JP4749442B2 - Vehicle moving device - Google Patents

Description

  The present invention relates to a vehicle moving device, which allows a single bogie device to move and move a vehicle while supporting all wheels in a floating manner, and can simplify a control system. It is suitable for use in a drop-off type parking facility for parking a vehicle in a parking facility.

  One of the cases where it is necessary to move without driving a vehicle is a drop-off type parking facility. For example, in combination with a tower type parking device that is a mechanical parking facility, a pallet is suspended and supported by a hanger. It is necessary to move and store the vehicle from which the driver got off in the cage, and park it three-dimensionally by circulating the cage. Even in combination with a flat parking facility, the vehicle from which the driver got off It is necessary to move and store in a predetermined parking space.

As a vehicle moving device for moving such an unmanned vehicle on which the driver has descended, for example, Patent Documents 1 and 2 disclose that the front and rear wheels are levitated and supported by two independently moving dolly devices. After the means is provided and the respective carriage devices are positioned on both the left and right sides of the vehicle, the front and rear wheels are levitated and supported by the levitating support means, and the vehicle is moved by cooperating the two dolly devices. It has become.
JP 2004-169451 A JP 2008-75351 A

  However, in the conventional cart apparatus of the vehicle moving device, it is necessary to control the movement of the two independent left and right cart devices to a predetermined position of the vehicle. A control method is required, and there is a problem that the control system becomes complicated and expensive.

  On the other hand, if it is intended to levitate and support all the wheels of the vehicle with one trolley device, the trolley device must be equipped with levitation support means for levitating and supporting all wheels, for example, the front and rear four wheels, and the vehicle moving device becomes larger There is a problem that a work space larger than the plane projection area of the vehicle is required.

  The present invention has been made in view of the above-described problems of the prior art, and allows a vehicle to be supported and moved by a single bogie device without increasing the size, thereby simplifying the control system. It is an object of the present invention to provide a vehicle moving device that can perform the above.

In order to solve the above-described problems of the prior art, the vehicle moving device according to claim 1 of the present invention is a vehicle moving device that moves while supporting the wheels of the vehicle, and is provided with a steerable travel drive mechanism. A suspension support means for levitationally supporting all the wheels of the vehicle, and a control means for controlling steering and traveling drive of the trolley apparatus and retraction and levitation of the levitation support means. And the carriage device is configured to have a substantially U shape in a planar shape surrounding both sides and the front and rear sides of the vehicle, and the levitation support means is inserted into the front and rear of the front two wheels and the front and rear of the rear two wheels. through the escape can telescopic mechanism constituted by attached retractably to said carriage unit, floating the vehicle said floating support means the carriage unit is traveling drive to the vehicle position as the support state from the retracted state Lifting to is characterized in that formed by configured to move the control to a predetermined position.

According to a second aspect of the present invention, there is provided a vehicle moving device that moves while supporting the wheels of the vehicle in a levitating manner, and a carriage device including a steering drive mechanism that can be steered and retractable to the carriage device. And a control means for controlling steering and traveling drive of the carriage device and retreating and floating of the suspension support means. The vehicle is constructed in a substantially U-shape in a planar shape surrounding both sides and front and rear sides of the vehicle, and the levitating support means is rotated horizontally about a vertical axis and can be arranged and escaped before and after the front wheels and front and rear of the rear wheels. It is configured to be retractably attached to the cart device via a bending mechanism, and the cart device is driven to travel to the vehicle position, and the vehicle is levitated to support the levitating support means from the retracted state. And it is characterized in that formed by configured to move the control to the position.

According to a third aspect of the present invention, there is provided a vehicle movement device that moves while supporting the wheels of the vehicle in a levitating manner. The vehicle movement device includes a traveling drive mechanism that can be steered, and can be retracted to the carriage device. And a control means for controlling steering and traveling drive of the carriage device and retreating and floating of the suspension support means. A vertical planar shape that surrounds either of the both sides and the front and rear sides of the vehicle, and the floating support means is pivotable about a horizontal axis so that it can be placed and escaped before and after the front wheels and before and after the rear wheels. It is configured to be removably attached to the carriage device via a bending mechanism, and the carriage device is driven to travel to the vehicle position, and the suspension support means is supported from the retracted state to support the suspension of the vehicle. And it is characterized in that formed by configured to control movement into position.

According to the vehicle moving device of the first aspect of the present invention, the vehicle moving device that moves while supporting the wheels of the vehicle in a levitated manner, the cart device provided with the steering drive mechanism that can be steered, and the vehicle device removably mounted on the cart device. and floating supporting means for floating support all wheel of the vehicle is, and control means for controlling the retraction and floating steering and traveling drive and the floating support means of the carriage device, the carriage device, wherein The cart apparatus is configured by a substantially U-shaped planar shape surrounding both sides and front and rear sides of the vehicle, and the levitation support means can be inserted / extracted in front and rear of the front two wheels and front and rear of the rear two wheels via a telescopic mechanism. mounting and configured to be retracted into, said vehicle to a floating support configured to move the control to a predetermined position of said floating support means the carriage unit is traveling drive to the vehicle position as the support state from the retracted state Because, without increasing the size of the apparatus by carriage device which surrounds the three sides around the vehicle, by controlling the steering and traveling drive of one carriage device, the saving and the flight of the flying support means in the control device, the flying vehicle It can be supported and moved, and the control system can be simplified.
In addition, by supporting the front two wheels and the rear two wheels by the levitating support device that expands and contracts, the levitating support means can be moved compactly up to the vehicle, and the levitating support operation can be performed in a small space.

According to the second aspect of the present invention, there is provided a vehicle moving device that moves while supporting the wheels of the vehicle in a levitating manner. And a control means for controlling steering and traveling drive of the carriage device and retreating and floating of the suspension support means. The vehicle is constructed in a substantially U-shape in a planar shape surrounding both sides and front and rear sides of the vehicle, and the levitating support means is rotated horizontally about a vertical axis and can be arranged and escaped before and after the front wheels and front and rear of the rear wheels. It is configured to be retractably attached to the cart device via a bending mechanism, and the cart device is driven to travel to the vehicle position, and the vehicle is levitated to support the levitating support means from the retracted state. Since it is configured to move the control to the position, without increasing the size of the apparatus by carriage device which surrounds the three sides around the vehicle, the steering and traveling drive, the control device the saving and the flight of the flying support means one bogie device By controlling with, the vehicle can be levitated and moved, and the control system can be simplified.
Further, the levitating support mechanism can be folded around the vertical axis by the horizontal folding mechanism, and the levitating support means can be moved compactly to the vehicle, and the levitating support operation can be performed in a small space.

Furthermore, according to the vehicle moving device of claim 3 of the present invention, a vehicle moving device that moves while supporting the wheels of the vehicle in a levitated manner, a cart device provided with a steerable travel drive mechanism, and the cart device. The carriage includes: a suspension support means that is detachably mounted and supports all the wheels of the vehicle to float; and a control means that controls the steering and driving of the carriage device and the withdrawal and elevation of the suspension support means. The device is configured in a substantially U shape in a planar shape surrounding either side of the vehicle or front and rear, and the levitation support means can be rotated around a horizontal axis and placed and escaped before and after the front wheel and front and rear of the rear wheel. It is configured to be removably attached to the cart device via a vertical bending mechanism, and the cart device is driven to travel to the vehicle position so that the levitating support means is supported from the retracted state to the levitating support. Thus, the movement control to the predetermined position is performed, and therefore, the steering device and the traveling drive of one carriage device, the retraction and the rising of the levitation support means can be performed without increasing the size of the device by the carriage device surrounding the three sides of the vehicle. By controlling with the control device, the vehicle can be lifted and moved and the control system can be simplified.
Further, the levitation support mechanism can be folded around the horizontal axis by the vertical folding mechanism, and the levitation support means can be moved compactly to the vehicle, and the levitation support operation can be performed in a small space.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
1 to 4 relate to a reference example in which the vehicle moving device of the present invention is applied to a vehicle movement in a parking facility. FIG. 1 is an external perspective view showing a combination of a retracted state and a supportable state, and FIG. FIG. 3 is a schematic plan view showing a combination of a retracted state and a supportable state by cutting out, FIG. 3 is a schematic cross-sectional view of the telescopic mechanism, and FIG. 4 is a plan view and a partial front view for explaining the support state of the vehicle.

The vehicle moving device 1 includes a transport cart 10 constituting one cart device, and moves to a position adjacent to the side of the vehicle as shown in FIG. The vehicle is levitated and supported by a levitating support mechanism 30 and is conveyed to a predetermined position such as a pallet of a mechanical parking facility or a parking space of a flat parking facility. The reference example is configured to be retractable via an expansion / contraction mechanism.

  The transport carriage 10 includes a travel drive mechanism 20 as a travel device and a levitation support mechanism 30 as a levitation support means in a rectangular parallelepiped chassis 11 longer than the wheel base of the vehicle to be moved. Recognizing mechanism as a control system for controlling steering and traveling driving of the carriage 10 and retraction and ascent of the levitation support means 30; a control device provided with a microcomputer; and a hydraulic pressure generator for supplying hydraulic pressure necessary for the operation of the levitation support means 30 And a battery for supplying power.

  The travel drive mechanism 20 includes a support wheel 21 disposed outside the four corners of the chassis 11 and a drive mechanism 22, and the chassis 11 is supported by the support wheel 21 so as to be movable to a predetermined height on the road surface. It is driven to move by the drive mechanism 22. The support wheel 21 is pivotably provided on the lower side of the support leg 21A that protrudes horizontally on the outside of the chassis 11, and supports the chassis 11 so as to be movable from the ground surface to a predetermined height. ing. The drive mechanism 22 includes a steering wheel 24 having a ring gear 23 provided at the center of the chassis 11 so as to be rotatable about a vertical axis, a steering motor 25, and a travel drive wheel 27 that is rotationally driven by the travel drive motor 26. The ring gear 23 of the steering wheel 24 is engaged with a drive gear 22D fixed to the rotation shaft of the steering motor 25, and the steering wheel 24 is rotationally driven by the steering motor 25. The travel drive wheel 27 is provided such that its rotational axis is horizontal, and its peripheral surface protrudes downward from the inner peripheral opening of the steering wheel 24 so as to come into contact with the road surface, and is rotationally driven by the travel drive motor 26. It has become.

  The travel drive mechanism 20 configured as described above moves and drives the chassis 11 by the rotational drive of the travel drive wheels 27 by the travel drive motor 26. In addition, the traveling direction of the driving wheel 27 can be changed by the rotation of the driving wheel 27 by the rotation of the steering wheel 24 by the steering motor 25, and the transport carriage 10 can be moved in the front, rear, left, and right directions. The travel drive motor 26 and the steering motor 25 are driven and controlled by a control device.

  In the transport carriage 10 constituting such a carriage apparatus, a levitation support apparatus 31 is provided as a levitation support mechanism 30 that levitates and supports the front two wheels and the rear two wheels of the vehicle at two front and rear positions corresponding to the front and rear wheels of the vehicle. I have.

  The levitation support device 31 is a pair of front and rear support rollers 32 provided so as to be moved back and forth by linear bearings 33 provided in the chassis 11 and levitation drive means for driving the support rollers 32 toward and away from each other. The supporting hydraulic cylinder 34 and an expansion / contraction mechanism 35 that enables the supporting roller 32 to be retracted from the chassis 11 that is a carriage device.

  The support roller 32 is configured to include four substantially cylindrical roller members 32 </ b> A to 32 </ b> D that can expand and contract in four stages and rotate, and the outermost roller member 32 </ b> D at the base end serves as a slider of the linear bearing 33. The roller member 32A at the tip of the innermost periphery in the extended state can be projected to a predetermined length corresponding to the vehicle width of the vehicle, and in a shortened state, the roller member 32A can be in a retracted state housed in the chassis 11 while being supported. It is like that. And the caster 32E provided with the wheel which can rotate on a horizontal axis | shaft and can turn on a vertical axis | shaft is attached to the front-end | tip of the roller member 32A of this front-end | tip part so that it may contact | abut on the ground surface.

  A support hydraulic cylinder 34 that drives the front support roller 32 to approach and separate is disposed on the front side, and a support hydraulic cylinder 34 that drives the rear support roller 32 to approach and separate from the rear side. Is coupled to the outermost roller member 32D.

  In addition, as shown in FIG. 3, the expansion / contraction mechanism 35 that can retract the support roller 32 that expands and contracts in four stages has a pressure hose 35A attached to the inner end of the most advanced roller member 32A. The pressure hose 35A is connected to the tip of the pressurized fluid supply hose 35B so that air pressure or hydraulic pressure can be supplied, and the pressure hose 35A and the pressurized fluid supply hose 35B are integrally rotated by a motor 35C. When the two hose reels 35D and 35E are extended, a pressurized fluid is supplied, and at the same time, they are fed through a guide roller.

  In such a wheel levitation support device 31, each support hydraulic cylinder 34 is driven by the hydraulic pressure supplied and controlled from the hydraulic pressure generator by the control device, and each support roller 32 is independently driven by the drive of each support hydraulic cylinder 34. Then, they move toward and away from each other along the linear bearing 33. And after extending each roller member 32A-32D of the support roller 32 from the chassis 11 of the conveyance trolley (trolley | bogie apparatus) 10, the front-and-back support roller 32 is located in the front-and-rear both sides of the wheel of the vehicle 2 as shown in FIG. Then, the wheels can be supported in a floating manner by moving both the support rollers 32 in the approaching direction.

  It should be noted that the outer diameters of the roller members 32A to 32D constituting the support roller 32 can be floated at the same time by sandwiching the left and right wheels so as not to cause a large difference as in the illustrated example. The roller member 32A is retracted in a state of protruding from the transport carriage 10 without expanding and contracting, and the outer diameter of the roller member 32A is set to be the same outer diameter as the roller member 32C that floats the wheel on the transport carriage 10 side. The left and right wheels of the vehicle may be supported at the same time.

  According to the wheel levitation support device 31 as described above, the vehicle body is not directly supported, but all the wheels are supported by the support rollers 32 to be levitated, so that the vehicle can be easily levitated without fear of damaging the vehicle. can do.

  The vehicle moving device 1 configured as described above includes a recognition mechanism as a control system for controlling the steering and traveling drive of the transport carriage 10 and the retraction and levitation of the levitation support means 30, and a control device including a microcomputer. .

  The recognition mechanism includes, for example, imaging cameras respectively disposed at side surfaces corresponding to the front and rear of the chassis and the front and rear of the floating support mechanism 30 and the image recognition devices that process images captured by the imaging cameras. The imaging information from the imaging camera is output to a control device that is configured to recognize the position and distance of the vehicle, its wheels, and the mark of the transport destination, and integrated with the image recognition device. The recognition device is not limited to the above configuration example, and may be configured by another radar device or the like as long as it can recognize the position and distance of the vehicle, its wheels, and the transport destination.

  The control device controls and drives the travel drive mechanism 20 and the levitation support mechanism 30 based on information from the recognition mechanism, and moves the transport carriage 10 to a predetermined lateral position with respect to the vehicle. Note that the control device does not necessarily have to be mounted inside the transport carriage 10 and may be configured to be separately fixed and controlled by communication via a wireless communication device.

  In this way, when the movement control of the vehicle moving device 1 to a predetermined position of the vehicle is performed, it is only necessary to control one transport carriage 10, compared to the case of controlling two conventional transport trucks configured symmetrically. The control system can be simplified. Thereafter, the roller members 32A to 32C of the support roller 32 shortened and retracted are extended by the control of the control device to support the vehicle so that the carriage is moved when the vehicle moves to a predetermined position. 10 can be made compact, and a traveling space and a space for levitation support can be reduced.

  After all the wheels of the vehicle are lifted and supported in this manner, the vehicle is transferred to a predetermined position such as a pallet or parking space in a parking facility.

  Such control of the vehicle moving device 1 can be performed in substantially the same manner as in the case of using two conventional transport carts and a simplified control device, and details thereof are omitted.

Next, an embodiment of the vehicle moving device of the present invention will be described.
5 and 6 relate to an embodiment of the vehicle moving device of the present invention, FIG. 5 is a schematic plan view and a schematic side view showing a combination of the retracted state and the floating support state, and FIG. 6 is a horizontal view of the retracting mechanism. It is the schematic front view and schematic plan view of a bending mechanism.

  In this vehicle moving device 1 ′, a transport cart 10 ′ constituting a cart device is configured in a planar U shape surrounding either one of the left and right sides of the vehicle or front and rear, in the illustrated example, the three front sides, and each wheel of the vehicle Corresponding to the above, the levitation support mechanism 40 is attached to the transport carriage 10 'via a horizontal bending mechanism 44 constituting a retraction mechanism.

  The carriage 10 'is mounted with a travel drive mechanism (not shown) (see the travel drive mechanism 20) similar to the transport carriage 10 described above, and traveled to a predetermined position by the steering motor and the travel drive motor. It can be done. The required number of traveling wheels is provided so that the traveling wheels can move in a stable state and can be supported in a floating state in a stable state.

  The levitation support device 41 that constitutes the levitation support mechanism 40 includes four sets of support rollers 42 configured by two sets and four sets of eight support rollers 42 that can move forward and backward, respectively. An approach / separation mechanism 43 for approaching and separating, and a horizontal bending mechanism 44 that enables the support roller 42 to be retracted from a transport carriage 10 'that is a carriage device.

  The support roller 42 is composed of a free roller having a roller member 42B rotatably attached to the outer periphery of the support shaft 42A, and a caster 42C having a wheel that is rotatable on a horizontal axis and rotatable on a vertical axis is provided at the tip. It is attached so as to come into contact with the ground surface.

  The base end portion of the support shaft 42 </ b> A of each support roller 42 is provided on the chassis 11 ′ via a horizontal bending mechanism 44.

  The horizontal bending mechanism 44 includes a vertical shaft 44A, and the support block 44B and the support shaft 42A of the support roller 42 are connected by the vertical shaft 44A. It can run along the transport carriage 10 'as parallel, and can be parallel to the left-right direction of the vehicle as a state of protruding linearly. A hydraulic or electric cylinder 44C is provided to drive the horizontal folding mechanism 44, and the support roller 42 is extended linearly by protruding the cylinder rod, and can be bent at a substantially right angle by shortening. A coil spring 44D for urging it to return to the bent state is attached between the support block 44B and the support roller 42 side.

  The support roller 42 provided via the horizontal bending mechanism 44 is attached to the chassis 11 ′ of the transport carriage 10 ′ via the approach / separation mechanism 43, and the support block 44B and the hydraulic or electric cylinder 44C are linear. It is attached via a slide block 43B that can slide back and forth along the bearing 43A.

  The approach / separation drive of the pair of support rollers 42 by the approach / separation mechanism 43 is performed by attaching a rack gear 43C to the support block 44B along the front-rear direction and a pinion 43D meshing with the rack gear 43C mounted on the chassis 11 '. It is driven by a motor 43E. Thereby, the wheel can be supported by levitation by bringing the pair of support rollers 42 close by the synchronous drive of the geared motor 43E, and the levitation wheel can be lowered by separating the wheels.

  It should be noted that by changing the capacity of each device, the two support rollers 42 held in the approaching state are made straight from the bent state by the hydraulic pressure of the horizontal bending mechanism 44 or the extension of the electric cylinder 44C, thereby supporting the roller 42. It is also possible to use a structure in which the wheel is lifted so as to sandwich the wheel.

Further, the approach / separation drive of the approach / separation mechanism 43 is not limited to the combination of the geared motor and the rack mechanism, and may be configured to reciprocate using a hydraulic or pneumatic cylinder as described above .

  In such a wheel levitation support device 41, the guard motor 43E of the approach / separation mechanism 43 is controlled by the control device, and the hydraulic pressure of the horizontal bending mechanism 44 or the hydraulic cylinder 44C is controlled to be supplied from the hydraulic pressure generator. Driven by the battery, the slide block 43B is moved back and forth along the linear bearing 43A, and the support roller 42 is extended by the hydraulic pressure of the horizontal bending mechanism 44 or by the electric cylinder 44C. After the support rollers 42 are positioned on both the front and rear sides of the vehicle wheel, the wheels can be supported in a floating manner by moving both the support rollers 32 in the approaching direction.

  In the vehicle moving device 1 ′ configured as described above, a recognition mechanism and a control device including a microcomputer have already been described as a control system for controlling the steering and driving of the transport carriage 10 ′ and the retraction and levitation of the levitation support means 40. What was comprised similarly to the vehicle moving apparatus 1 which was made is provided.

  Therefore, in this vehicle moving apparatus 1 ′, the transport carriage 10 ′ is controlled and driven by the control device based on the information from the recognition mechanism, so that the travel drive mechanism 20 and the levitation support mechanism 40 are driven. On the other hand, the vehicle is moved so as to surround predetermined both sides and the front position, and then, the approach and separation mechanism 43 and the horizontal bending mechanism 44 of the levitating support mechanism 40 are levitated and supported. After all the wheels of the vehicle are lifted and supported in this manner, the vehicle is transferred to a predetermined position such as a pallet or parking space in a parking facility.

  When such a vehicle moving device 1 ′ is controlled to move to a predetermined position of the vehicle, it is only necessary to control one transport cart 10 ′, and when controlling two transport carts configured symmetrically. In comparison, the control system can be simplified.

In the reference example and the embodiment described above, when the levitation support mechanism can be retracted to the transport carriage, an expansion / contraction mechanism and a horizontal folding mechanism are provided. However, as shown in FIG. A vertical bending mechanism 50 is provided, and for example, the bending drive may be rotated by a chain 52 and an electric motor 53 that are wound around the sprockets 51 and 51, and is mounted on a transport carriage 10 disposed on one side of the vehicle. Can be used.

  Further, as shown in FIG. 7, a support roller that extends and contracts for each wheel can be provided so as to be retractable. For example, a rack gear 54 is attached on the support roller, and a pinion 56 driven by a motor 55 is engaged. You may make it drive, and it can mount and use for the conveyance trolley | bogie 10 'comprised so that 3 directions of a vehicle might be enclosed.

  In addition, this application is not limited to the structural example of said each embodiment, Especially the structure of a traveling apparatus, a levitation | floating support means, etc. can be changed suitably. Moreover, the target parking facilities etc. may be applied not only to a mechanical type but to a self-propelled type. Further, the control system of the present invention is not limited to the above embodiment.

It is an external appearance perspective view which combines and shows the retracted state and supportable state concerning the reference example which applied the vehicle moving apparatus of this invention to the vehicle movement of a parking facility. FIG. 5 is a schematic plan view showing a combination of a retracted state and a supportable state by cutting out a part according to a reference example in which the vehicle movement device of the present invention is applied to vehicle movement in a parking facility. It is a schematic sectional drawing of the expansion-contraction mechanism concerning the reference example which applied the vehicle moving apparatus of this invention to the vehicle movement of a parking facility. It is the top view and partial front view explaining the support state of the vehicle concerning the reference example which applied the vehicle moving apparatus of this invention to the vehicle movement of a parking facility. It is the schematic plan view and schematic side view which show combining the retracted state and levitation support state concerning one embodiment of the vehicle movement apparatus of this invention. It is the schematic front view and schematic plan view of the horizontal bending mechanism which comprise the evacuation mechanism concerning one Embodiment of the vehicle moving apparatus of this invention. It is a schematic front view of each retracting mechanism according to another embodiment of the vehicle moving device of the present invention.

Explanation of symbols

1, 1 'vehicle movement conveyance device 10, 10' conveyance cart (trolley device)
11, 11 'chassis 20 travel drive mechanism (travel device)
DESCRIPTION OF SYMBOLS 21 Support wheel 22 Drive mechanism 23 Ring gear 24 Steering wheel 25 Steering motor 26 Travel drive motor 27 Travel drive wheel 30 Levitation support mechanism (levitation support means)
31 floating support device 32 support roller 32A to 32D roller member 33 linear bearing 34 support hydraulic cylinder 35 telescopic mechanism (retraction mechanism)
35A Pressurized hose 35B Pressurized fluid supply hose 35C Motor 35D, 35E Hose reel 40 Recognition mechanism 40 Levitation support mechanism (levitation support means)
DESCRIPTION OF SYMBOLS 41 Floating support device 42 Support roller 42A Support shaft 42B Roller member 42C Caster 43 Approaching / separating mechanism 43A Linear bearing 43B Slide block 43C Rack gear 43D Pinion 43E Guard motor 44 Horizontal folding mechanism (retraction mechanism)
44A Vertical shaft 44B Support block 44C Hydraulic or electric cylinder 44D Coil spring 35 Telescopic mechanism 50 Vertical folding mechanism

Claims (3)

A vehicle moving device that moves while supporting the wheels of a vehicle to float,
A carriage device including a steerable travel drive mechanism;
A levitation support means which is removably mounted on the carriage device and levitates and supports all wheels of the vehicle;
Control means for controlling steering and traveling drive of the carriage device and retreat and levitation of the levitation support means,
The cart device is configured in a substantially U shape in a planar shape that surrounds either the front or back of the vehicle,
The levitation support means is configured to be removably attached to the cart device via an expansion / contraction mechanism that can be inserted / extracted before and after the front two wheels and before and after the rear two wheels,
The vehicle apparatus is configured such that the carriage device is driven to travel to the vehicle position so that the levitation support means is supported from a retracted state to a supportable state, and the vehicle is levitated and controlled to move to a predetermined position. . A vehicle moving device that moves while supporting the wheels of a vehicle to float,
A carriage device including a steerable travel drive mechanism;
A levitation support means which is removably mounted on the carriage device and levitates and supports all wheels of the vehicle;
Control means for controlling steering and traveling drive of the carriage device and retreat and levitation of the levitation support means,
The cart device is configured in a substantially U shape in a planar shape that surrounds either the front or back of the vehicle,
The levitation support means is configured to be removably attached to the cart device via a horizontal bending mechanism that can be rotated around a vertical axis and disposed / removed before and after the front wheel and before and after the rear wheel,
The vehicle apparatus is configured such that the carriage device is driven to travel to the vehicle position so that the levitation support means is supported from a retracted state to a supportable state, and the vehicle is levitated and controlled to move to a predetermined position. . A vehicle moving device that moves while supporting the wheels of a vehicle to float,
A carriage device including a steerable travel drive mechanism;
A levitation support means which is removably mounted on the carriage device and levitates and supports all wheels of the vehicle;
Control means for controlling steering and traveling drive of the carriage device and retreat and levitation of the levitation support means,
The cart device is configured in a substantially U shape in a planar shape that surrounds either the front or back of the vehicle,
The levitation support means is configured to be removably attached to the carriage device via a vertical bending mechanism that can be rotated around a horizontal axis and disposed / removed before and after the front wheel and before and after the rear wheel,
The vehicle apparatus is configured such that the carriage device is driven to travel to the vehicle position so that the levitation support means is supported from a retracted state to a supportable state, and the vehicle is levitated and controlled to move to a predetermined position. .

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