be, for example, faults or out of order sensors or faults in the program or similar incidents. A dangerous situation could be generated by faults in at least one transport robot. Such faults correspond, for example, to the self-diagnosis of the transport robot or the central control unit of the parking management system. The parking management system can, for example, monitor the transport robot and report faults, for example, when it observes deviations from the planned route.
    According to a development of the transport system, the transport robot is coupled at least temporarily with the lowered vehicle. Thus, the transport robot remains, at least from time to time, mechanically connected by form or by force with the deposited vehicle. For example, the transport robot can only lower the vehicle until the transport robot can get caught between the vehicle and the ground. This prevents the transport robot from continuing to run uncontrollably. In particular, the damage which a faulty transport robot could cause is avoided or reduced. The braking devices of the transported vehicle can be used effectively to avoid or reduce a dangerous situation during transport.
    According to another development of the transport system, at least two transport robots can be synchronized. Since more than one transport robot is used, actions such as, for example, lifting or driving at least two transport robots will be synchronized for different missions. According to a development, synchronization will be done by a selected transport robot. According to another development, synchronization will be done by several transport robots and will be controlled between them. Alternatively, synchronization can also be done by an external parking management system.
    According to another development of the transport system, the position of the wheels and the size of the vehicle tires are determined automatically using at least one sensor from the transport robot. This makes it possible to determine the necessary positions of the vehicle wheels for the wheel clamps and the size of the wheels, by automatic determination. For example, cameras, lidar sensors, radar sensors or the like will be used. In addition, mechanical or ultrasonic detection systems can also be used to determine the dimensions required. drawings
    The present invention will be described below, in more detail with the aid of exemplary embodiments shown in the accompanying drawings in which:
    Figure 1 is a very schematic bottom view of a first embodiment of a transport system installed under a vehicle, Figure 2 is a very schematic bottom view of a second embodiment of the invention d 'a transport system installed under a vehicle, and Figure 3 is a very schematic representation of the transport system according to the first embodiment of the invention to explain the lifting operation of a vehicle.
    The figures use the same references to designate the same elements.
    Description of embodiments
    Figure 1 is a schematic bottom view of a first embodiment of a transport system 1 installed under a vehicle 2 according to the invention. The transport system 1 here consists of a transport robot 4 installed under the vehicle 2.
    The transport robot 4 has four wheel clamps 6 which are positioned against the wheels of the vehicle 2. The wheel clamps 6 are not yet adapted to the size of the tires of the vehicle. For this, the wheel clamps 6 are reduced in an additional step so that the wheel clamps 6 can touch the wheels of the vehicle 2 by a form link and hold them.
    Each time two wheel clamps 6 are connected to a support arm 8 adjustable longitudinally. The support arms 8 make it possible to install the transport system 1 under the vehicle 2 by reducing the width of the transport robot 4 by reducing the distance between the wheel clamps 6. Thus, the transport robot 4 can be positioned under the vehicle 2 in the longitudinal direction of the axis F of the vehicle. The support arms 8 make it possible to adapt the wheel clamps 6 to the spacing of the wheels according to the different vehicles 2. A lifting device not shown makes it possible to exert a lifting force on the support arms 8 and thus to lift the vehicle 2 to allow its wheels above the ground, so that the transport robot 4 can move the vehicle 2 from its starting position to its destination position. For this, the transport robot 4 has a drive means 10 with sensors (not shown) for driving, automatically or partially automatically, on transport paths between the starting position and the destination position.
    To adapt the wheel clamps 6 to the spacing of the vehicle wheels 2, the support arms 8 are connected by a transverse link 12 of adjustable length. This changes the distance between the wheel clamps 6 in the direction of the vehicle's F axis.
    The arrows underline the possibilities of movement of the different components of the transport system 1.
    Figure 2 shows a schematic bottom view of a transport system 1 installed under a vehicle 2 and corresponding to a second embodiment of the invention. Unlike the first embodiment, the transport system 1 here comprises two transport robots 4 which are installed transversely to the axis F of the vehicle.
    Each transport robot 4 has two wheel clamps 6 of variable dimensions connected on one side with each time a support arm 8 of variable length and which is transmitted by a lifting device generating a lifting force exerted on the wheels of the vehicle 2. The wheel clamps 6 are oriented opposite on each side of an elongated support arm 8. Thus, the wheel clamps 6 can be positioned from the middle of the vehicle around the wheels of the vehicle 2.
    The wheel clamps 6 are adjusted as a function of the spacing of the wheels of the vehicle 2 by a support arm 8. The adaptation is controlled by sensors, for example cameras, pressure sensors or other approach sensors.
    The adaptation of the wheel clamps 6 away from the wheels of the vehicle 2 is done using the appropriate drive means 10 of the two transport robots 4. The steps of the respective transport robots 4 can be synchronized to position under the vehicle 2, to align the wheel clamps 6 on the wheels of the vehicle 2, adapt the wheel clamps 6 to the size of the tires of the vehicle 2 as well as the final lifting and transport of the vehicle 2. Thus, and By way of example, the lifting phase by the transport robots 4 can be carried out at the same time as the vehicle 2 is raised or lowered and at the same time transport robots 4 are shifted.
    Figures 3a, 3b and 3c are schematic representations of the transport system 1 corresponding to the first embodiment of the invention. These views explain a lifting operation of a vehicle 2. The arrows show, the movements and the possibilities of adaptation for the components during the stages of the process.
    As already described with reference to FIG. 1, the transport system 1 according to the first exemplary embodiment comprises a transport robot 4. In FIG. 3a, the transport robot 4 has already been positioned under the vehicle 2. The wheel clamps 6 are adapted and oriented according to the position of the wheels of the vehicle 2.
    The dimensions of the wheel clamps 6 have been adapted to the size of the tires or the diameters of the tires of the vehicle 2 according to FIG. 3b so that when the wheel clamps 6 are raised, the wheels and the vehicle 2 are raised relative to the ground . This allows the wheel clamps 6 to be reduced in size until normal body contact with the wheels.
    According to another step of the method which is explained in FIG. 3c, the lifting device generates a lifting force which is transmitted by the wheel clamps 6 to the wheels of the vehicle 2. The vehicle can be removed from the ground or be installed at this position. level. In the raised state, the transport robot 4 can maneuver the vehicle 2 unlimitedly and autonomously control the vehicle 2 or remote control it to the target position. If vehicle 2 has been transported to the destination position, vehicle 2 may then be reduced. Then, the transport system 1 moves away from the vehicle 2 and passes to the starting position where is another vehicle, to ensure a new transport mission.
    NOMENCLATURE OF MAIN ELEMENTS
    Transport system
    Vehicle
    4 Transport robot
    Wheel clamp
    Support arm
    Training medium
    F Longitudinal axis of the vehicle
    权利要求:
    Claims (13)
    [1" id="c-fr-0001]
    1 °) Transport system (1) for the automated transport of a vehicle (2) between a starting position and a destination position, comprising at least one transport robot (4) provided with a lifting device for lifting the vehicle (2) and a drive (10) for moving the vehicle (2), system characterized in that to lift the vehicle (2) the center of gravity of at least one transport robot (4) is positioned under the vehicle (2) to be transported, * the lifting device exerts, by means of at least one support arm (8) of adjustable length, a lifting force on at least two wheel clamps (6), variables for lifting the vehicle (2).
    [2" id="c-fr-0002]
    2 °) Transport system according to claim 1, characterized in that the wheel clamps (6) adapt to the size of the vehicle tires (2).
    [3" id="c-fr-0003]
    3 °) Transport system according to claim 1 or 2, characterized in that at least the two wheel clamps (6) are adaptable to the spacing of the vehicle wheels (2).
    [4" id="c-fr-0004]
    4 °) transport system according to one of claims 1 to 3, characterized in that between two support arms (8) of adjustable length, the transport system (1) comprises at least one transverse link (12) of adjustable length to adapt the wheel clamps (6) to the distance from the vehicle wheels.
    [5" id="c-fr-0005]
    5 °) Transport system according to one of claims 1 to 4, characterized in that the transport robot (4) can be positioned under the vehicle (2) in the longitudinal direction with respect to Tax (F) of the vehicle.
    [6" id="c-fr-0006]
    6 °) Transport system according to one of claims 1 to 5, characterized in that the starting position and / or the destination position is a parking surface.
    [7" id="c-fr-0007]
    7 °) Transport system according to one of claims 1 to 6, characterized in that the transport system (1) is controlled by an external parking management system.
    [8" id="c-fr-0008]
    8 °) Transport system according to one of claims 1 to 7, characterized in that the transport system (1) is controlled by a set of sensors integrated at least in a transport robot (4) and independently by a control system.
    [9" id="c-fr-0009]
    9 °) Transport system according to claim 7 or 8, characterized in that it is controlled by the integrated sensors and the integrated control system by cooperation with an external parking management system.
    [10" id="c-fr-0010]
    10 °) Transport system according to one of claims 1 to 9, characterized in that in the event of an incident or situation considered to be dangerous, the lifted vehicle (2) is lowered by the transport robot (4).
    [11" id="c-fr-0011]
    11 °) Transport system according to claim 10, characterized in that the transport robot (4) is coupled at least temporarily to the vehicle (2) in the lowered position.
    [12" id="c-fr-0012]
    12 °) Transport system according to one of claims 1 to 11, characterized in that at least two transport robots (4) are synchronizable.
    [13" id="c-fr-0013]
    13 °) Transport system according to one of claims 1 to 12, characterized in that the position of the wheels and the size of the tires of the vehicle (2) are determined automatically by at least one sensor of the transport robot (4) .
    类似技术:
    公开号 | 公开日 | 专利标题
    FR3073768A1|2019-05-24|AUTOMATED TRANSPORT SYSTEM OF A VEHICLE WITH A TRANSPORT ROBOT
    EP3297876B1|2021-07-07|Movable conveyors for moving a four-wheel vehicle
    FR3073767A1|2019-05-24|AUTOMATIC VEHICLE TRANSPORT SYSTEM WITH A TRANSPORT ROBOT
    EP3152097B1|2019-04-03|Parking assistance device and vehicle provided with such a device
    EP3057830B1|2019-05-08|Method for loading and unloading a space located on a vehicle
    EP2726345B1|2016-11-02|Positioning of a motor vehicle and vehicle power supply battery exchange
    EP0518750A1|1992-12-16|Special wagon for collecting or distributing railway bogies or the like for rail transport of road heavy load vehicles
    EP3371035B1|2019-10-16|Device to assist with manoeuvres for parking alongside a platform
    US20200180695A1|2020-06-11|Parking robot for a transportation vehicle and method for operating such a parking robot
    EP3115280B1|2018-04-18|Automatic driving method for inserting and removing a vehicle in a docking station, and monitoring device implementing such a method
    FR3073880A1|2019-05-24|VEHICLE TRANSPORT SYSTEM AND METHOD FOR IMPLEMENTING THE SAME
    EP2110297A1|2009-10-21|Structure pivoting method and associated device
    WO2016041979A1|2016-03-24|Device for coupling two vehicles to each other, in a line, vehicle comprising such a device, and method for moving the vehicles in a line
    FR3063274A1|2018-08-31|STAND-ALONE VEHICLE WITH TWIN WHEELS INTENDED FOR THE TRANSPORT OF PARCELS OR MATERIALS FOR SMALL OBSTACLES
    FR3036080A1|2016-11-18|METHOD AND DEVICE FOR MANAGING A VEHICLE FOR A STORAGE MANUFACTURE IN A PARKING PLACE
    FR3073879A1|2019-05-24|METHOD AND SYSTEM FOR MOVING A VEHICLE IN A PARKING
    FR3073769A1|2019-05-24|PARKING ROBOT AND METHOD OF MANAGING IT
    EP0808642A1|1997-11-26|Support system for a removable fire hose reel carried on a fire-fighting vehicle
    EP3300933A1|2018-04-04|Rail/road vehicle for placing catenaries
    FR3063273B1|2019-11-01|STAND-ALONE VEHICLE WITH TWIN WHEELS INTENDED FOR THE TRANSPORT OF PARCELS OR MATERIALS FOR SMALL OBSTACLES
    FR2704500A1|1994-11-04|Method for parking a motor vehicle sideways and corresponding vehicle
    FR3094333A1|2020-10-02|TRAILER AND SET INCLUDING SUCH A TRAILER
    WO2021009420A1|2021-01-21|Conveying device for moving vehicles, and robot system comprising such a device
    FR3032856A1|2016-08-26|TRANSPORT TROLLEY FOR TRANSPORTING THE CUTTING OF A COMBINE HARVESTER
    WO2013054012A1|2013-04-18|Apparatus for towing a motor vehicle
    同族专利:
    公开号 | 公开日
    DE102017220576B4|2021-12-16|
    CN109797996A|2019-05-24|
    FR3073768B1|2022-02-04|
    DE102017220576A1|2019-05-23|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP0292537B1|1986-12-09|1992-03-25|SKY PARK AB c/o INCAGRUPPEN|A transporting arrangement for transporting motor vehicles|
    SE505830C2|1994-08-16|1997-10-13|Sky Park Ic Jr Ab|Transport device for automatically transporting a vehicle from a driveway module to a parking space in a parking garage|
    CN202299538U|2011-09-28|2012-07-04|陈春堂|Stereoscopic parking apparatus|
    DE102015203506A1|2015-02-27|2016-09-01|Siemens Aktiengesellschaft|Automobile transport unit for positioning vehicles, methods for doing so and parking 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|
    CN106320774B|2016-10-20|2019-06-28|温州燧人智能科技有限公司|A kind of X-type clamping-arm intelligent parking garage Yi Che robot|
    CN106760776A|2016-12-27|2017-05-31|沈阳通用机器人技术股份有限公司|Vehicle tyre clamping device and automatic transporting device|CN111017807A|2019-12-19|2020-04-17|安徽华星智能停车设备有限公司|Automatic positioner of carrying trolley|
    CN111550109B|2020-05-21|2021-06-22|安徽充景电子科技有限公司|Wheel track automatic adaptation light support plate for storage type mechanical garage|
    CN112828859A|2020-12-28|2021-05-25|天津三花福达智能科技有限公司|Six-freedom-degree differential manipulator for automobile wind control assembly|
    法律状态:
    2019-11-21| PLFP| Fee payment|Year of fee payment: 2 |
    2020-07-03| PLSC| Publication of the preliminary search report|Effective date: 20200703 |
    2020-11-19| PLFP| Fee payment|Year of fee payment: 3 |
    2021-11-19| PLFP| Fee payment|Year of fee payment: 4 |
    优先权:
    申请号 | 申请日 | 专利标题
    DE102017220576.8A|DE102017220576B4|2017-11-17|2017-11-17|Transport system for the automated transport of a vehicle with at least one transport robot|
    DE102017220576.8|2017-11-17|
    [返回顶部]