Three-dimensional parking device and parking and picking-up method thereof

Abstract

This invention relates to a multi-level parking system and its parking and retrieval method. The multi-level parking system includes multi-level parking spaces, a supporting mechanism, a pallet, an automated guided vehicle (AGV), and a control device. Each multi-level parking space includes at least four support columns, forming at least one parking space for a vehicle. The supporting mechanism includes support arms mounted on the support columns. The pallet has positioning marks. The AGV is used for autonomous navigation based on these markings. The AGV includes a body and a lifting mechanism mounted on the body, used to lift the pallet. The control device is communicatively connected to the AGV. This invention eliminates the need for a separate lifting device for each parking space. The lifting mechanism on the AGV performs the lifting action to complete the parking and retrieval process, effectively reducing costs. The AGV has advantages such as right-angle turning, precise positioning, and automatic navigation, which greatly improves the utilization rate of the multi-level parking system.

Description

Technical Field

[0001] The present invention relates to the technical field of parking devices, and in particular to a three-dimensional parking device and a method for parking and picking up a vehicle. Background Art

[0002] With the development of our society, we have entered the automobile era. The difficulty of parking has become an important problem that plagues urban development. In order to alleviate this problem, parking space has begun to develop in a three-dimensional way, and three-dimensional parking devices have emerged.

[0003] The current three-dimensional parking device requires a corresponding lifting device for each parking space, which results in high costs. In addition, parking and retrieving the car are difficult and time-consuming, resulting in low utilization efficiency of the traditional three-dimensional parking device. Summary of the invention

[0004] Based on this, it is necessary to provide a three-dimensional parking device and a parking and picking method thereof with low cost and improved utilization efficiency in order to solve the above technical problems.

[0005] A three-dimensional parking device, comprising:

[0006] A three-dimensional parking space comprises at least four support columns, wherein the support columns enclose at least one vehicle parking space;

[0007] A supporting mechanism, comprising a supporting arm, wherein the supporting arm is arranged on the supporting column;

[0008] A pallet, used to carry the vehicle, the pallet is provided with a positioning mark, and the pallet can be carried on the supporting arm;

[0009] An automatic guided vehicle, used for autonomous navigation and walking according to the guide marks, the automatic guided vehicle comprising a vehicle body and a lifting mechanism, the lifting mechanism being arranged on the vehicle body, and the lifting mechanism being used for lifting the pallet; and

[0010] A control device is communicatively connected with the automatic guided vehicle.

[0011] In one embodiment, the number of the support columns is 4N, a single vehicle parking space includes four support columns, and the 4N support columns together form N spaced-apart vehicle parking spaces, wherein N is a positive integer.

[0012] In one embodiment, the number of the support pillars is 4+2(N-1), a single vehicle parking space includes four support pillars, the support pillar located in the middle is shared by two adjacent vehicle parking spaces, and the 4+2(N-1) support pillars together form N spaced-apart vehicle parking spaces, where N is a positive integer.

[0013] In one embodiment, the supporting mechanism also includes a control component, a driving component and a height sensor. The height sensor is arranged on the support column and corresponds to the height of the support arm. The driving component is used to drive the support arm to rotate relative to the support column. The control component is electrically connected to the driving component and the height sensor, and the control component is electrically connected to the control device.

[0014] In one embodiment, the support arm is fixed on the support column.

[0015] In one embodiment, the supporting mechanism further includes a weight sensor, the weight sensor is disposed on the supporting arm, the weight sensor is used to sense the weight of the tray, and the weight sensor is electrically connected to the control device; or

[0016] The supporting mechanism further includes a contact sensor, which is disposed on the supporting arm and is used to sense whether the tray is in contact with the supporting arm. The contact sensor is electrically connected to the control device.

[0017] In one embodiment, the automatic guided vehicle is further provided with a first positioning member and a second positioning member, wherein the first positioning member is located on the lifting mechanism and is used for positioning between the lifting mechanism and the pallet, and the second positioning member is located on the vehicle body and is used for positioning between the vehicle body and the ground.

[0018] In one of the embodiments, it also includes a parking and picking-up platform, wherein the parking and picking-up platform is used to park the pallet, and the pallet is used to carry the vehicle.

[0019] A method for parking and picking up a vehicle in a three-dimensional parking device comprises the following steps:

[0020] When parking is required, the automated guided vehicle moves to the bottom of the pallet carrying the vehicle to be parked according to the guide mark, and after being positioned by the positioning mark on the pallet, the lifting mechanism of the automated guided vehicle lifts the pallet to a specific height, and the control device controls the automated guided vehicle to carry the pallet carrying the vehicle to be parked to the vehicle parking space under the guidance of the guide mark, and lifts the pallet carrying the vehicle to be parked to the supporting mechanism on the support column to complete parking;

[0021] When it is necessary to pick up a vehicle, if there is a vehicle parked in the lower space of the vehicle parking space, the control device controls the automatic guided vehicle to move the vehicle parked in the lower space away, and then controls the automatic guided vehicle to move under the designated vehicle, and the lifting mechanism takes the pallet carrying the designated vehicle from the hanging mechanism, and the automatic guided vehicle moves the pallet carrying the designated vehicle to the vehicle picking position, and then puts the vehicle in the lower space back to its original position or other position;

[0022] If there is no vehicle parked in the lower space of the vehicle parking space, the control device controls the automatic guided vehicle to move under the designated vehicle, the lifting mechanism takes the pallet carrying the designated vehicle from the supporting mechanism, and the automatic guided vehicle transports the pallet carrying the designated vehicle to the vehicle pick-up position.

[0023] In one embodiment, lifting the tray carrying the vehicle to be parked to the supporting mechanism on the support column to complete parking specifically includes:

[0024] Before the automated guided vehicle moves to the vehicle parking space, the control device controls the lifting mechanism to first lift the pallet carrying the vehicle to be parked to a height higher than the supporting arm, and the automated guided vehicle moves into the vehicle parking space, and the control device controls the lifting mechanism to descend so that the pallet is supported by the supporting arm, and the automated guided vehicle exits the vehicle parking space to complete parking; or

[0025] The automated guided vehicle first moves the pallet carrying the vehicle to be parked into the vehicle parking space, and the control device controls the lifting mechanism to lift the pallet to a height higher than the support arm. When the height sensor detects that the pallet is higher than the support arm, the control component controls the drive member to drive the support arm to rotate, so that the support arm rotates to the bottom of the pallet, and the control device controls the lifting mechanism to descend so that the pallet is supported by the support arm, and the automated guided vehicle exits the vehicle parking space to complete parking.

[0026] The above-mentioned three-dimensional parking device and the method for parking and picking up a car have at least the following advantages:

[0027] When parking is required, the AGV moves to the bottom of the pallet carrying the vehicle to be parked according to the guide mark, and after being positioned by the positioning mark on the pallet, the lifting mechanism of the AGV lifts the pallet to a specific height. The control device controls the AGV to move the pallet carrying the vehicle to be parked to the vehicle parking space under the guidance of the guide mark, and lifts the pallet carrying the vehicle to be parked to the supporting mechanism on the support column to complete parking.

[0028] When it is necessary to pick up a vehicle, if there is a vehicle parked in the lower space of the vehicle parking space, the control device controls the automatic guided vehicle to move the vehicle parked in the lower space, and then controls the automatic guided vehicle to move under the designated vehicle, the lifting mechanism takes the pallet carrying the designated vehicle from the supporting mechanism, the automatic guided vehicle transports the pallet carrying the designated vehicle to the vehicle picking position, and then places the vehicle in the lower space back to its original position or other position.

[0029] If there is no vehicle parked in the lower space of the vehicle parking space, the control device controls the automatic guided vehicle to move under the designated vehicle, the lifting mechanism takes the pallet carrying the designated vehicle from the supporting mechanism, and the automatic guided vehicle transports the pallet carrying the designated vehicle to the vehicle pick-up position.

[0030] Therefore, the lifting device that must be equipped for each parking space in the traditional three-dimensional parking device is omitted, and the lifting action is performed by the lifting mechanism on the automatic guided vehicle to complete the parking and retrieval process, which can effectively reduce costs. In addition, the automatic guided vehicle has the advantages of right-angle turning, precise positioning and automatic navigation, which can greatly improve the utilization rate of the three-dimensional parking device, and can also achieve full automation and effectively ensure the safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a schematic diagram of a three-dimensional parking device in one embodiment;

[0032] Figure 2 for Figure 1 A partial schematic diagram of

[0033] Figure 3 is a schematic diagram of a hanging mechanism in another embodiment;

[0034] Figure 4 for Figure 2 A schematic diagram of a tray in FIG.

[0035] Figure 5 for Figure 2 Schematic diagram of the automated guided vehicle in Figure 2. DETAILED DESCRIPTION

[0036] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific implementation disclosed below.

[0037] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0038] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The various technical features of the above-described embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the various technical features in the above-described embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0039] See also Figure 1 In one embodiment, the three-dimensional parking device 10 realizes three-dimensional parking based on an automated guided vehicle 400 (AGV), thereby eliminating the lifting mechanism required for each three-dimensional parking space in the traditional three-dimensional parking device, greatly saving costs. Specifically in this embodiment, the three-dimensional parking device 10 includes a three-dimensional parking space 100, a hanging mechanism, a tray 300, an automated guided vehicle 400 and a control device 500.

[0040] Please also read Figure 2 The three-dimensional parking space 100 includes at least four support columns 110, and the support columns 110 enclose at least one vehicle parking space 120. A vehicle parking space 120 can be divided into at least an upper space and a lower space. Of course, a vehicle parking space 120 can also include at least one middle space. Therefore, a vehicle parking space 120 can park at least two vehicles 20.

[0041] Specific to Figure 2 In the illustrated embodiment, the number of support columns 110 of the three-dimensional parking space 100 is 4N, and a single vehicle parking space 120 includes four support columns 110. The 4N support columns 110 together enclose N spaced apart vehicle parking spaces 120, where N is a positive integer. For example, N can be 3, in which case the number of support columns 110 is 12, and the 12 support columns 110 together enclose 3 vehicle parking spaces 120. Of course, in other embodiments, N can also be 1, 2, 4, etc., as long as it is a positive integer.

[0042] Of course, in other embodiments, the number of support columns 110 of the three-dimensional parking space 100 is 4+2(N-1), and a single vehicle parking space 120 includes four support columns 110. The support column 110 located in the middle is shared by two adjacent vehicle parking spaces 120. The 4+2(N-1) support columns 110 together enclose N spaced apart vehicle parking spaces 120, where N is a positive integer. For example, N can be 3, in which case the number of support columns 110 is 8, and the 8 support columns 110 together enclose 3 vehicle parking spaces 120. The support column 110 located in the middle is shared by two adjacent vehicle parking spaces 120. Of course, in other embodiments, N can also be 1, 2, 4, etc., as long as it is a positive integer.

[0043] The supporting mechanism includes a supporting arm 210, and the supporting arm 210 is disposed on the supporting column 110. Figure 2 In the illustrated embodiment, the support arm 210 is fixed to the support column 110. Each support column 110 is provided with at least one support mechanism, and the support mechanism includes a support arm 210. For example, in this embodiment, each support column 110 is provided with a support mechanism, and the support mechanism is located in the middle of the support column 110. Of course, in other embodiments, each support column 110 can also be provided with at least two support mechanisms, and the support mechanisms are arranged at intervals along the height direction of the support column 110.

[0044] Specifically in this embodiment, among the four support columns 110 that together enclose a vehicle parking space 120, the support columns 110 that are distributed along the width direction of the vehicle 20 and are arranged opposite to each other are arranged to face each other to support the tray 300. The support columns 110 that are far away from the vehicle parking space 120 and far away from the entrance and exit are also provided with blocking members 130, which are arranged on the supporting arm 210 to prevent the tray 300 from exceeding the vehicle parking space 120. The height of the blocking member 130 is slightly higher than the height of the height sensor, so that when the height sensor detects the tray 300, the blocking member 130 can prevent the tray 300 from exceeding the vehicle parking space 120. Of course, in other embodiments, the supporting arm 210 can also be arranged in other ways, as long as it can support the tray 300.

[0045] See also Figure 3 In another embodiment, the hanging mechanism includes a supporting arm 210', a control assembly 220, a driving member 230 and a height sensor 240. The supporting arm 210' is rotatably disposed on the supporting column 110. The height sensor 240 is disposed on the supporting column 110 and corresponds to the height of the supporting arm 210'. When there are multiple supporting arms 210' on a supporting column 110, multiple height sensors 240 are correspondingly disposed, and each height sensor 240 corresponds to one supporting arm 210'. The height sensor 240 is used to detect the height of the tray 300.

[0046] The driving member 230 is used to drive the supporting arm 210' to rotate relative to the supporting column 110, and the control component 220 is electrically connected to the driving member 230 and the height sensor 240, and the control component 220 is electrically connected to the control device 500. When the height sensor 240 detects that the tray 300 is lifted by the lifting mechanism to a height equivalent to a certain supporting arm 210', the height signal of the tray 300 is transmitted to the control component 220, and the control component 220 controls the driving member 230 to drive the supporting arm 210' to rotate relative to the supporting column 110, so that the supporting arm 210' rotates to the bottom of the tray 300 to carry the tray 300. The control component 220 can be a single-chip computer, which is small in size, light in weight, and cheap in price.

[0047] Specifically, the driving member 230 includes a motor and a rotating shaft, and the supporting arm 210' is disposed on the rotating shaft. The motor is used to drive the rotating shaft to rotate. When the rotating shaft rotates, the supporting arm 210' located on the rotating shaft is driven to rotate together, so that the supporting arm 210' rotates to the bottom of the tray 300. The supporting arm 210' can be a rod-shaped structure or a plate-shaped structure, as long as it can achieve the purpose of carrying the tray 300.

[0048] Of course, in other embodiments, the driving member 230 may also include an electromagnetic action mechanism and a rotating shaft, the supporting arm 210 ′ is disposed on the rotating shaft, and the electromagnetic action mechanism is used to drive the rotating shaft to rotate.

[0049] The supporting mechanism further includes a weight sensor 250, which is disposed on the supporting arm 210' and is used to sense the weight of the pallet 300. The weight sensor 250 is electrically connected to the control device 500. When the weight sensor 250 senses the weight of the pallet 300, it sends a weight signal to the control device 500, and the control device 500 controls the lifting mechanism to descend, so that the pallet 300 is completely supported on the supporting arm 210', and the self-guided vehicle exits the vehicle parking space 120 to complete parking.

[0050] Of course, in other embodiments, the supporting mechanism may also include a contact sensor, and the contact sensor is used to replace the weight sensor 250. The contact sensor is arranged on the supporting arm 210', and the contact sensor is used to sense whether the pallet 300 is in contact with the supporting arm 210'. The contact sensor is electrically connected to the control device 500. When the contact sensor senses that the pallet 300 is in contact with the supporting arm 210', a contact signal is sent to the control device 500, and the control device 500 controls the lifting mechanism to descend, so that the pallet 300 is completely carried on the supporting arm 210', and the self-guided vehicle exits the vehicle parking space 120 to complete parking.

[0051] See also Figure 4The pallet 300 is used to carry the vehicle 20. A positioning mark 310 is provided on the pallet 300, and the pallet 300 can be carried on the supporting arm 210'. The positioning mark 310 is an image positioning mark that can be recognized by a computer, such as a QR code. Specifically, the pallet 300 can be a plate-like structure, and the positioning mark 310 is provided at the bottom of the pallet 300. Support legs 320 are also provided at the bottom of the pallet 300, and the number of the support legs 320 is four, and the four support legs 320 are distributed at the four corners of the pallet 300. Of course, in other embodiments, the number of the support legs 320 can also be other numbers, as long as it can support the function of the pallet 300.

[0052] Please also read Figure 5 The automatic guided vehicle 400 is used to realize autonomous navigation and walking according to the guide mark 600. The automatic guided vehicle 400 includes a vehicle body 410 and a lifting mechanism 420. The lifting mechanism 420 is arranged on the vehicle body 410, and the lifting mechanism 420 is used to lift the pallet 300. Specifically, the guide mark 600 can be an image guide mark 600 arranged on the ground and can be recognized by a computer, such as a QR code. Of course, in other embodiments, the guide mark 600 can also be a laser reflector plate arranged on the wall, as long as the guiding function can be achieved.

[0053] The lifting mechanism 420 can realize electric lifting, and the lifting mechanism 420 can realize a relatively large contraction, so as to meet the requirement that the vehicle body 410 can enter the bottom of the tray 300. For example, the lifting mechanism 420 can be a scissor-type lifting device. Of course, in other embodiments, the lifting mechanism 420 can also be other lifting devices that can realize a relatively large contraction.

[0054] The automatic guided vehicle 400 is also provided with a first positioning member 430 and a second positioning member 430. The first positioning member 430 is located on the lifting mechanism 420 and is used for positioning between the lifting mechanism 420 and the pallet 300. The second positioning member 430 is located on the vehicle body 410 and is used for positioning between the vehicle body 410 and the ground. The first positioning member 430 can be a two-dimensional code photographed and recognized by a camera, and image positioning is used to achieve millimeter-level positioning. The second positioning member 430 can be a device that achieves three-point positioning through laser ranging, which can achieve sub-centimeter-level positioning.

[0055] Please refer again Figure 1 , the control device 500 is connected to the automatic guided vehicle 400 by communication. For example, in this embodiment, the control device 500 is connected to the automatic guided vehicle 400 by wireless communication, and the control device 500 controls the automatic guided vehicle 400 to park or pick up the vehicle. Specifically, the control device 500 is a computer management system with a communication function, which can command and dispatch the automatic guided vehicle 400 to park or pick up the vehicle in real time according to the parking situation of the vehicle.

[0056] Specifically in this embodiment, the three-dimensional parking device 10 further includes a parking and unloading platform 700, which is used to park the pallet 300, and the pallet 300 is used to carry vehicles. The vehicle to be parked is first carried on the pallet 300 by the parking and unloading platform 700, and then transported to the vehicle parking space 120 by the automatic guided vehicle 400. The vehicles taken out of the vehicle parking space 120 are concentrated at the parking and unloading platform 700.

[0057] A method for parking and picking up a vehicle using the three-dimensional parking device 10 is also provided, comprising the following steps:

[0058] When parking is required, the automatic guided vehicle 400 moves to the bottom of the pallet 300 carrying the vehicle 20 to be parked according to the guide mark 600. After being positioned by the positioning mark 310 on the pallet 300, the lifting mechanism 420 of the automatic guided vehicle 400 lifts the pallet 300 to a specific height. The control device 500 controls the automatic guided vehicle 400 to move the pallet 300 carrying the vehicle to be parked to the vehicle parking space 120 under the guidance of the guide mark 600, and lifts the pallet 300 carrying the vehicle to be parked to the supporting mechanism on the support column 110 to complete parking.

[0059] Specifically, when parking is required, the vehicle 20 is first carried on the pallet 300 through the parking and unloading platform 700, and the control device 500 controls the automatic guided vehicle 400 to move under the pallet 300 along the guide mark 600. After being accurately positioned by the positioning mark 310, the pallet 300 is lifted off the ground and transported to the three-dimensional parking space 100 under the guidance of the computer scheduling system and the guide mark 600. Subsequently, the pallet 300 is lifted to the pallet 300 mechanism of the support column 110 and placed, and a vehicle can also be parked in the lower space of the three-dimensional parking space 100.

[0060] The pallet 300 carrying the vehicle to be parked is lifted to the supporting mechanism on the support column 110 to complete parking. Specifically, the following steps are performed:

[0061] Before the AGV 400 moves to the vehicle parking space 120, the control device 500 controls the lifting mechanism 420 to lift the pallet 300 carrying the vehicle to be parked to a height higher than the supporting arm 210, and the AGV 400 moves into the vehicle parking space 120. The control device 500 controls the lifting mechanism 420 to descend so that the pallet 300 is supported by the supporting arm 210, and the AGV 400 exits the vehicle parking space 120 to complete parking. That is, the vehicle is lifted first, and then the vehicle body 410 moves into the vehicle parking space 120.

[0062] Of course, in another embodiment, the vehicle body 410 may first move into the vehicle parking space 120, and then the lifting mechanism 420 may lift the vehicle to a specific height, and the supporting arm 210' may rotate and be located below the pallet 300 to carry the pallet 300. Specifically, the automated guided vehicle 400 first moves the pallet 300 carrying the vehicle to be parked into the vehicle parking space 120, and the control device 500 controls the lifting mechanism 420 to lift the pallet 300 to a height higher than the supporting arm 210'. When the height sensor 240 detects that the pallet 300 is higher than the supporting arm 210', the control component 220 controls the driving member 230 to drive the supporting arm 210' to rotate, so that the supporting arm 210' rotates to the bottom of the pallet 300, and the control device 500 controls the lifting mechanism 420 to descend so that the pallet 300 is supported by the supporting arm 210', and the automated guided vehicle 400 exits the vehicle parking space 120 to complete parking.

[0063] When it is necessary to pick up a vehicle, if a vehicle 20 is parked in the lower space of the vehicle parking space 120, the control device 500 controls the automatic guided vehicle 400 to move the vehicle 20 parked in the lower space, and then controls the automatic guided vehicle 400 to move under the designated vehicle, and the lifting mechanism 420 takes the pallet 300 carrying the designated vehicle from the supporting mechanism, and the automatic guided vehicle 400 moves the pallet 300 carrying the designated vehicle to the vehicle picking position, and then places the vehicle in the lower space back to its original position or other position.

[0064] When a vehicle parking space 120 has a lower space and at least one middle space, if there is also a vehicle in the middle space, it is necessary to first move the vehicle parked in the lower space, then move the vehicle in the middle space, and then take out the vehicle in the upper space.

[0065] If there is no vehicle 20 parked in the lower space of the vehicle parking space 120, the control device 500 controls the automatic guided vehicle 400 to move under the designated vehicle, the lifting mechanism 420 takes the pallet 300 carrying the designated vehicle from the supporting mechanism, and the automatic guided vehicle 400 transports the pallet 300 carrying the designated vehicle to the vehicle pick-up position.

[0066] Therefore, the above-mentioned three-dimensional parking device 10 eliminates the lifting device that must be equipped for each parking space on the traditional three-dimensional parking device 10, and the lifting action is performed by the lifting mechanism 420 on the automatic guided vehicle 400 to complete the parking and picking up process, which can effectively reduce costs. In addition, the automatic guided vehicle 400 has the advantages of right-angle turning, precise positioning and automatic navigation, which can greatly improve the utilization rate of the three-dimensional parking device 10. For example, the density of the three-dimensional parking space 100 can be increased by 30% on the basis of the traditional one, and the final increase in parking spaces reaches 160%. It can also achieve full automation and effectively ensure the safety of vehicles.

[0067] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A three-dimensional parking device, characterized in that: include: A three-dimensional parking space comprises at least four support columns, wherein the support columns enclose at least one vehicle parking space; A supporting mechanism, comprising a supporting arm, wherein the supporting arm is arranged on the supporting column; the supporting mechanism also comprises a height sensor, wherein the height sensor is arranged on the supporting column and corresponds to the height of the supporting arm; the supporting mechanism also comprises a control component and a driving member, wherein the driving member is used to drive the supporting arm to rotate relative to the supporting column, the control component is electrically connected to the driving member and the height sensor, and the control component is electrically connected to the control device; the supporting mechanism also comprises a weight sensor, wherein the weight sensor is arranged on the supporting arm, the weight sensor is used to sense the weight of the pallet, and the weight sensor is electrically connected to the control device; or The supporting mechanism further includes a contact sensor, which is disposed on the supporting arm and is used to sense whether the tray is in contact with the supporting arm, and the contact sensor is electrically connected to the control device; A pallet is used to carry vehicles, a positioning mark is provided on the pallet, and the pallet can be carried on the supporting arm; a blocking member is also provided on the supporting column far away from the vehicle parking space and far away from the entrance and exit, and the blocking member is provided on the supporting arm to prevent the pallet from exceeding the vehicle parking space; the height of the blocking member is slightly higher than the height of the height sensor, so that when the height sensor detects the pallet, the blocking member can prevent the pallet from exceeding the vehicle parking space; An automatic guided vehicle, used for autonomous navigation and walking according to the guide marks, the automatic guided vehicle comprising a vehicle body and a lifting mechanism, the lifting mechanism being arranged on the vehicle body, and the lifting mechanism being used for lifting the pallet; and A control device is communicatively connected with the automatic guided vehicle.

2. The three-dimensional parking device according to claim 1, characterized in that: The number of the support columns is 4N, and a single vehicle parking space includes four support columns. The 4N support columns together form N spaced-apart vehicle parking spaces, where N is a positive integer.

3. The three-dimensional parking device according to claim 1, characterized in that: The number of the support columns is 4+2(N-1), a single vehicle parking space includes four support columns, the support column located in the middle is shared by two adjacent vehicle parking spaces, and the 4+2(N-1) support columns together form N spaced-apart vehicle parking spaces, where N is a positive integer.

4. The three-dimensional parking device according to claim 1, characterized in that: The support arm is fixed on the support column.

5. The three-dimensional parking device according to any one of claims 1 to 4, characterized in that: The automatic guided vehicle is also provided with a first positioning member and a second positioning member. The first positioning member is located on the lifting mechanism and is used for positioning between the lifting mechanism and the pallet. The second positioning member is located on the vehicle body and is used for positioning between the vehicle body and the ground.

6. The three-dimensional parking device according to any one of claims 1 to 4, characterized in that: It also includes a parking and picking-up platform, which is used to park the pallet, and the pallet is used to carry the vehicle.

7. A method for parking and picking up a vehicle in a three-dimensional parking device, applicable to the three-dimensional parking device according to any one of claims 1 to 6, characterized in that: The method comprises the following steps: When parking is required, the automated guided vehicle moves to the bottom of the pallet carrying the vehicle to be parked according to the guide mark, and after being positioned by the positioning mark on the pallet, the lifting mechanism of the automated guided vehicle lifts the pallet to a specific height, and the control device controls the automated guided vehicle to carry the pallet carrying the vehicle to be parked to the vehicle parking space under the guidance of the guide mark, and lifts the pallet carrying the vehicle to be parked to the supporting mechanism on the support column to complete parking; When it is necessary to pick up a vehicle, if there is a vehicle parked in the lower space of the vehicle parking space, the control device controls the automatic guided vehicle to move the vehicle parked in the lower space away, and then controls the automatic guided vehicle to move under the designated vehicle, and the lifting mechanism takes the pallet carrying the designated vehicle from the hanging mechanism, and the automatic guided vehicle moves the pallet carrying the designated vehicle to the vehicle picking position, and then puts the vehicle in the lower space back to its original position or other position; If there is no vehicle parked in the lower space of the vehicle parking space, the control device controls the automatic guided vehicle to move under the designated vehicle, the lifting mechanism takes the pallet carrying the designated vehicle from the supporting mechanism, and the automatic guided vehicle transports the pallet carrying the designated vehicle to the vehicle pick-up position.

8. The method for parking and picking up a vehicle according to claim 7, characterized in that: The process of lifting the pallet carrying the vehicle to be parked to the supporting mechanism on the support column to complete parking specifically includes: Before the automated guided vehicle moves to the vehicle parking space, the control device controls the lifting mechanism to first lift the pallet carrying the vehicle to be parked to a height higher than the support arm, and the automated guided vehicle moves to the vehicle parking space, and the control device controls the lifting mechanism to descend so that the pallet is supported by the support arm, and the automated guided vehicle exits the vehicle parking space to complete parking; or the automated guided vehicle first moves the pallet carrying the vehicle to be parked to the vehicle parking space, and the control device controls the lifting mechanism to lift the pallet to a height higher than the support arm, and when the height sensor detects that the pallet is higher than the support arm, the control component controls the driving member to drive the support arm to rotate, so that the support arm rotates to the bottom of the pallet, and the control device controls the lifting mechanism to descend so that the pallet is supported by the support arm, and the automated guided vehicle exits the vehicle parking space to complete parking.

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