A three-dimensional parking robot parking system equipped with a multi-directional traveling carrier

Abstract

The present invention discloses a three-dimensional parking system of a mother-and-child parking robot equipped with a multi-directional transporter, comprising a mother car, a multi-directional transporter child car and multiple parking floors, each parking floor being provided with multiple parking spaces. After the child car enters the mother car, it is carried by the mother car to the bottom of the target parking floor, and then the mother car lifts the multi-directional transporter child car so that the multi-directional transporter child car can enter the parking floors of different floors to load and unload vehicles. Each parking floor is provided with an embedded running guide rail, and a plurality of multi-directional transporter child cars are arranged on the running guide rail and move along the running guide rail. The lifting platform of the mother car can allow the child car to enter and exit from different directions, and a docking guide mechanism is provided on the mother car for the child car to dock with the running guide rail to guide the child car in and out of the lifting platform; the system adopts the mode of the mother car carrying the multi-directional transporter child car, and can perform three-dimensional vehicle storage and retrieval from multiple directions in the parking garage, thereby realizing efficient and dense storage in the three-dimensional parking garage.

Description

Technical Field

[0001] The present invention relates to the technical field of automated parking, and in particular to a three-dimensional parking system of a mother-and-child parking robot equipped with a multi-directional transporter. Background Art

[0002] Currently, parking robots based on parent-child vehicles utilize the longitudinal car transporters of mechanical parking garages as their sub-vehicles. However, because these longitudinal car transporters can only handle two-way transport, cars can only be stored and retrieved using a first-in, first-out or last-in, first-out queue-based or reverse-order retrieval method. This results in low or even impossible transport when the target car is in the middle of the queue, making it difficult to achieve dense storage of cars on a parking level. Furthermore, since these parking robots can only store and retrieve cars longitudinally, they must leave at least a car-length of space between each storage and retrieval platform or rack to accommodate the robot's operation and loading and unloading needs, resulting in a large footprint. Existing parent-child parking robot systems suffer from problems such as limited effective parking space, difficult rack layout, low space utilization, limited parking spaces, and low storage and retrieval efficiency, making them unsuitable for the dense storage advantages of multi-story parking garages. Summary of the Invention

[0003] To address the above issues, the inventors have proposed a multi-directional parking system featuring a parent-child parking robot equipped with a multi-directional transporter. The child vehicle utilizes a simple and reliable rail-guided design, allowing the multi-directional transporter to travel in multiple directions along the pre-set rails. When unloaded, it can quickly shuttle beneath vehicles or mechanical structures along its route, thus avoiding traffic congestion caused by the operation of multiple transporters and effectively improving parking efficiency. The parent vehicle utilizes a rail-mounted shuttle vehicle, automated guided vehicle (AGV), or mobile robot (AMR) with a lifting device. Tracks are arranged or paths are planned to allow for docking with the parking garage from multiple directions. Combined with the garage's design, vehicles can be stored and retrieved from multiple directions in a three-dimensional manner, achieving efficient and dense storage in the garage.

[0004] For ease of understanding, in this disclosure, the length of a vehicle or multi-directional transporter is defined as the longitudinal direction, and the width as the transverse direction. The definitions of the longitudinal and transverse grooved guide rails vary depending on the orientation of the vehicle or multi-directional transporter. In practical engineering applications, a global coordinate system can be defined first, followed by the longitudinal and transverse directions. A plane refers to a surface capable of supporting the multi-directional transporter. The plane's height is not limited to ground level; it can also be the floor of a platform, floor, or other structure.

[0005] The present invention provides a three-dimensional parking robot parking system equipped with a multi-directional traveling transporter, which includes a mother-and-son parking robot and a multi-layer parking garage, and a plurality of parking spaces are provided on each parking layer; the mother-and-son parking robot includes a mother vehicle and multiple multi-directional transporter sub-vehicles. After the multi-directional transporter sub-vehicles enter the mother vehicle, they are transported by the mother vehicle to below the target parking layer, and then the mother vehicle lifts the multi-directional transporter sub-vehicles so that the multi-directional transporter sub-vehicles can enter the parking layers of different floors to load and unload vehicles.

[0006] On the plane of each parking layer, running rails are embedded, and the running rails include longitudinally grooved rails, transversely grooved rails and reversing grooved rails arranged independently or crosswise;

[0007] The multi-directional transporter sub-vehicle is provided with a guiding component composed of a plurality of guiding members, and the guiding component cooperates with the running rails to guide the multi-directional transporter sub-vehicle to move along the running rails;

[0008] The lifting platform of the mother vehicle is a side-opening platform or a fully open platform without obstruction on all sides. The side-opening platform is provided with a plurality of openings for the multi-directional transporter sub-vehicles to enter and exit. A docking guiding mechanism is provided at the docking position between the lifting platform and the parking layer, and the docking guiding mechanism is used to dock with the running rails to guide the multi-directional transporter sub-vehicles to enter and exit the lifting platform.

[0009] The vehicle body of the multi-directional transporter sub-vehicle is any one of a long vehicle body, a short vehicle body and a telescopic vehicle body.

[0010] The vehicle body height of the multi-directional transporter sub-vehicle is less than the ground clearance of the vehicle on its driving route or the ground clearance of the mechanical structure on its driving route, and the multi-directional traveling transporter sub-vehicle can shuttle in four directions or multiple directions under the vehicle or mechanical structure on the driving route.

[0011] Further, the longitudinally grooved rail and the transversely grooved rail are cross-shaped to form a rail basic element, one guiding member in the guiding component is a guiding basic element, and one rail basic element and one guiding basic element form a vertical and horizontal reversing unit. When the guiding member is located in the gap at the intersection of the longitudinally grooved rail and the transversely grooved rail, it switches from the original longitudinally grooved rail to another transversely grooved rail, or from the original transversely grooved rail to another longitudinally grooved rail to complete the direction conversion.

[0012] Further, based on the vertical and horizontal reversing unit, the running rails can be formed into one or more of a cross-shaped intersection, a thirty-shaped intersection, a well-shaped intersection or a field-shaped intersection. The guiding component includes: guiding members with the same number and position as the intersection points of the longitudinally grooved rail and the transversely grooved rail of the vertical and horizontal reversing unit;

[0013] All guide parts of the multi-directional transporter are in the low position when running or reversing, and are in contact with the running guide rails.

[0014] Furthermore, when the running guide rails are in a "cross" shape or an "X" shape, or a combination of a "cross" shape and an "X" shape is formed into a "M" shape and their respective stroke increase and decrease combinations,

[0015] The guide assembly includes: endpoint guides located at each character stroke segment on the multi-directional carrier vehicle;

[0016] When the multi-directional transporter moves in the desired direction, the guide member in the desired direction is in the low position and contacts the running guide rail, while the other guide members are in the high position and disengage from the running guide rail.

[0017] Further, the reversing groove guide rail includes: a curved groove guide rail extending from one direction guide rail to another direction guide rail;

[0018] When the multi-directional transporter sub-carriage changes direction from one direction to another, the two guide members at the end points of the line segment are in a low position. The line connecting the two guide members at the end points of the line segment forms the chord of the curved groove guide rail. The two guide members at the end points of the line segment move in with the multi-directional transporter sub-carriage, providing guidance for the multi-directional transporter sub-carriage to achieve the curved turning from one direction to another.

[0019] Furthermore, the reversing groove guide rail includes: an annular groove guide rail with the intersection of the running guide rails as the circle center, the annular groove guide rail is used to guide the multi-directional transporter sub-carriage to perform in-situ rotation reversal around the circle center of the annular groove guide rail;

[0020] Two guides are located at the corresponding endpoints of a line segment along the center diameter of the annular groove guide rail. When the multi-directional transport vehicle changes direction from one direction to the other, the two guides at the end of the line segment move with the vehicle into the annular groove guide rail, providing guidance for the vehicle. When the vehicle reaches the desired direction, the two guides align with the gaps at the intersection of the running rails in the other direction. The two guides pass through the gaps between the running rails and enter the other direction guide rail, completing the in-situ rotation. In actual use, if 360° reversal is not required, the guide rail can be manufactured and installed using one or more arc lengths of the annular groove guide rail selected according to the reversal angle.

[0021] Furthermore, the reversing groove guide rail includes: an annular groove guide rail, the center of the center circle of which is the circumcenter of the inscribed polygon, multiple running guide rails intersect with the annular groove guide rail, and the lines between the intersections constitute the inscribed polygon, or one running guide rail intersects with the annular groove guide rail, with the secant of the center circle of the annular groove guide rail between the two intersections as the base, and then connecting one or more points on the center circle of the annular groove guide rail to form the inscribed polygon;

[0022] Guide members are positioned at the vertices of the polygon inscribed in the center circle of the annular groove guide rail. When the multi-directional transport vehicle changes direction from one direction to another, the guide members move with the multi-directional transport vehicle into the annular groove guide rail, providing guidance for the multi-directional transport vehicle. When the multi-directional transport vehicle reaches the desired direction, the guide members align with the gap at the intersection of the running guide rails in the other direction, passing through the gap between the running guide rails and entering the other direction guide rail, completing the change. In actual use, if 360° change is not required, the guide rails can be manufactured and installed by selecting one or more arc lengths of the annular groove guide rail according to the change angle.

[0023] Furthermore, when the longitudinal groove guide rail and the transverse groove guide rail intersect in a "well" shape, the reversing groove guide rail includes: an annular groove guide rail with the center of the rectangle in the "well" intersection as the center of the circle, the rectangle is inscribed in the center circle of the annular groove guide rail, and the annular groove guide rail is used to guide the multi-directional transport vehicle to perform in-situ rotation reversal around the center of the annular groove guide rail;

[0024] Four guide members are provided, each located at the vertices of a rectangle formed by the intersection points of the "well"-shaped intersection. When the multi-directional transport vehicle switches from one direction to another, the four guide members at the vertices of the rectangle move with the multi-directional transport vehicle into the annular groove guide rail, providing guidance for the multi-directional transport vehicle. When the vehicle reaches the desired direction, the four guide members align with the gaps at the intersection of the running guide rails in the other direction. The four guide members pass through the gaps between the running guide rails and enter the running guide rail in the other direction, completing the in-place rotational reversal. When only three of the four guide members enter the annular groove guide rail, they are located at the vertices of a triangle formed by the three intersection points of the "well"-shaped intersection. The circumcenter of the triangle coincides with the center center of the annular groove guide rail, and the triangle is inscribed in the center circle of the annular groove guide rail, also providing guidance for the multi-directional transport vehicle, completing the in-place rotational reversal. In actual use, if 360° reversal is not required, the guide rail can be manufactured and installed by selecting one or more arc lengths of the annular groove guide rail according to the reversal angle.

[0025] Furthermore, the docking guide mechanism is a docking groove guide rail embedded in the lifting platform and identical to the running guide rail, or a navigation reference arranged at the docking position between the lifting platform and the parking floor;

[0026] After the docking groove guide rail is docked with the running guide rail, the guide assembly cooperates with the docking groove guide rail / running guide rail to guide the multi-directional transporter vehicle in and out of the lifting platform;

[0027] The multidirectional transporter is equipped with a guidance sensor for detecting a navigation reference. After the lift platform docks with the navigation reference at the docking location on the parking deck, the guidance sensor measures the relative position of the multidirectional transporter and the navigation reference, and transmits this information to the onboard controller to adjust and control the multidirectional transporter's posture and movement, guiding the multidirectional transporter in and out of the lift platform and ensuring that the guide assembly accurately mates with the running guide rails.

[0028] Compared with the prior art, the present invention has the following beneficial effects:

[0029] (1) The present invention provides a multi-directional transporter equipped with a parent-child parking robot for a three-dimensional parking system. This system enables multi-directional guidance of the transporter sub-carrier, allowing the construction of a multi-directional vehicle transporter sub-carrier with various transport modes. The grooved guide rails are embedded in the ground, and the transporter sub-carrier is guided by the preset grooved guide rails to travel directly and rapidly on the ground. The system features a simple structure and control, a low failure rate, and high reliability. Furthermore, when the transporter sub-carrier is unloaded, it can shuttle along the running guide rails in parking spaces or under vehicles, quickly moving to a designated location. The flexible and rapid movement route allows it to effectively avoid occupied running guide rails, effectively reducing congestion and improving parking efficiency.

[0030] (2) The longitudinal groove guide rail can be used to arrange a serial parking space layout, the transverse groove guide rail can be used to arrange a parallel parking space layout, or a combination of longitudinal and transverse reversing guide rails can be used to arrange a matrix parking space layout, or a combination of "M"-shaped and annular groove guide rails can be used to arrange annular parking space layout, or various running guide rail combinations can be used for layout; longitudinal groove guide rails, transverse groove guide rails and reversing groove guide rails can also be used to arrange straight lines, arcs, curves, circles and other running routes according to the parking layer; the multi-directional transporter sub-carrier has the ability to move in straight lines, transverse lines, translations, turns, rotations, reversing directions and other moving modes, and the driving routes and parking spaces can be flexibly arranged to efficiently utilize the parking space; when the transporter sub-carrier stores and retrieves vehicles, it can choose longitudinal storage and retrieval, transverse storage and retrieval or multi-directional storage and retrieval, and its operation has the advantages of both the fast and reliable operation of the rail transporter and the flexibility and variability of the automatic guided vehicle. It can meet the functional requirements of single- and double-station shelf-type three-dimensional parking garages, as well as the functional requirements of flat mobile parking layers. It can also be used in conjunction with a mother vehicle to enter from multiple positions and directions on each parking layer to store and retrieve vehicles or reach the target parking space through planned guide rail channels, thus building a comprehensive intelligent three-dimensional parking system and achieving efficient and dense storage of vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 This is a schematic structural diagram of the three-dimensional parking system of the parent-child parking robot equipped with a multi-directional transporter in Example 1;

[0032] Figure 2This is a schematic diagram of the structure of the multi-directional transporter vehicle in Example 1 traveling on the running rail;

[0033] Figure 3 Schematic diagram of the intersection of the running guide rail and the oblique reversing groove guide rail in Example 1;

[0034] Figure 4 A perspective view of the telescopic multi-directional transporter vehicle in Example 1;

[0035] Figure 5 Schematic diagram of the bottom structure of the telescopic body multi-directional transporter sub-vehicle in Example 1;

[0036] Figure 6 This is a schematic diagram of the structure of the retractable multi-directional transporter in Example 1 after it is retracted;

[0037] Figure 7 This is an exploded view of the telescopic mechanism in Example 1;

[0038] Figure 8 This is a schematic diagram of the interior of the telescopic mechanism in Example 1;

[0039] Figure 9 This is a schematic structural diagram of the longitudinal shift wheel assembly in Example 1;

[0040] Figure 10 This is a front view of the multi-directional transporter vehicle in Example 1 when it moves longitudinally;

[0041] Figure 11 This is a front view of the multi-directional transporter vehicle in Example 1 when it moves laterally;

[0042] Figure 12 for Figure 2 A partial enlarged view of point A in the middle;

[0043] Figure 13 is a side sectional view of the multi-directional transporter vehicle in Example 1;

[0044] Figure 14 for Figure 13 A partial enlarged view of point B in the middle;

[0045] Figure 15 This is a schematic diagram of the movement principle of the multi-directional transporter vehicle in Example 1;

[0046] Figure 16 This is a schematic diagram of the structure of the mother vehicle in Example 1.

[0047] Figure 17 Schematic diagram of the multi-directional transporter vehicle and running rails in Example 2;

[0048] Figure 18This is a schematic structural diagram of the mother vehicle in Example 2;

[0049] Figure 19 Schematic diagram of the multi-directional transporter vehicle and running rails in Example 3;

[0050] Figure 20 is a schematic plan view of the parking system in Example 4;

[0051] Figure 21 for Figure 20 A partial enlarged view of point C in the middle;

[0052] Figure 22 This is a schematic plan view of the second curved guide rail in Example 5;

[0053] Figure 23 Schematic diagram of the annular guide rail in Example 6;

[0054] Figure 24 This is a schematic diagram of the parking system in Example 7;

[0055] Figure 25 This is a schematic structural diagram of the mother vehicle in Example 7;

[0056] Figure 26 This is a planar operation schematic diagram of the multi-parking robot three-dimensional parking system in Example 8;

[0057] Figure 27 This is a layout diagram of the linear drive displacement guide assembly in Example 9;

[0058] Figure 28 This is a layout diagram of the displacement guide assembly in Example 9;

[0059] Figure 29 Schematic plan view of the multi-directional transporter vehicle and running guide rails in Example 10.

[0060] Reference numerals:

[0061] 11-longitudinal groove guide rail; 12-transverse groove guide rail; 13-oblique guide rail; 14-first arc guide rail; 15-second arc guide rail; 16-annular groove guide rail; 17-parking rack; 2-multi-directional transporter trolley; 21-front telescopic section; 22-rear telescopic section; 23-longitudinal movement wheel group; 24-transverse movement wheel group; 25-vertical and horizontal travel switching device; 31-connecting section; 311-worm gear; 32-first clamping device; 33-second clamping device; 4-transfer device; 5-corner guide wheel; 51-longitudinal retractable guide wheel; 52-transverse retractable guide wheel; 53-fixed guide wheel; 6-guide wheel; 7-mother car; 71-traveling device; 72-lifting mechanism; 73-lifting platform; 74-docking groove guide rail; 8-slider assembly; 91-ball screw; 92-guide rail. DETAILED DESCRIPTION

[0062] The present invention will be further described in detail below through specific embodiments with reference to the accompanying drawings.

[0063] For ease of understanding, the present invention defines the length of a vehicle or carrier as the longitudinal direction and the width as the transverse direction. The definitions of the longitudinal and transverse grooved guide rails vary depending on the orientation of the vehicle or carrier. In actual engineering applications, the global coordinate system can be defined first, followed by the longitudinal and transverse directions.

[0064] Example 1

[0065] like Figure 1 As shown, the present invention provides a multi-story parking system based on a parent-child parking robot. The system comprises a mother car 7, a multi-directional carrier 2, and a multi-story parking garage. Each parking floor is equipped with multiple racks 17. Each parking floor is paved with running rails consisting of grooved guide rails embedded in the ground. Vehicles are parked on the racks 17. The overhead space below the racks 17 and the space between the racks 17 allow the multi-directional carrier 2 to travel in all directions when unloaded. After the multi-directional carrier 2 enters the mother car 7, it is transported to the bottom of the target parking floor. The mother car 7 then raises and lowers the multi-directional carrier 2 to allow it to access different parking floors. The mother car 7 can carry the multi-directional carrier 2 to different locations on the racks for vehicle access. Single-aisle paths can be arranged between racks. When multiple mother cars 7 are operating simultaneously, they can be moved to different locations on the racks to dock with parking floors, thereby avoiding traffic congestion, reducing site occupancy, and improving storage density and operational efficiency.

[0066] The mother vehicle 7 of the parent-child parking robot utilizes an omnidirectional laser-guided automated guided vehicle (AGV) or mobile robot (AMR), driven by four steering wheels. It can achieve all-around movement, including straight, horizontal, translational, and rotational movement, allowing it to dock with the parking garage from all directions according to a planned path. The lifting mechanism of the lifting platform can utilize existing technologies, such as: a scissor-type lifting mechanism to raise and lower a full-platform lifting platform with no obstructions on all sides; or a single-mast telescopic mechanism with four hydraulically or electrically driven sprockets and hanging chains to raise and lower a lifting platform with four side openings; or a scissor-type lifting mechanism combined with a gantry driven by a hydraulic cylinder to raise and lower a lifting platform with one side opening. The multi-directional transporter sub-vehicle 2 utilizes a telescopic body structure, with an overall height less than the vehicle's minimum ground clearance. When the body is extended, its length is greater than the vehicle's wheelbase; when the body is retracted, its length is less than the vehicle's wheelbase, and its overall width is less than the vehicle's wheelbase. The vehicle's minimum ground clearance and the space between the tires allow the multi-directional transporter sub-vehicle 2 to travel in all four directions when unloaded.

[0067] A single parking space is arranged at the intersection of the longitudinal groove guide rail 11 and the transverse groove guide rail 12 in a "cross" shape. All parking spaces are arranged in a matrix, and the longitudinal groove guide rail 11 and the transverse groove guide rail 12 in a "cross" shape are arranged in a grid shape. A number of multidirectional transporter sub-trolleys 2 are arranged on the running guide rails. The multidirectional transporter sub-trolley 2 can move longitudinally and transversely along the running guide rails, so that when the multidirectional transporter sub-trolley 2 is unloaded, the multidirectional transporter sub-trolley 2 can shuttle under the vehicle, which can shorten the driving distance, improve the operation efficiency, and realize a variety of scheduling modes. When the multidirectional transporter sub-trolley 2 is loaded, the multidirectional transporter sub-trolley moves along the outer running guide rails or along the running guide rails at the unparked parking spaces. In this embodiment, the reversing groove guide rail is an oblique reversing guide rail 13. The oblique guide rail 13 passes through the intersection of the longitudinal groove guide rail 11 and the transverse groove guide rail 12, thereby forming a cross structure similar to the "M" shape, such as Figure 3 As shown, the "M"-shaped strokes can be added or subtracted as needed to form different cross structures. Retractable guides are positioned at the endpoints of each stroke (line segment) on the transport vehicle, and fixed guides are installed at the corresponding guide rail intersections. The multidirectional transport vehicle 2 can switch from movement along the longitudinal grooved guide rails 11 and transverse grooved guide rails 12 to translational movement along the diagonal reversing guide rails 13, achieving multi-directional travel.

[0068] Specifically, if Figure 2-Figure 15 As shown, the multi-directional transporter sub-carriage 2 comprises a vehicle body, a transfer device 4 mounted on the vehicle body, and a running mechanism. The running mechanism can be driven by unidirectional wheels, steering wheels, or all-directional wheels. Unidirectional wheel drive can be either full-wheel drive or partial-wheel drive (some wheels are unpowered). Individual wheels are driven directly by a motor and a reducer, or by a main motor and reducer through a transfer case, clutch, or other mechanical device. The unidirectional wheels drive the required longitudinal wheels during longitudinal travel and the required transverse wheels during transverse travel. This mechanism, as described in Chinese patent application CN112761396A, utilizes a transverse-to-vertical switching mechanism to achieve longitudinal and transverse movement.

[0069] In this embodiment, the travel mechanism includes a longitudinal wheel assembly 23, a transverse wheel assembly 24, and a transverse-to-vertical travel switching device 25. The longitudinal wheel assembly 23, the transverse wheel assembly 24, and their transverse-to-vertical travel switching device 25 can all adopt the structures described in Chinese patent application CN112761396A. Specifically, the longitudinal wheel assembly 23 is composed of multiple longitudinally arranged wheels. The longitudinal wheel assembly 23 is located on the ground and is driven by a longitudinal drive motor to enable the multidirectional transporter 2 to travel on the ground. The transverse wheel assembly 24 is composed of multiple transversely arranged wheels. The transverse-to-vertical travel switching device 25 enables the multidirectional transporter 2 to switch between the transverse and vertical directions. In this embodiment, the wheels are raised. That is, during longitudinal movement, the transverse wheel assembly 24 is raised and out of contact with the ground. When switching to transverse movement, the longitudinal wheel assembly 23 is raised and out of contact with the ground, while the transverse wheel assembly 24 is lowered and in contact with the ground.

[0070] The transfer device 4 can employ one or a combination of common mechanisms, such as a vehicle lift, comb-tooth lifting, clamping, tire-clamping, and maintenance point jacking. Under the control of the control module, the multi-directional transporter sub-carrier or the vehicle in the parking space can be repositioned through lifting, clamping, and forking actions, completing vehicle loading and unloading, thereby enabling the multi-directional transporter sub-carrier to complete vehicle transport tasks. In this embodiment, a tire-clamping mechanism is employed. Based on the tire position detected by a sensor when the telescopic portion is extended, the clamping mechanism is controlled to move the clamping device to the corresponding position, adapting to the tire position of vehicles with different wheelbases. The clamping device controls the extension or rotation of the fork arm to clamp the vehicle tire, and after the clamping action is completed, the fork arm is raised to lift the vehicle to be transported. This structure is conventional and will not be described in detail here.

[0071] Furthermore, the vehicle body is any one of a long vehicle body, a short vehicle body and a telescopic vehicle body, wherein a long vehicle body means that its length is greater than the vehicle wheelbase, and a short vehicle body means that its length is less than the vehicle wheelbase. In this embodiment, a telescopic vehicle body is adopted for better applicability.

[0072] Furthermore, the connecting section 31 is provided with a guide assembly that cooperates with the longitudinal grooved guide rail 11, the transverse grooved guide rail 12, and the diagonal reversing guide rail 13 to enable the multi-directional transport vehicle 2 to move along the guide rails. The guide member may be a roller, a roller, a drum, a wheel, a columnar body, or a structure with a hemispherical end. During travel, it cooperates with and contacts the subsurface grooved guide rails, and is constrained by them, thereby guiding the multi-directional transport vehicle's course. Specifically, in this embodiment, the guide assembly includes two longitudinal retractable guide wheels 51 and two transverse retractable guide wheels 52, respectively located on two centerlines of the multi-directional transport vehicle 2. The longitudinal retractable guide wheels 51 cooperate with the longitudinal grooved guide rail 11, and the transverse retractable guide wheels 52 cooperate with the transverse grooved guide rail 12. Both the longitudinal retractable guide wheels 51 and the transverse retractable guide wheels 52 are configured to rise and fall vertically or rotate horizontally. In this embodiment, they are driven by motors to move in and out of the guide rails. That is, when the multidirectional transporter 2 moves longitudinally, the longitudinal retractable guide wheels 51 are in a low position, contacting the longitudinal groove guide rail 11, and the transverse retractable guide wheels 52 are in a high position, disengaged from the transverse groove guide rail 12; when the multidirectional transporter 2 moves transversely, the transverse retractable guide wheels 52 are in a low position, contacting the transverse groove guide rail 12, and the longitudinal retractable guide wheels 51 are in a high position, disengaged from the longitudinal groove guide rail 11.

[0073] Furthermore, a fixed guide wheel 53 is positioned at the center of the multi-directional transport vehicle 2. This ensures that both guide wheels remain within the guide rails when the transport vehicle passes through the intersection of the longitudinal grooved guide rails 11 and the transverse grooved guide rails 12, preventing the guide wheels from colliding with the intersection upon entering the guide rails and improving the vehicle's stability and reliability. A longitudinal retractable guide wheel 51 is positioned on each of the front and rear telescopic sections 32 and 33, cooperating with the longitudinal grooved guide rails 11. This serves as a guide during the vehicle's extension and retraction process, and stabilizes its course during longitudinal travel under load in the extended state. When in the unloaded, retracted state or during transverse travel, the longitudinal retractable guide wheel 51 is retracted and disengaged from the longitudinal grooved guide rails 11.

[0074] Diagonal reversal relies on four diagonally arranged guide wheels 6 on the multidirectional transporter 2. These guide wheels 6 employ the same retractable structure as the longitudinally retractable guide wheels 51 and the transversely retractable guide wheels 52. If the multidirectional transporter 2 is moving longitudinally, when reversing at the intersection of the diagonal guide rail 13 and the running guide rail, the longitudinally retractable guide wheels 51 are raised to a high position, exiting the longitudinal grooved guide rail 11. Simultaneously, the guide wheels 6 are lowered to a low position, entering the diagonal guide rail 13. Constrained by the diagonal guide rail 13, the multidirectional transporter 2 remains stationary after entering the diagonal guide rail 13, with the front of the vehicle still pointing longitudinally. The multidirectional transporter 2 then moves forward. The transporter wheel assembly utilizes steering drive or omnidirectional drive, enabling the multidirectional transporter 2 to maintain its position parallel to the longitudinal direction along the diagonal guide rail 13 and move diagonally and forward. The steering wheel, omnidirectional wheel, Mecanum wheel and their corresponding control can be realized by those skilled in the art based on this structure and conventional steering wheel, omnidirectional wheel and Mecanum wheel control methods, and will not be described in detail here.

[0075] Specifically, if Figure 16As shown, the mother car 7 primarily consists of a running gear 71, a lifting mechanism 72, and a lifting platform 73. The lifting platform 73 has four open side openings, allowing the multi-directional carrier 2 to enter and exit the lifting platform from all four directions. When the multi-directional carrier 2 on the mother car 7 needs to dock with the running rails in the parking area, a docking guide mechanism, a docking groove guide rail 74, is installed on the lifting platform to guide the multi-directional carrier 2 onto the running rails. Low positioning accuracy of the mother car 7 leads to poor rail docking accuracy, which can cause problems such as jamming during the transition of the multi-directional carrier 2. Therefore, a combination of trackless and rail-based guidance using automated guided vehicle technology can be used to achieve smooth transitions for the multi-directional carrier 2. For example, a navigation reference magnetic tape can be laid on the parking level entry and exit platforms and the mother car lifting platform 73, replacing a section of the running rail and the docking groove guide rail 74. A magnetic navigation sensor can be installed on the multi-directional carrier 2 to detect the magnetic tape. When the mother vehicle 7 deviates from its parking position, meaning there is also a misalignment between the lifting platform 73 of the mother vehicle 7 and the magnetic tape at the entrance and exit platforms of the parking level, the magnetic navigation sensor on the multidirectional carrier 2 detects the misalignment between itself and the magnetic tape. The control module of the multidirectional carrier 2 uses a control algorithm to calculate the control variables required to correct the misalignment, such as the rotation angle, travel distance, and speed of the multidirectional carrier 2. The control module then performs motion control, controlling the drive device to adjust the multidirectional carrier 2's position and drive it along the magnetic tape at the entrance and exit platforms. Ultimately, the parking misalignment of the mother vehicle 7 is corrected, allowing the guide assembly on the multidirectional carrier 2 to smoothly enter the operating guide rails, guiding the multidirectional carrier 2 to travel normally along the operating rails, and completing a smooth transition from trackless to rail-guided navigation. Conversely, when the multi-directional carrier 2 returns to the mother car 7 from the parking area, after its guide member disengages the garage's operating rails, the magnetic navigation sensor detects the magnetic tape deviation. Its control module then controls the drive unit to correct the multi-directional carrier 2's position, allowing it to move from the entry / exit platform onto the lift platform. During the transition, the multi-directional carrier 2 follows the magnetic tape on the lift platform. Ultimately, the parking deviation of the mother car 7 is corrected, allowing the multi-directional carrier 2 to accurately park on the mother car 7, completing a smooth transition from track-guided to trackless guidance. This improves the fault tolerance, adaptability, and accuracy of the parent-child parking robot's docking with the garage, ensuring the reliable, safe, and efficient operation of the parent-child parking robot's three-dimensional parking system. Similarly, instead of providing dedicated navigation references, the multidirectional transporter 2 is equipped with a visual sensor or a lidar sensor as a guidance sensor to detect navigation references: features of the mother vehicle's lift platform or loading / unloading platforms, etc., and the relative position of the multidirectional transporter 2 and the navigation reference for guidance. Other automatic guided vehicle guidance technologies may also be used. After calculation by the control module, the drive device is controlled to correct the posture of the multidirectional transporter 2 when entering or exiting the lift platform, or to allow the guide assembly of the multidirectional transporter 2 to enter and exit the operating guide rail.This docking method can also be used for sections in the parking layer where it is inconvenient to set up running rails, such as at fireproof partition doors. The multi-directional transporter sub-vehicle 2 disengages from the running rail guide, passes through this section via the trackless guide of the navigation reference object, and then enters the running rail guide to continue running. For the attitude correction and motion control of the multi-directional transporter sub-vehicle 2, combined with its driving mode, the differential drive mode can be adopted for the single-direction wheel drive mode, and the omnidirectional drive mode can be adopted for the steerable wheel and omnidirectional wheel drive modes. The corresponding automatic guided vehicle control technology can be achieved by those skilled in the art based on this structure and conventional control methods, and will not be elaborated here.

[0076] In this embodiment, the docking groove rail 74 adopts a layout where the longitudinal groove rail 11 and the transverse groove rail 12 identical to the parking space cross in a "plus" shape. By using the method of rail docking with rails, the form of guiding the multi-directional transporter sub-vehicle 2 into the parking layer is adopted to improve the quickness of the multi-directional transporter sub-vehicle 2 entering the parking layer from the lifting platform 73.

[0077] Embodiment 2

[0078] As Figure 17-18 shown, in this embodiment, based on two of the vertical and horizontal reversing units, a running rail cross in a "herringbone" shape can be formed, including one longitudinal groove rail 11 and two transverse groove rails 12. The docking groove rail 74 on the lifting platform 73 of the mother vehicle 7 also adopts a "herringbone" docking groove rail. The guiding component includes: two fixed guiding wheels 53 respectively fixedly installed on the longitudinal center line of the multi-directional transporter sub-vehicle. For the rest, to ensure that two guiding wheels are in contact with the running rail at any time to maintain stable running, four corner guiding wheels 5 and one longitudinally retractable guiding wheel 51 are also installed at the four corners of the multi-directional transporter sub-vehicle 2. The corner guiding wheels 5 and the longitudinally retractable guiding wheel 51 are both configured to lift in the vertical direction or rotate along the horizontal axis. One "herringbone" cross running rail unit can be arranged at one parking space site or one vertical and horizontal reversing site on the peripheral driving route. Multiple parking space sites can form a row or a column of parking space layouts, and further, multiple rows and columns connected to each other can form a matrix parking space layout.

[0079] When the transporter sub-vehicle 2 reverses its direction of travel while parked at a parking space station or a cross-over station on the peripheral travel route, all four corner guide wheels 5 and one longitudinally retractable guide wheel 51 are in the high position. When the two fixed guide wheels 53 are located in the gap at the intersection of the longitudinal groove guide 11 and the transverse groove guide 12, it switches from the original one longitudinal groove guide 11 to the other two transverse groove guides 12, or from the original two transverse groove guides 12 to the other one longitudinal groove guide 11 to complete the direction conversion. To ensure that two guide members are in the running guide at any time and maintain stable travel, when the multi-directional transporter sub-vehicle 2 moves longitudinally, the fixed guide wheel 53 contacts the longitudinal groove guide 11, the longitudinally retractable guide wheel 51 is in the low position and contacts the longitudinal groove guide 11, and the corner guide wheels 5 are in the high position and are disengaged from the transverse groove guide 12. When the multi-directional transporter sub-vehicle 2 moves transversely, the fixed guide wheel 53 contacts the transverse groove guide 12, the corner guide wheels 5 are in the low position and contact the transverse groove guide 12, and the retractable guide wheel 51 is in the high position and is disengaged from the longitudinal groove guide 11.

[0080] The multi-directional transporter sub-vehicle 2 adopts a single-direction wheel drive mode, a steering wheel drive (steering driving) mode or an omnidirectional wheel drive mode. The single-direction wheel drive mode is divided into all-wheel drive or partial-wheel drive (some wheels are non-powered). Each single wheel is directly driven by a motor and a reducer, or is driven by a main motor and a reducer through a transfer case and a clutch and other mechanical devices for power splitting. When the single-direction wheel travels longitudinally, it drives the longitudinal wheels that need to be driven. When it travels transversely, it drives the transverse wheels that need to be driven. For example, the structure in Chinese Patent Application CN112761396A adopts a transverse-longitudinal switching method to achieve longitudinal and transverse movement.

[0081] Embodiment 3

[0082] As Figure 19 shown, in this embodiment, three of the above-mentioned cross-over units can be used to form a "卅"-shaped cross for the running guide, including one longitudinal groove guide 11 and three transverse groove guides 12. The guide assembly includes: three fixed guide wheels 53 respectively fixedly installed on the longitudinal center line of the multi-directional transporter sub-vehicle. In addition, to ensure that two guide wheels contact the running guide at any time and maintain stable travel, two transverse retractable guide wheels 52 are also installed. The transverse retractable guide wheels 52 are all configured to lift and lower along the vertical direction or rotate along the horizontal axis. One "卅"-shaped cross running guide unit can be arranged with a parking space station or a cross-over station on the peripheral travel route. Multiple parking space stations can form a row or a column of parking space layouts, and further multiple rows and columns connected to each other can form a matrix-type parking space layout.

[0083] When the transporter 2 stops at a parking space or at a longitudinal / lateral reversing station on a peripheral route and changes direction, the two transverse retractable guide wheels 52 are in the high position, and the three fixed guide wheels 53 are located in the gap between the longitudinal groove guide rail 11 and the transverse groove guide rail 12. The transporter 2 switches from one longitudinal groove guide rail 11 to another three transverse groove guide rails 12, or from the original three transverse groove guide rails 12 to another longitudinal groove guide rail 11, completing the direction change. To ensure that two guide members are always in the operating guide rails and maintain driving stability, when the transporter 2 moves longitudinally, the fixed guide wheels 53 engage the longitudinal groove guide rail 11, while the two transverse retractable guide wheels 52 are in the high position, disengaged from the transverse groove guide rail 12. When the transporter 2 moves transversely, the two transverse retractable guide wheels 52 are in the low position, and the three fixed guide wheels 53 engage the transverse groove guide rail 12.

[0084] Example 4

[0085] like Figure 20-21 As shown, based on Example 1, the reversing groove guide rail further includes a first curved reversing groove guide rail 14 centered at the intersection of the running guide rail and the diagonal guide rail 13. The first curved reversing groove guide rail 14 extends from the longitudinal groove guide rail 11 to the diagonal guide rail 13. When the multidirectional transporter 2 is reversing, the longitudinally retractable guide wheels 51 enter the first curved reversing groove guide rail 14, and the multidirectional transporter 2 moves along the first curved reversing groove guide rail 14, switching the multidirectional transporter 2 from the longitudinal to the diagonal orientation. Compared to Example 1, this reversing method eliminates the need for guide wheels 6 and relies primarily on the steering capability of the multidirectional transporter 2. The multidirectional transporter 2 can be steered using a steering wheel drive system or an omni-directional wheel drive system. The body of the multidirectional transporter 2 rotates, and the direction of the vehicle head changes accordingly. These steering methods are conventional and will not be described in detail here.

[0086] Example 5

[0087] like Figure 22As shown, based on Example 2, the reversing groove guide rail includes a second curved reversing groove guide rail 15 extending from the longitudinal groove guide rail 11 to the transverse groove guide rail 12. When the multidirectional transport vehicle 2 turns from the longitudinal direction, the longitudinal retractable guide wheel 51 and the four corner retractable guide wheels 5 are in a high position, and the two fixed guide wheels 53 move with the multidirectional transport vehicle 2 into the second curved reversing groove guide rail 15, providing guidance for the multidirectional transport vehicle 2 to achieve the multidirectional transport vehicle turning from the longitudinal direction to the transverse direction. Based on Example 3, the central fixed guide wheel 53 is replaced with a longitudinal retractable guide wheel 51, which is retracted and in a high position together with the two transverse retractable guide wheels 52. The two fixed guide wheels 53 move with the multidirectional transport vehicle 2 into the second curved reversing groove guide rail 15, providing guidance for the multidirectional transport vehicle 2 to achieve the multidirectional transport vehicle turning from the longitudinal direction to the transverse direction. This steering method utilizes synchronized vehicle body rotation, meaning that when the front direction of the multi-directional transporter 2 switches from longitudinal to transverse, the vehicle's steering position changes. Similarly, based on Example 3, the three fixed guide wheels 53 are replaced with longitudinal retractable guide wheels 51, which are retracted and held high. When the multi-directional transporter 2 turns from transverse, the transverse retractable guide wheels 52 are lowered and move with the multi-directional transporter 2 into the second curved guide rail 15, providing guidance for the multi-directional transporter 2 to turn from transverse to longitudinal. Once the multi-directional transporter 2 has completed its curved turn, the guide members corresponding to the longitudinal or transverse travel direction enter the longitudinal or transverse grooved guide rail, while the other retractable guide members retract and disengage from the operating guide rail, allowing the multi-directional transporter 2 to continue traveling in the new direction. The second curved reversing grooved guide rail 15 in this embodiment can be used in parking spaces perpendicular to the travel direction of the multi-directional transporter 2. This embodiment's structure provides a material foundation for diversified parking space design.

[0088] Example 6

[0089] like Figure 23 As shown, in this embodiment, the longitudinal groove guide rail 11 and the transverse groove guide rail 12 intersect in a cross shape, and the reversing groove guide rail includes an annular groove guide rail 16 centered at the intersection of the longitudinal and transverse groove guide rails 11 and 12. When the multidirectional transporter 2 needs to rotate in place or make a U-turn, the two longitudinal retractable guide wheels 51 or the fixed guide wheels 53 enter the annular groove guide rail 16 under the steering action of the multidirectional transporter 2. Under the restraining and guiding action of the annular groove guide rail 16 and the rotation of the multidirectional transporter 2, based on the fourth embodiment, the multidirectional transporter 2 can be reversed by 0° to 360° in combination with the angle of the oblique reversing groove guide rail 13.

[0090] Example 7

[0091] like Figure 24-25As shown, in this embodiment, two longitudinal groove rails 11 and two transverse groove rails 12 cross to form a "well" shape. The commutation groove rail is an annular groove rail 16 centered on the center of the rectangle in the "well" - shaped intersection. The rectangle is inscribed in the central circle of the annular groove rail 16. The annular groove rail 16 is used to guide the carrier sub - vehicle 2 to perform in - place spin commutation around the center of the annular groove rail 16.

[0092] The docking groove rail 74 on the mother vehicle 7 also adopts a "well" - shaped docking groove rail. The guiding component includes: four corner guiding wheels 5 respectively located at the corresponding positions of the rectangle vertices in the "well" - shaped intersection. When the carrier sub - vehicle commutes from one direction to another direction, the four corner guiding wheels 5 at the rectangle vertices move into the annular groove rail along with the carrier sub - vehicle to provide guidance for the carrier sub - vehicle 2. When reaching the required other direction, the four corner guiding wheels 5 coincide with the gaps at the intersections of the rails in the other direction. The four corner guiding wheels 5 enter the rails in the other direction through the gaps at the intersections of the running rails, completing in - place spin commutation of 0° to 360°.

[0093] Furthermore, multiple retractable guiding wheels can be additionally installed at the required positions to ensure that when moving longitudinally or transversely, there are two guiding members in the same running rail at any time in the guiding component.

[0094] Embodiment 8

[0095] As Figure 26 shown, this embodiment provides a schematic plan view of the plane operation of a mother - son parking robot three - dimensional parking system equipped with a multi - direction - traveling carrier. The parking layer of the three - dimensional parking garage comprehensively uses the rail layouts and row, column or matrix - type parking space layouts in Embodiment 1, Embodiment 5 and Embodiment 6. The rail layouts in the above embodiments are used to connect the parking spaces in Area A (A1 - A5), Area B (B1 - A3), Area C (C1 - C3) and Area D (D1 - D4). The peripheral parking spaces on the parking layer are all extended with running rails or navigation reference objects, which can be docked with the docking groove rail 74 or navigation reference object on the lifting platform 73 of the mother - son parking robot longitudinally, transversely, in both longitudinal and transverse directions or in multiple directions, providing multiple docking positions for the mother - son parking robot and quickly retracting and deploying the multi - direction carrier sub - vehicle 2 to complete the handling task.

[0096] Specifically, for example, if the vehicle needs to be carried to the parking space A1 in Area A, the load - carrying carrier sub - vehicle drives into the parking area along the longitudinal groove rail 11, and its three longitudinally retractable guiding wheels 51 are in the low position. The No. 1 carrier sub - vehicle arrives at as Figure 16At the position of the annular groove guide rail 16 shown, one of the longitudinal retractable guide wheels 51 and two transverse retractable guide wheels 52 at the center is in the low position, and the other two longitudinal retractable guide wheels 51 are in the high position. The longitudinal and transverse directions are reversed to use the transverse movement mode, and the transporter vehicle No. 1 can also be moved in the following manner: Figure 12 The vehicle rotates 90 degrees at the position of the annular groove guide rail 16 shown, then changes direction to travel horizontally to the B1 parking space, then turns along the second curved reversing groove guide rail 15 corresponding to the B1 parking space, and then travels longitudinally to the A1 parking space. The vehicle is unloaded to complete the handling task.

[0097] The No. 2 transporter transports the vehicle to the C2 parking space in Area C. The following steps are followed. Figure 16 The annular groove guide rail 16 shown rotates 90 degrees, then changes direction to travel horizontally to the B1 parking space, then changes direction from the B1 parking space to travel longitudinally to the B2 parking space, and finally changes direction from the B2 parking space to travel horizontally to the C2 parking space, unloading the vehicle to complete the handling task.

[0098] If transporter vehicle No. 3 needs to transport the vehicle to parking space D4, it can diagonally reverse at parking space B3, lower the two diagonally arranged guide wheels 6, and the longitudinally retractable guide wheel 51 at the center is in the low position and enters the diagonal reversing groove guide rail 13, guiding transporter vehicle No. 3 to parking space D4 and unloading the vehicle to complete the transport task.

[0099] If the vehicle in the D2 parking space needs to be taken out, if A5 is empty, the empty transporter vehicle will first move to B3, switch to diagonal movement at the B3 position, and enter D2 along the diagonal reversing groove guide rail 13. After lifting the vehicle, it will be transported to the B3 parking space along the diagonal reversing groove guide rail 13, and then change direction to move longitudinally to the B1 parking space, and then change direction to move transversely to the annular groove guide rail 16. After changing direction and rotating 45° counterclockwise, it will be in the posture shown by vehicle No. 1, and then change direction to move longitudinally into the mother vehicle waiting for docking.

[0100] It should be understood that the movement of the multidirectional transporter 2 on a plane is not limited to one method, and a variety of combined methods can be used to achieve point-to-point movement. The specific method to be used is considered based on factors such as the actual number of parking spaces and the storage location of vehicles.

[0101] The above details the multi-directional transporter child vehicle 2's ability to coordinate and transport parking within a parking level based on its functionality. This embodiment also features three models of parent-child parking robots. Each of these models features a four-wheel omnidirectional drive system, while the parent vehicle 7 is a laser-guided, omnidirectional mobile robot. The lifting mechanism 72 of model I is equipped with four sets of single-mast hydraulic telescopic arms and sprockets and chains to lift the lifting platform 73 with four side openings. The lifting platform 73 is provided with a cross-shaped docking groove guide rail 74, and the multi-directional transporter trolley 2 can enter and exit the lifting platform 73 in four directions. The lifting mechanism 72 of model II is equipped with a rear double-cylinder hydraulic lifting gantry and a bottom scissor-type lifting mechanism to jointly lift the three-sided lifting platform 73. The difference from the full-platform lifting is that the lifting gantry at the rear cannot be entered or exited. The lifting platform 73 is provided with a cross-shaped docking groove guide rail 74, and the multi-directional transporter trolley 2 can enter and exit the lifting platform 73 in three directions. The lifting mechanism 72 of model III is equipped with a bottom scissor-type lifting mechanism to lift the full-platform lifting platform 73. The lifting platform 73 is provided with a cross-shaped magnetic tape, and the multi-directional transporter trolley 2 can enter and exit the lifting platform 73 in four directions. Figure 26As shown, the Type I parent-child parking robot travels laterally to the side of the target parking space C2. The lifting mechanism 72 raises the lifting platform 73 to dock with the C2 parking space. The docking groove guide rail 74 aligns with the transverse groove guide rail 12 of the running rail. The empty or loaded multi-directional carrier No. 2 enters the docking groove guide rail 74 along the transverse groove guide rail 12 and is guided onto the lifting platform 73. The lifting mechanism 72 lowers the lifting platform 73 and the multi-directional carrier 2. The mother car 7 carries the multi-directional carrier 2 and the vehicle to the target platform for unloading. The Type II parent-child parking robot travels longitudinally to the front of the target parking space A3 and performs the same actions as the Type I parent-child parking robot. The multi-directional carrier 2 enters the longitudinal groove guide rail 11 along the docking groove guide rail 74 and is guided onto the lifting platform 73. The vehicle is then transferred and parked in the A3 parking space by the multi-directional carrier 2. The multi-directional carrier 2 is then retrieved or directly moves to the next target location to pick up another multi-directional carrier. The Type III parent-child parking robot drives laterally to the side of the target parking space D1. Lifting mechanism 72 raises platform 73 to dock with D1. Multi-directional transporter 2 (MTC) No. 4 exits the transverse grooved guide rail 12 of the D1 parking space's operating rails and enters platform 73 via the onboard magnetic tape sensor, guided along the entrance and exit, and on platform 73. Lifting mechanism 72 lowers platform 73 and MTC No. 2. Mother vehicle 7 then carries MTC No. 4 and the vehicle to the target platform for unloading. Multi-directional transporter 2 (MTC) No. 1 reaches the annular grooved guide rail 16, rotates 45°, and enters the diagonal grooved guide rail to await pickup by mother vehicle 7. The annular grooved guide rail 16 incorporates a cross-shaped longitudinal and transverse reversing unit, allowing two MTCs to dock and allow MTCs to enter or exit platform 73 longitudinally or transversely, enabling sequential transfer or reception of MTCs in both directions. During busy hours, the three parent-child parking robots can dock with the parking layer longitudinally at angles of 90°, 135°, and 180°. The multidirectional transporter vehicle 2 can rotate and reverse at angles of 90°, 135°, and 180° through the annular groove guide rail 16, thereby driving into or out of the lifting platform 73 of the three parent-child parking robots longitudinally, thereby realizing sequential transfer or reception of the multidirectional transporter vehicle 2 in three directions.

[0102] This embodiment is also equipped with a host system to coordinate the parent-child parking robot, the mother vehicle 7, and the multi-directional transporter vehicle 2. The host system is composed of a central control computer and a communication module. The host system communicates with the mother vehicle 7 of the parent-child parking robot and the multi-directional transporter vehicle 2 via a wireless network. The multi-story parking garage is composed of multi-layer platforms distributed in various forms such as a matrix or a cylindrical tower. This embodiment adopts Figure 1The comb-tooth parking rack shown in the figure is a three-dimensional parking garage. The number of mother vehicles 7 and multi-directional transporter vehicles 2 in the system can be configured in a 1:1 ratio or a:b ratio, depending on the operating environment. The number of mother vehicles 7 can be more or less than the number of multi-directional transporter vehicles 2. The system operation process is as follows:

[0103] 1. The driver stops the vehicle at the entry platform and gets off;

[0104] 2. The upper system receives the vehicle safety and arrival signal from the platform, and the central control computer sends the parking task instruction to the idle parent-child parking robot through the communication module;

[0105] 3. An idle parent-child parking robot drives to the platform, aligning the lifting platform with the platform. The upper system or the mother vehicle control system sends a command to the multi-directional transporter child vehicle 2. The multi-directional transporter child vehicle 2 drives longitudinally or transversely under the comb-tooth parking rack according to the platform type, raises the comb-tooth rack to engage with the comb-tooth parking rack, lifts the vehicle, and drives it back to the lifting platform of the mother vehicle 7.

[0106] 4. The multidirectional transporter trolley 2 lowers its comb frame to the lowest position. When the lift platform is parked, the wheel switching device lowers all wheels to the lowest position, contacting the lift platform. This prevents the multidirectional transporter trolley 2 from sliding while the mother vehicle 7 is in motion. The multidirectional transporter trolley 2 then notifies the host system and the mother vehicle control system that the loading task is complete.

[0107] 5. The upper system sends the target position to the parent-child parking robot. The parent-child parking robot drives to the target plane position, raises the lifting platform to align with the platform, and the multi-directional transporter vehicle 2 raises the comb frame and switches the wheel system to the required driving direction.

[0108] 6. The multidirectional transporter trolley 2 moves to the target parking space on the guide rail system, lowers the comb rack, and parks the vehicle on the comb rack in the parking space. The multidirectional transporter trolley 2 reports the completion of the unloading task to the upper system and the mother vehicle.

[0109] 7. The multi-directional transporter vehicle 2 drives back to the mother vehicle. The mother vehicle reports to the upper system that the parking task instruction is completed and waits for the upper system to dispatch instructions to return to the rest point or start the next transport task.

[0110] 8. The process of executing the vehicle retrieval task is the same as that of parking the vehicle.

[0111] The four-way travel function of the lifting platform and the multi-directional transporter trolley 2 can directly transport vehicles to parking spaces around the aisle. Depending on whether the mother vehicle lifting platform is equipped with a comb rack and the ratio of the mother-and-child parking robots, when the target vehicle is located in a parking space in the middle area, the upper system dispatches the mother-and-child parking robots or dispatches the mother vehicle 7 and the multi-directional transporter trolley 2 to work together in a variety of modes or a combination of modes to complete the vehicle retrieval:

[0112] 1. With one occupied parking space between the parking space and the passageway, the parent-child parking robot first moves the obstructed vehicle to an empty parking space in its own area or another area. Then, the multi-directional transporter child vehicle 2 returns to the passageway formed by the empty parking space and moves the target vehicle to the mother vehicle 7. The parent-child parking robot then moves the target vehicle to the platform, completing the vehicle retrieval. Alternatively, another parent-child parking robot moves the target vehicle to the platform, completing the vehicle retrieval.

[0113] 2. When there is a parking space with a car between the passage and there is no vacant parking space, two mother-and-child parking robots work together. One mother-and-child parking robot moves the obstructing vehicle onto itself for temporary storage, and the other mother-and-child parking robot takes out the target vehicle and sends it to the platform. The first mother-and-child parking robot then moves the obstructing vehicle to the original parking space of the target vehicle to complete the vehicle retrieval.

[0114] 3. There are multiple parking spaces between the passages. One or more parent-child parking robots work together in mode 1, 2 or a combination of modes to complete the car retrieval.

[0115] 4. There are multiple occupied parking spaces between the access lane and available spaces on the same platform. Multiple parent-child parking robots can place their respective Multidirectional Carrier Carts 2 onto the same platform. Depending on the ratio of parking and retrieval tasks, if there are a high number of retrieval tasks or the number of Multidirectional Carrier Carts 2 exceeds the number of parent cars 7, some of the Multidirectional Carrier Carts 2 can remain in the parking garage. Under the control of the upper-level system, the Multidirectional Carrier Carts 2 on the same platform will sequentially move obstructed vehicles to available spaces, open the access lane for the target vehicle, and then complete the retrieval process according to Mode 1. Simultaneously, the idle parent car 7 can coordinate with other resident Multidirectional Carrier Carts 2 to complete other parking and retrieval tasks, under the control of the upper-level system.

[0116] 5. If there are multiple occupied parking spaces between the aisle and no vacant spaces on the same platform, multiple parent-child parking robots can place their respective Multi-Directional Carrier Carts 2 on the same platform to work in conjunction with the resident Multi-Directional Carrier Carts 2. The upper system dispatches the parent car 7 to the required location. All Multi-Directional Carrier Carts 2, under the upper system's dispatch, simultaneously move the entire row or column of obstructing vehicles in the associated parking spaces in unison, using Modes 1 and 2 simultaneously to open the aisle for the target vehicle, and then retrieve the vehicle using Mode 1. Meanwhile, the idle parent car 7 can coordinate with other resident Multi-Directional Carrier Carts 2 to complete other vehicle storage and retrieval tasks under the upper system's dispatch.

[0117] Example 9

[0118] This embodiment provides a setting of a guide component, which can replace the guide components in Example 1, Example 4, Example 5, Example 6, and Example 8.

[0119] like Figure 27As shown, the multidirectional transporter 2 is equipped with three longitudinal retractable guide wheels 51 and two transverse retractable guide wheels 52. The two transverse retractable guide wheels 52 are mounted on two slider assemblies 8. Driven by two ball screws 91 in the drive mechanism, the slider assemblies 8 move the transverse retractable guide wheels 52 to the transverse and two diagonal positions. When the multidirectional transporter 2 is traveling longitudinally, the three longitudinal retractable guide wheels 51 are in the low position, entering the longitudinal grooves of the guide rails. When the multidirectional transporter 2 is rotating and reversing, the central longitudinal retractable guide wheel 51 is in the low position, at the intersection of the running guide rails, while the two end longitudinal retractable guide wheels 51 enter the annular grooves of the guide rails 16. The two transverse retractable guide wheels 52 are in the high position. During transverse and diagonal switching, the central longitudinal retractable guide wheel 51 is in a low position, while the other two longitudinal retractable guide wheels 51 are in a high position. During transverse switching, the two ball screws 91 drive the slider assemblies 8 to move the two transverse retractable guide wheels 52 to the corresponding transverse groove guide rails 12. The two transverse retractable guide wheels 52 are then lowered to a low position and enter the transverse groove guide rails 12. During diagonal switching, the two ball screws 91 drive the slider assemblies 8 to move the two transverse retractable guide wheels 52 to the corresponding diagonal reversing groove guide rails 13. The two transverse retractable guide wheels 52 are then lowered to a low position and enter the diagonal reversing groove guide rails 13. During curved turning, the central longitudinal retractable guide wheel 51 is retracted to a high position, while the two end longitudinal retractable guide wheels 51 enter the second arc-shaped reversing groove guide rails 15. The longitudinally retractable guide wheels 51 or the transversely retractable guide wheels 52 enter the corresponding groove guide rails to guide the multi-directional transporter vehicle 2 to perform reversing or turning movement under the drive of the driving device.

[0120] like Figure 28 As shown, the multidirectional transporter 2 is equipped with three longitudinal retractable guide wheels 51. One is mounted at the center of the vehicle body and can be retracted or lowered for driving, reversing, or turning. The other two are mounted on two slider assemblies 8. The two slider assemblies 8 are mounted on guide rails 92 that connect to corresponding longitudinal, transverse, and diagonal reversing groove guide rails. The two slider assemblies 8 are equipped with a drive device. Under the drive of the drive device, the slider assembly 8 drives the longitudinal retractable guide wheel 51, which is in the upper position, along the guide rail 92 to the corresponding positions of the longitudinal groove guide rail 11, transverse groove guide rail 12, diagonal reversing groove guide rail 13, second arcuate reversing groove guide rail 15, and annular reversing groove guide rail 16. When the retractable guide wheel 51 is lowered, it enters the corresponding groove guide rail to guide the multidirectional transporter 2, and the drive device drives the multidirectional transporter 2 to reverse or turn.

[0121] Example 10

[0122] like Figure 29As shown, in this embodiment, one of the two longitudinal groove guide rails 11 intersects with the annular groove guide rail 16. The multidirectional transporter vehicle 2 is provided with five longitudinal retractable guide wheels 51. The middle longitudinal retractable guide wheel 51 is retracted and in a high position. The remaining four longitudinal retractable guide wheels 51 are divided into two groups and guide the multidirectional transporter vehicle 2 longitudinally along the two longitudinal groove guide rails 11 to the intersection with the annular groove guide rail 16. The two longitudinal retractable guide wheels 51 outside the annular groove guide rail 16 are retracted and disengaged from the longitudinal groove guide rail 11, and the middle longitudinal retractable guide wheel 51 is lowered and enters the annular groove guide rail 16. The line connecting the centers of the two longitudinal retractable guide wheels 51 at the intersection of the longitudinal groove guide rail 11 and the annular groove guide rail 16 is the secant of the center circle of the annular groove guide rail 16. The triangle formed by taking this secant as the base and the center of the middle longitudinal retractable guide wheel 51 as the vertex is an inscribed triangle of the center circle of the annular groove guide rail 16, and the circumcenter of this inscribed triangle coincides with the center center of the center circle of the annular groove guide rail 16. Driven by the rotation of the multidirectional transporter 2, the two longitudinal retractable guide wheels 51 at the intersection pass through the gap at the intersection of the longitudinal groove guide rail 11 and the annular groove guide rail 16 and enter the annular groove guide rail 16. Under the restraining and guiding action of the annular groove guide rail 16 and the rotation of the multidirectional transporter 2, the multidirectional transporter 2 can turn 180° to reach two other longitudinal groove guide rails 11 parallel to the original guide rails. The central longitudinal retractable guide wheel 51 is then retracted to disengage the annular groove guide rail 16, and the other two longitudinal retractable guide wheels 51 are lowered to enter the longitudinal groove guide rail 11. The multidirectional transporter 2 can then travel longitudinally, guided by the other two longitudinal groove guide rails 11. The other two longitudinal groove guide rails 11 are arranged in the same layout at an angle to the original two longitudinal groove guide rails 11, allowing the multidirectional transporter 2 to reverse direction along the annular groove guide rails 16. Similarly, the multidirectional transporter 2 can complete the reverse direction travel along the annular groove guide rails 16 by traveling laterally.

[0123] The above examples are used to illustrate the present invention, which are only used to help understand the present invention and are not intended to limit the present invention. Those skilled in the art can make several simple deductions, modifications or substitutions based on the concept of the present invention.

Claims

1. A multi-directional transporter-equipped parking system for a multi-story parking garage, comprising a multi-directional transporter and a multi-story parking deck, each with multiple parking spaces. The multi-directional transporter comprises a mother car and multiple multi-directional transporter sub-carriages. After the sub-carriages enter the mother car, they are transported to the bottom of the target parking deck by the mother car. The mother car then raises and lowers the sub-carriages, allowing them to access different parking decks for loading and unloading. The system is characterized by: Each parking floor is embedded with running guide rails, which include independent or cross-arranged longitudinal groove guide rails, transverse groove guide rails and reversing groove guide rails; The multidirectional transport vehicle is provided with a guide assembly consisting of a plurality of guide members, and the guide assembly cooperates with the running guide rail to guide the multidirectional transport vehicle to move along the running guide rail; The lifting platform of the mother vehicle is a side-opening platform or a full platform with no obstructions on all sides, wherein the side-opening platform is provided with a plurality of openings for the multi-directional transporter sub-vehicles to enter and exit; A docking guide mechanism is provided at the docking position between the lifting platform and the parking floor, and the docking guide mechanism is used to dock with the running guide rail to guide the multi-directional transporter vehicle to enter and exit the lifting platform; The longitudinal groove guide rail and the transverse groove guide rail are crossed in a cross shape to form a guide rail base element. A guide member in the guide assembly is a guide base element. A guide rail base element and a guide base element constitute a longitudinal and transverse reversing unit. When the guide member is located in the gap at the intersection of the longitudinal groove guide rail and the transverse groove guide rail, the direction change is completed by switching from the original longitudinal groove guide rail to the other transverse groove guide rail, or from the original transverse groove guide rail to the other longitudinal groove guide rail. The docking guide mechanism is a docking groove guide rail embedded in the lifting platform and identical to the running guide rail, or a navigation reference arranged at the docking position between the lifting platform and the parking floor; After the docking groove guide rail is docked with the running guide rail, the guide assembly cooperates with the docking groove guide rail / running guide rail to guide the multi-directional transporter vehicle in and out of the lifting platform; The multidirectional transporter is equipped with a guidance sensor for detecting a navigation reference. After the lift platform docks with the navigation reference at the docking location on the parking deck, the guidance sensor measures the relative position of the multidirectional transporter and the navigation reference, and transmits this information to the onboard controller to adjust and control the multidirectional transporter's posture and movement, guiding the multidirectional transporter in and out of the lift platform and ensuring that the guide assembly accurately mates with the running guide rails.

2. The three-dimensional parking system of the parent-child parking robot equipped with a multi-directional transporter according to claim 1, characterized in that: The body of the multi-directional transporter sub-vehicle is any one of a long body, a short body and a telescopic body.

3. The three-dimensional parking system of a parent-child parking robot equipped with a multi-directional transporter according to claim 1, characterized in that: The height of the multi-directional transporter sub-vehicle is less than the ground clearance of the vehicles on its travel route or the ground clearance of the mechanical structures on its travel route. The multi-directional transporter sub-vehicle can shuttle in four or more directions under the vehicles or mechanical structures on its travel route.

4. The three-dimensional parking system of a parent-child parking robot equipped with a multi-directional transporter according to claim 1, characterized in that: Based on the vertical and horizontal commutation unit, the running guide rails can be formed into one or more of the "艹" - shaped intersection, "卅" - shaped intersection, "井" - shaped intersection, or "田" - shaped intersection. The guiding component includes: guiding members with the same number and position as the intersection points of the longitudinal groove guide rail and the transverse groove guide rail of the vertical and horizontal commutation unit; When all the guiding members of the multi - directional transporter sub - vehicle are running or commuting, they are in the low position and contact with the running guide rails.

5. The three-dimensional parking system of a parent-child parking robot equipped with a multi-directional transporter according to claim 1, characterized in that: When the running guide rails are in the "十" - shaped intersection, "X" - shaped intersection, or the combination of "十" - shaped and "X" - shaped into the "米" - shaped intersection and their respective combinations with increased or decreased strokes of the characters; The guiding component includes: end guiding members located at the endpoints of each character stroke segment on the multi - directional transporter sub - vehicle; When the multi - directional transporter sub - vehicle moves in the required direction, the guiding members in the required direction are in the low position and contact with the running guide rails, while the other guiding members are in the high position and separated from the running guide rails.

6. The three-dimensional parking system of a parent-child parking robot equipped with a multi-directional transporter according to claim 1, characterized in that: The commutation groove guide rail includes: a curved groove guide rail extending from one direction guide rail to another direction guide rail; When the multi - directional transporter sub - vehicle commutes from one direction to another, the two guiding members at the line segment endpoints are in the low position, and the line connecting the two guiding members at the line segment endpoints forms the chord of the curve of the curved groove guide rail. The two guiding members at the line segment endpoints move into the curved groove guide rail along with the multi - directional transporter sub - vehicle to provide guidance for the multi - directional transporter sub - vehicle, so as to realize the curved turning of the multi - directional transporter sub - vehicle from one direction to another.

7. The three-dimensional parking system of a parent-child parking robot equipped with a multi-directional transporter according to claim 1, characterized in that: The commutation groove guide rail includes: an annular groove guide rail with the intersection point of the running guide rails as the center of the circle. The annular groove guide rail is used to guide the multi - directional transporter sub - vehicle to perform in - place spin commutation around the center of the annular groove guide rail; Two guiding members are respectively located at the corresponding positions of the two endpoints of the diameter line segment of the central circle of the annular groove guide rail. When the multi - directional transporter sub - vehicle commutes from one direction to another, the two guiding members at the line segment endpoints move into the annular groove guide rail along with the multi - directional transporter sub - vehicle to provide guidance for the multi - directional transporter sub - vehicle. When reaching the required other direction, the two guiding members coincide with the gap at the intersection of the other - direction running guide rails, and the two guiding members enter the other - direction guide rail through the gap between the running guide rails to complete the in - place spin commutation.

8. The three-dimensional parking system of a parent-child parking robot equipped with a multi-directional transporter according to claim 1, characterized in that: The commutation groove guide rail includes: an annular groove guide rail, the center of its central circle is the circumcenter of an inscribed polygon, multiple running guide rails intersect with the annular groove guide rail, and the line connecting the intersection points forms the inscribed polygon, or one running guide rail intersects with the annular groove guide rail, taking the secant line of the central circle of the annular groove guide rail between the two intersection points as the base, and then connecting with one or more points on the central circle of the annular groove guide rail to form the inscribed polygon; Guiding members are provided at the positions corresponding to the vertices of the inscribed polygon in the central circle of the annular groove guide rail. When the multi - directional transporter sub - vehicle commutes from one direction to another, the guiding members move into the annular groove guide rail along with the multi - directional transporter sub - vehicle to provide guidance for the multi - directional transporter sub - vehicle. When reaching the required other direction, the guiding members coincide with the gap at the intersection of the other - direction running guide rails, and the guiding members enter the other - direction guide rail through the gap between the running guide rails to complete the commutation.

9. The three-dimensional parking system of a parent-child parking robot equipped with a multi-directional transporter according to claim 8, characterized in that: When the longitudinal groove guide rail and the transverse groove guide rail intersect in a "well" shape, the reversing groove guide rail includes: an annular groove guide rail with the center of the rectangle in the "well" intersection as the center of the circle, the rectangle is inscribed in the center circle of the annular groove guide rail, and the annular groove guide rail is used to guide the multi-directional transport vehicle to perform in-situ rotation reversal around the center of the annular groove guide rail; Four guide members are provided, each located at the corresponding vertices of the rectangle formed by the intersection points of the "well"-shaped intersection. When the multi-directional transporter changes direction from one direction to another, at least three guide members at the vertices of the rectangle move with the multi-directional transporter into the annular groove guide rail to provide guidance for the multi-directional transporter. When the multi-directional transporter reaches the desired direction, the guide members coincide with the gaps at the intersection of the running guide rails in the other direction, and the guide members pass through the gaps between the running guide rails and enter the guide rail in the other direction, completing the in-situ rotation reversal.

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