EP0933493A1 - Transferring system - Google Patents

Abstract

The transport system includes a pick-up area (1') and an associated transporting assembly either and/or both of which have position detecting means such as a sensor unit to determine the position of the vehicle in the relevant area. A position correcting system is also provided to correct the position of the vehicle and/or transporting assembly accordingly. Independent claim describes method for moving object positioned on turntable onto conveyor by measuring angles and side stagger and making corrections.

Description

The present invention relates to a transport system for transport an object, especially when automatically parking vehicles in a parking garage or the like.

With a transport system, the transport and Relocation operations are performed automatically, so it is necessary to Specify the location of an object to be transported in a defined manner to be able to, so that the to be transported during the entire handling process Object or the objects to be transported always in a desired one defined position are moved. This is for example with a System for automatic parking of motor vehicles the case as in the EP-A 0 604 818 and to which reference is made below. This requirement can also exist in general in warehouse technology, for example when relocating containers or comparable objects, for example when it is hanging on a hoist or with a forklift on the Turning platform can be parked.

In the above-mentioned motor vehicle parking system, a vehicle to be parked directed by the driver to the rotating platform to make it the automatic conveyor to hand over to the plant. Here are optical markings provided, which the driver should orientate himself on, and in particular also mechanical guides acting on the vehicle tires in the area of Known rotary platform to park the vehicle as accurately as possible force. However, such mechanical limitations can be undesirable Some have and are harmful effects on the wheels Drivers also perceived as an unpleasant "chicane"; moreover, the benefit such means in view of different track gauges of the vehicles doubtful.

A similar problem exists when general cargo is turned up from a rotating platform a funding institution should be taken over. It is necessary that the object to be converted and the linear conversion device are relatively accurate to one another are aligned. However, the object on the rotating platform is inaccurate or placed with deviations from a target position, so is its mechanical Acquisition considerably more difficult, if not impossible, or it can Damage to the object and / or to the transfer device occurs.

It is the object of the present invention to provide a transport system for Transporting an object, especially when automatically parking To provide vehicles in a parking garage or the like, with which the Transporting objects can be done easily without exert an adverse influence on the objects to be transported.

According to the invention, this object is achieved by a transport system for Transporting an object, especially during automatic parking or Storage of vehicles in a parking garage or the like, comprising at least a recording area for receiving an object to be transported assigned to the transport system and the at least one receiving area at least one transport arrangement for transporting the object away from the recording area and / or towards the recording area.

In the transport system according to the invention, the receiving area comprises or / and the transport arrangement a position determining device for determining the position of the object in or with respect to the recording area or the transport arrangement and a position correction device for correcting the location of the object and / or the transport arrangement in response to the position of the object determined by the position determination device.

With the transport system according to the invention, the object can therefore be placed in any position Positioning can be arranged in the recording area and still subsequent through the intended bearing correction in a defined and intended Positioning in the system. It is particularly with the Positioning the object in the recording area gives great freedom i.e. For example, a driver of a vehicle can use the vehicle in any way Position it in the receiving area and does not have to, as is the case with the stand the technology is required, take great care to ensure that the vehicle at least within a certain permissible positioning range is turned off. This simplifies the entire execution of the transport process considerably.

In the transport system according to the invention, the position determination device comprises preferably a sensor arrangement for detecting the position of the object and a deviation determination device for determining a deviation the detected position of the object from a reference position.

The sensor arrangement can include, for example: a plurality of sensor fields that can be acted upon by the object, each with at least one Pressure sensor, preferably pressure cell, pressure hose, piezo element, bending beam, a contact strip sensor, an ultrasonic sensor or a light grid or the like, or / and a laser scanner for optical detection the position of the object, preferably the load support areas of the object, or / and a mechanical scanning device for mechanical detection of the Location of the object, preferably the load support areas of the object.

The transport system according to the invention can be designed such that the Position correction device comprises a correction determination device for Determining a correction of the position of the object depending on from the determined deviation.

In order to be able to correct the situation, it is proposed that the Position correction device comprises a first movement device for moving of the object depending on the particular correction to be made or / and comprises a second movement device for moving the transport arrangement depending on the particular correction to be made.

In order to be able to carry out a transport process as quickly as possible and one To avoid unnecessary position correction, it is proposed that the Position correction device is designed to correct the position of the Object only to be carried out if the determined deviation of the detected Position of the object from the reference position outside a permissible deviation range lies.

The first movement device can, for example, in the recording area be arranged.

For example, the first movement device can be designed to Object with respect to an essentially fixed surface in the recording area to move. This movement can preferably be done by turning or / and essentially linear displacement of the object with respect to the subsurface be made.

To make this possible, it is proposed that the first movement device comprises a turntable.

Alternatively or additionally, it is possible for the first movement device a displacement device acting on at least a section of the object includes.

In order to change the position of the transport arrangement in a suitable manner can, it is proposed that the second movement device be designed for this purpose is to pivot the transport arrangement and / or essentially to move linearly. This also includes the case that the second Movement device the pivotable and / or linearly displaceable transport arrangement includes.

In the transport system according to the invention, it is preferably provided that that the transport arrangement comprises a transfer device for transfer of the object from the receiving area to the transport arrangement and vice versa or / and for relocating the object from the transport arrangement a storage location and vice versa.

The object can be a vehicle, for example, and the transport arrangement can be configured to the vehicle between the receiving area and a plurality of preferably one above the other and / or next to one another arranged storage locations to transport. I.e. a preferred area of application of the transport system according to the invention is a parking garage. However, it will noted that a variety of other uses for the invention Transport system exists. For example, this can be done in one Container train station used to pick up containers for automatic with a driverless transport device, such as a crane Place car or the like in a correct position. Furthermore, that Transport system according to the invention during vehicle loading on a Station are used. The use of the system according to the invention is also possible in any logistics area, for example pallets or Lattice boxes or the like in a transport route between different Automated and precise implementation of areas.

a) Ermitteln einer Lage eines Objekts in dem Aufnahmebereich

b) Ermitteln einer Lagekorrektur für das Objekt,

c) Korrigieren der Lage des Objekts gemäß der ermittelten Lagekorrektur,

d) Umsetzen des Objekts von dem Aufnahmebereich in eine Transportieranordnung.

The present invention further relates to a method for transporting an object from a receiving area to a delivery area, in particular when automatically parking a vehicle. The method according to the invention comprises the following steps:

a) determining a position of an object in the recording area

b) determining a position correction for the object,

c) correcting the position of the object in accordance with the determined position correction,

d) transferring the object from the receiving area into a transport arrangement.

The method according to the invention preferably comprises before step d) a step e) for determining a position of the transport arrangement, a Step f) for determining a position correction for the transport arrangement according to the determined position of the transport arrangement and a step g) for correction the position of the transport arrangement according to the determined position correction.

The position correction for the transport arrangement can also be determined and preferably using the determined position of the object, preferably the load bearing areas of the object.

In the method according to the invention it is preferably provided that a Position correction is only made if the determined position of the object is outside a permissible position deviation range around a reference position. This makes it possible to carry out the transport operations faster perform.

According to a further aspect of the present invention, it is provided that to the positional deviation of the object by measuring the angular misalignment a reference diameter and the lateral offset to the axis of rotation of the rotating platform determines that one can measure from the measured angular misalignment and lateral misalignment a correction rotary movement of the rotating platform and / or a correction lateral movement or rotation (in the case of a centrally arranged Lifting rotary lifts in a round parking system) of the conveyor are calculated to to align the object and the transfer device in alignment, and that both correction movements are carried out and with the object aligned transfer device transfers the object to the conveyor.

If in the present context of "sideways movement" or one "Sideways movement" of the conveyor is mentioned, it will include both understood a pivoting movement (in particular with regard to the above mentioned system according to EP-A 0 604 818) as well as a translational side shift (as a limit case of the swiveling movement, if one - geometrically considered - assumes the pivot axis in infinity).

The invention also relates in particular to performing the method designed measuring device that is automatic, quick and easy Quantification of the respective inaccuracy of the object allowed.

The advantages achieved with the invention are seen in particular in that the introduction of the objects in a transfer area, for example on the Rotating platform, in that it is considerably facilitated in that deviations from be admitted to a debit position; so a motorist can drive his car Park the vehicle unhindered on the platform without great accuracy to pay attention to or determine undesirable side forces on the wheels. Similar advantages result when loads are parked using hoists or similar. The position of the objects can also be corrected subsequent storage by means of the conveyor device can have an advantageous effect by better utilization of the storage area is possible under certain circumstances.

Fig. 1 zeigt schematisch die wesentlichen, an der Durchführung des Verfahrens beteiligten Anlageteile, nämlich eine schwenkbare Fördereinrichtung und eine Drehplattform mit darauf abgestelltem Objekt,

Fig. 2 und Fig. 3 zeigen zwei alternative Situationen nach durchgeführten Korrekturbewegungen, wo Objekt und Umsetzvorrichtung zueinander ausgerichtet sind,

Fig. 4 ist die Draufsicht einer mit einer Meßanordnung versehenen Drehplattform und, schematisch angedeutet, eines darauf abgestellten Objekts,

Fig. 5 ist eine Draufsicht auf eine alternative Drehplattform,

Fig. 6 ist eine schematische Draufsicht auf ein alternativ ausgestaltetes Transportiersystem, und

Fig. 7 zeigt einen vergrößerten Abschnitt des in Fig. 6 gezeigten Transportiersystems.

The invention is explained in more detail below on the basis of exemplary embodiments in conjunction with the drawings.

1 schematically shows the essential parts of the system involved in the implementation of the method, namely a swiveling conveying device and a rotating platform with an object placed thereon,

2 and 3 show two alternative situations after correction movements have been carried out, where the object and the transfer device are aligned with one another,

4 is a top view of a rotating platform provided with a measuring arrangement and, schematically indicated, of an object placed thereon,

5 is a top view of an alternative rotating platform,

6 is a schematic top view of an alternatively configured transport system, and

FIG. 7 shows an enlarged section of the transport system shown in FIG. 6.

In Fig. 1 it is e.g. - but not necessarily - parts of one System for parking motor vehicles, as described in EP-A 0 604 818. A ground-level rotating platform 1 (turntable), which in one Recording area 1 'for an object lies or at least part of the recording area 1 'forms, is flat in an in / out plane 20 of the system recessed so that vehicles can be parked and parked on it can be. It is assumed that the rotary drive (not shown) the platform 1 is controlled by the system based on rotary encoders or the like is, i.e. that the rotational position is known at any time or can be set. The axis of rotation (center) of the platform 1 is 2 and a certain reference diameter designated 3.

A conveyor 5, the objects (vehicles) from the rotating platform to Further transport or for storage (parking) should take place in essentially from a swiveling (as well as lifting and lowering) boom 6 and a transfer device 7 that can be moved linearly thereon in the radial direction. The pivot axis 8 of the device 5 is at a distance A from Center 2 of platform 1.

1, the rotating platform 1 and the conveyor 5 are in one Home position, i.e. the displacement axis 9 of the transfer device 7 has the center 2 of the rotating platform, and the rotating position of the latter is such that the reference diameter 3 is aligned with the displacement axis 9.

An object 10 is placed on the rotating platform 1. If the object were on the Platform '' correctly '' positioned, i.e. if its longitudinal or symmetry axis 11 would coincide with the reference diameter 3, the object could be from the transferred to the platform extending transfer device 7 and be implemented on the conveyor. In general, however Position of the object with larger or smaller deviations from the mentioned Ideal situation afflicted, as here (rather exaggerated for clarification) is shown. As can easily be seen, neither can you turn the Platform 1 by swiveling the conveyor 5 alone the axes 11th and 9 are aligned with each other.

The positional deviation of the object 10 is independent of one another due to two Sizes determined, namely on the one hand by the so-called angular offset α between the object axis 11 and the reference diameter 3, and on the other hand by the lateral offset a (also called "centric offset"), i.e. the distance the object axis 11 to the axis of rotation 2 of the platform 1.

In the method according to the invention, the position of the object 10 on the Rotating platform 1 determined by the respective angular misalignment α and lateral misalignment a can be measured (the way of measurement is shown below received). Corrective movements of the rotating platform are based on the measured values and the conveyor is calculated and executed such that then the object and the transfer device face each other in alignment and thus the object is freely transferred to the conveyor can be.

I. Korrektur-Seitwärtsbewegung der Fördereinrichtung bzw. Korrektur-Schwenkwinkel Y sin γ = α/A

II. Korrektur-Drehbewegung β der Drehplattform: β = α+γ

The correction movements - based on the reference position according to FIG. 1 - are easily calculated from the angular offset α and the lateral offset a as follows (see also FIG. 2):

I. Correction sideways movement of the conveyor or correction swivel angle Y sin γ = α / A

II. Corrective rotary movement β of the rotating platform: β = α + γ

If one takes instead of the pivoting about the axis 8 conveyor 5 Conveyor device which can be moved laterally in translation, this can be done as Take the limit case of a swivel with A = ∞, with which γ = O.

The calculation and corresponding execution of the correction movements can of course programmed in the system computer and by the control are automatically initiated. Fig. 2 shows the situation after making the coordinated correction movements β and γ. The axis of displacement of the transfer device 7 is moved sideways from the reference position 9 to 9 'and aligned exactly with the object axis 11, whose direction is corrected with the rotating platform has been. The implementation is now unhindered by linear movement of the Device 7.

Especially in vehicle parking facilities of the type mentioned above, it can be useful be the vehicle to be parked before moving using the rotating platform 1 turn 180 °. This is because later, when that Vehicle is taken back by the driver, the driver moves forward the vehicle can descend from the rotating platform 1 and not initially maneuver backwards and the vehicle must turn. The corresponding situation after execution of the correction movements and turning is shown in Fig. 3. The combined rotary movement β 'is then β + 180 °. The side Correction movement takes place with the same amount, but in the opposite Direction as in Fig. 2nd

The reference diameter 3 of course needs when the object 10 is applied not to assume the reference position according to FIG. 1; as in said EP-A 0 604 818, the platform is preferably in another Rotation position, so that the driver can easily drive up when parking to allow the platform with a small wheel lock. Of course, at the correction rotation of the platform differs from the reference position Starting rotational position are taken into account.

4 illustrates a preferred measuring device on the rotating platform, with which the required position determination of the lying object quickly and can be done easily. An object 10 with four is assumed Support points I-IV, e.g. the four tire contact surfaces of a vehicle or four Feet at the corners of a container or the like.

The measuring device has three pressure sensor fields 15, 16, 17 on the surface platform 1. For the measurement it is assumed that all three fields from Object to be charged; otherwise the object's positional deviation would be too big and the object would have to be better positioned on the platform measured, corrected and the object can be implemented.

Of the three sensor fields, two, 15 and 16, are at the same distance on one side of the reference diameter 3 and the third field 17 on the opposite side. In the case shown, each field consists of one Group of linear pressure sensors that are parallel and regular Distances are laid out next to each other (e.g. "mats" made of contact or Pressure sensor strips; only partially indicated at 16 and 17). The pressure sensors extend in the fields 15 and 16 parallel to the reference diameter 3 and in field 17 perpendicular to it. The distance between adjacent pressure sensors is preferably about 10 to 30 mm, it essentially determines the accuracy (Increment) of the measurement.

The dimensions and the arrangement of the sensor fields are chosen so that the Location of vehicles with different track widths S and wheelbases R can be detected. The relatively small linear expansion of the sensors in the field 15 determines a basic position of the object (support point II) in the direction of Reference diameter. The measurement is carried out by automatic "query" and Count the pressure sensors in each field 15-17. How easy can be seen, the angular offset by counting in fields 15 and 16 α (in connection with the wheelbase R) and by counting in field 15 of the Lateral offset a (in connection with the track width S) can be determined. In the This arrangement is therefore assumed that the dimensions R and S of the object 10 are known. In the case of vehicles to be parked different (Unknown) types can measure these dimensions when approaching Rotating platform can be determined, for example also with the help of sensor fields, which are inserted in the lane.

Instead of the sensor fields according to FIG. 4 with linear pressure sensors but corresponding fields with point sensors are also provided, which are arranged in a regular grid. The query and Counting such point sensors then provides measured values in two in each field Coordinate directions, and it is knowledge or prior determination of the R and S values then not required.

Basically, however, the respective position of the object on the rotating platform can also be measured in other ways, for example with the aid of light barrier arrangements, Laser or ultrasonic distance measurement etc. or also by means of a scanning device arranged on the transfer device is extendable towards the object placed on the platform.

1. die Position der Fördereinrichtung 5 um die Schwenkachse 8,

2. die Lage des Objekts 10, beispielsweise des Fahrzeugs 10 entweder bezüglich des Untergrunds 20 oder bezüglich der Drehplattform 1, d.h. einer an der Drehplattform 1 definierten Referenzlage.

It is pointed out that the system according to the invention or the method which is carried out with this system can be modified in various ways with respect to the preceding description. Thus, the reference quantities which have been described above need not necessarily be the ones described. Any coordinate system can be used to determine the position of the object, regardless of whether it is fixed with respect to the plane or the subsurface 20, the rotating platform 1 or the conveyor device 5. Furthermore, any type of coordinate system, ie Cartesian coordinate system, polar coordinate system, etc. can be used. It is important for the correct execution of the transport of a vehicle, for example, that the following sizes are known:

1. the position of the conveyor 5 about the pivot axis 8,

2. the position of the object 10, for example the vehicle 10, either with respect to the ground 20 or with respect to the rotating platform 1, ie a reference position defined on the rotating platform 1.

Since the rotating platform 1 is essentially rotationally symmetrical, it can it may also be sufficient for the location of the one located on the rotating platform 1 To detect or determine object 10 with respect to the background 20, wherein a correction quantity can be determined on the basis of this then determined position which may be necessary to enable the object to be moved Position correction of object 10, i.e. Rotation of the rotating platform 1, specifies. Also the movement of the conveyor 5, i.e. the pivoting of the same can then be carried out on the basis of the position of the object 10 determined in this way.

5 shows an alternative embodiment of a rotary platform 1. In particular another type of position detection of an object is provided here. The rotating platform 1 has four sensor fields in the embodiment shown in FIG. 5 22, 24, 26, 28. For example, each sensor field comprises a steel plate 32, which at their four corners via respective load sensors 32, 34, 36, 38 are carried on the rotating platform 1. Now, for example, becomes a vehicle parked on the rotating platform 1, so each of the sensor fields 22-28 by Wheel loaded. I.e. each wheel loading a respective sensor field loads the four sensors 32-38 of the respective sensor field in a ratio that by the geometrical position of the respective load point or area Tire is given to the various sensors. Because of the Sensors output at the four corners of the plates 30 can then be output determine the exact position of the load point on the respective plate 30.

By determining the four load points, which are determined by the four Wheels of a vehicle are generated, then the exact location of the Determine the vehicle with respect to the rotating platform 1.

It should be noted here that four sensors are not necessarily required each plate 30 must be provided. There can also be three or more than four Sensors. It is also not necessary to use four sensor fields; it Three sensor fields are sufficient for the correct position, but the Use of four sensor fields due to the more precise position detection are preferred.

As shown in FIG. 5, the sensor signals S _{S are} input into a control device 40. This control device 40 can be a computer, for example, which monitors the entire transport system. Furthermore, a signal S _{D is} input into the control device 40, which reproduces the position of the rotating platform 1 with respect to the base 20. The control / regulating device 40 also receives, as indicated by an arrow S _F , a signal which represents the position of the conveying device 5. Since the conveyor device 5 is generally used to operate a plurality of rotating platforms successively arranged in the circumferential direction around the pivot axis A, it cannot generally be assumed that the conveyor device 5 is in a correct position for taking over a vehicle with regard to any of these rotating platforms 1 . Therefore, a feedback must first be created by detecting the position of the conveyor device 5, so that the appropriate position correction for the conveyor device 5 can also be carried out in the following.

The control device 40 then, as shown by arrows L _F and L _D , outputs drive signals to the respective actuators which rotate the rotary platform 1 until it is in the desired position predetermined by the signal L _D and on the other hand the Swivel the conveyor 5 until it is in the desired position specified by the signal L _F. Such target positions for the rotating platform 1 and the conveyor 5 are shown, for example, in FIGS. 2 and 3.

FIGS. 6 and 7 show a modification of the transport system according to the invention, as it is for example in a parking garage or the like can be used. The transport system of Figures 6 and 7 has one A plurality of receiving areas arranged side by side in a row 42, into which vehicles can enter. The conveyor 5 is between the two rows of receiving areas 42 in the direction of Series of the individual receiving areas 42 can be moved. It can thus the conveyor 5 is aligned with each of the receiving areas 42 to take over a vehicle or a vehicle from each in the different recording areas. Each of the areas points as described above, a sensor arrangement for detecting the position of a vehicle parked in a respective receiving area 42. Furthermore, as described above, the current one Location of the conveyor 5 detected. Based on these two position surveys then, on the one hand, the position correction of a vehicle in a recording area 42 and a position correction of the conveyor 5 is determined to enable that by the transfer device 7, the vehicle from the corresponding Recording area are implemented in the conveyor 5 can.

Around the vehicles in the individual receiving areas 42 arranged in a row To be able to change their position can, as shown in Figure 7, in any the receiving areas 42 a displacement arrangement 44 may be provided. The Displacement arrangement 44 comprises two displacement devices 46, 48 which a vehicle e.g. is parked with its front tires. Corresponding The position correction to be carried out becomes surface areas of the displacement devices 46, 48, on which the vehicle tires stand, in the direction of Arrows moved laterally. This leads to the vehicle, for example, in is shifted in its front area, but essentially in its rear area remains stationary and is thus rotated until it finally essentially is parallel to the longitudinal direction of the individual receiving areas 42. Corresponding the shift carried out and the then existing lateral Positioning of the vehicle in the corresponding receiving area 42 then the conveyor 5 with respect to the respective receiving area 42 or of the vehicle positioned so that the vehicle is straight in the conveyor 5 can be adopted. The sliding devices can for example include conveyor belts or by a common conveyor belt be provided.

Although in FIG. 7 the displacement arrangement only applies to one receiving area 44, it is understood that a corresponding arrangement is provided in each of the receiving areas 42. To capture the Location of the vehicle or object in one of the receiving areas 42 can again a sensor arrangement can be used as they were before has been described. Any other type of sensor arrangement or Detection arrangement can be used by which the position of the vehicle with respect to a reference position, for example a longitudinal center line of a respective recording area, can be determined.

In the areas 42 shown in FIG. 6, some of them can be used as receiving areas be formed, another part can then be used to park vehicles serve by means of the conveyor. Furthermore, in the areas 42 vehicles each with their longitudinal axis essentially parallel or orthogonal for the direction of displacement of the conveyor 5 in the areas 42 arranged and taken over by the conveyor 5. The illustrated Orientation of the areas 42 is therefore only to be regarded as an example.

It is pointed out that the provision of a displacement arrangement also in connection with a rotary plate device is possible, for example minor position corrections not by turning the rotating plate, but by sideways shifting of a vehicle in the front and / or rear area.

Another way to determine the position of a vehicle is to in the area of a respective receiving area of a respective rotary plate, a Provide laser scanning device through which the vehicle is optically scanned and the location of the same based on the data obtained is detected. Furthermore, mechanical ones can also be used in the area of the substrate Keys are provided, the position of the at a low height above the ground Vehicle wheels or the like can detect. Preferably be through such scanning devices not the entire objects, for example vehicles, sampled, but only the or part of the load bearing areas, with which the objects rest on the ground, in order to ultimately create the to determine necessary corrections.

In the system shown in FIGS. 6 and 7, it is in addition to the linear displacement the conveyor 5 possible to pivot or to rotate or provide a rotatable section for receiving objects. All corrective movements to be carried out on the Conveyor 5 are performed; on the provision of further turntables or the like. Outside the conveying device can then be dispensed with. This is true also for the embodiment according to FIGS. 1-3. There too Conveyor a rotating section can be provided, its rotational movement superimposed on the pivoting movement or, if necessary, rotary movement of the conveyor can be to the conveyor without performing a change of location to position the object itself so that it takes up the object can.

The use of the transport system according to the invention is particularly useful for Car parks advantageous where the vehicle as an object of the different Receiving areas is picked up by the conveyor and then is conveyed up or down by the conveyor, where it is in Parking spaces located on different floors can be parked. It is however, such a transport system is possible in any other technical Use area by picking up objects from a specific location have to be and have to be delivered to another location.

Claims (23)

Transport system for transporting an object, in particular when automatically parking vehicles in a parking garage or the like, comprising: at least one receiving area (1 '; 42) for receiving an object (10) to be transported into the transport system, associated with the at least one receiving area (1 '; 42) is at least one transport arrangement (5) for transporting the object (10) away from the receiving area (1'; 42) and / or towards the receiving area, the receiving area and / or the transport arrangement comprising: a position determining device for determining the position of the object (10) in or with respect to the receiving area (1 '; 42) or the transport arrangement (5), a position correction device for correcting the position of the object (10) and / or the transport arrangement (5) in response to the position of the object (10) determined by the position determination device. Transport system according to claim 1, characterized in that the Position determination device a sensor arrangement (15, 16, 17; 22, 24, 26, 28) comprises for detecting the position of the object (10) and a deviation determination device (in 40) to determine a deviation of the detected position of the object (10) from a reference position. Transport system according to claim 2, characterized in that the sensor arrangement (15, 16, 17; 22, 24, 26, 28) comprises: a plurality of sensor fields (15, 16, 17; 22, 24, 26, 28) which can be acted upon by the object, each with at least one pressure sensor (32, 34, 36, 38), preferably pressure cell, pressure hose, piezo element, bending beam, a contact strip sensor, an ultrasonic sensor or a light grid or the like, or / and a laser scanning device for optically detecting the position of the object (10), preferably the load-bearing areas of the object, or / and a mechanical scanning device for mechanical detection of the position of the object, preferably the load bearing areas of the object. Transport system according to claim 2 or 3, characterized in that the position correction device is a correction determination device (in 40) for determining a correction to be made to the position of the Object depending on the determined deviation. Transport system according to one of claims 1 to 4, characterized in that the position correction device comprises: a first movement device (1; 44) for moving the object depending on the specific correction to be made, or / and a second movement device for moving the transport arrangement (5) depending on the specific correction to be made. Transport system according to claim 2 or one of claims 3 to 5, if related to claim 2, characterized in that the Position correction device is designed to correct the position of the object (10) only to be carried out if the determined deviation the detected position of the object (10) from the reference position outside of a permissible deviation range. Transport system according to claim 5 or claim 6, if on claim 5 referred back, characterized in that the first movement device (1; 44) is arranged in the receiving area (1 '; 42). Transport system according to claim 7, characterized in that the first movement device (1; 44) is designed to move the object (10) with respect to a substantially fixed base (20) in To move the recording area. Transport system according to claim 8, characterized in that the the first movement device (1; 44) is designed to move the object to rotate with respect to the base (20) and / or substantially linear to relocate. Transport system according to claim 8 or 9, characterized in that the first movement device (1) comprises a turntable (1). Transport device according to one of claims 8 to 10, characterized characterized in that the first movement device (44) has at least one A displacement device attacking a section of the object (10) (44). Transport device according to claim 5 or one of claims 6 to 11, if related to claim 5, characterized in that the second movement device is designed to transport the arrangement (5) to pivot and / or to move essentially linearly. Transport device according to one of claims 1 to 12, characterized characterized in that the transport arrangement (5) is a transfer device (7) includes for moving the object from the shooting area (10; 42) to the transport arrangement (5) and vice versa or / and Moving the object (10) from the transport arrangement (5) to one Storage location and vice versa. Transport device according to one of claims 1 to 13, characterized characterized in that the object (10) is a vehicle and that the transport arrangement (5) is designed to drive the vehicle between the Recording area (1 '; 42) and a plurality of preferably one above the other or / and to transport adjacent storage locations. Transport device according to one of claims 1 to 14, characterized characterized in that the transport arrangement at least in some areas is pivotable and / or displaceable and at least in some areas is rotatable. Method for transporting an object (10) from a receiving area (1 '; 42) to a delivery area, in particular when automatically parking a vehicle, in particular by means of a transport system according to one of claims 1 to 15, comprising the steps: a) determining a position of an object (10) in the recording area (1 '; 42), b) determining a position correction for the object (10), c) correcting the position of the object (10) in accordance with the determined position correction, d) moving the object (10) from the receiving area (1 '; 42) into a transport arrangement (5). The method of claim 16, further comprising prior to step d) a step e) for determining a position of the transport arrangement (5), a step f) for determining a position correction for the transport arrangement (5) according to the determined position of the transport arrangement (5), a step g) for correcting the position of the transport arrangement (5) according to the determined position correction for the transport arrangement (5). A method according to claim 17, characterized in that step f) determining the position correction for the transport arrangement (5) according to the determined position of the object (10), preferably the load support areas of the object. Method according to one of claims 16 to 18, characterized in that that the position correction is only carried out if the determined Position of the object (10) outside a permissible position deviation range is around a reference position. Method for transferring an object (10) lying on a rotating platform (1) with positional deviation onto a conveyor device (5) which can be moved sideways next to the rotating platform by means of a transfer device (7) arranged on the conveyor device and linearly movable between the latter and the rotating platform, characterized in that that the positional deviation of the object (10) is determined by measuring an angular offset (α) to a reference diameter (3) and a lateral offset (a) to an axis of rotation (2) of the rotating platform (1), that one calculates from the measured angular offset (α) and lateral offset (a) a correction rotary movement (β) of the rotary platform or / and a correction lateral movement (γ) or / and rotary movement of the conveyor device (5) in order to calculate the object (10 ) and the transfer device (7) in alignment with each other, and that one carries out both correction movements (β, γ) and, with the transfer device (7) aligned with the object (10), transfers the object to the conveyor, optionally in conjunction with one or more of the features of claims 16 to 19. A method according to claim 20, characterized in that the Corrective rotary movement (β) together with a 180 ° rotation of the Object (10) in a combined rotary movement (β). A method according to claim 20 or 21, characterized in that the location of the object (10) by its support points (I-IV) within Sensor fields (15, 16, 17) on the rotating platform (1) determined. Measuring device for determining the position of an object (10) on a base (1), characterized by attached to the pad Pressure sensor fields (15, 16, 17) with discrete, in a regular arrangement distributed pressure sensors, which are determined by support points (I-IV) of the object, the position (R, S) of which the object is known can be acted upon.

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