A child-mother parking robot three-dimensional parking system with side guide carriers

Abstract

The application discloses a kind of child-parent parking robot three-dimensional parking system of side guide carrier, including parent car, carrier child car and multiple parking layers, multiple parking spaces are provided on each parking layer, after child car enters parent car, is carried to target parking layer below by parent car, and then parent car lifts child car, so that child car enters different layer parking layer and loads and unloads vehicle, running guide rail is provided on each parking layer, and several child cars are arranged on running guide rail and move along running guide rail, the height of running guide rail is less than the ground clearance of child car chassis, the lifting platform of parent car can be accessed by child car from different directions, and the butt joint guide mechanism for the butt joint of child car and running guide rail is arranged thereon to guide child car to enter and exit lifting platform;The system uses the mode that parent car carries multiple-direction moving carrier child car, can carry out vehicle storage and access from multiple directions of parking garage in three dimensions, and realizes the efficient dense storage of three-dimensional parking garage.

Description

Technical Field

[0001] This invention relates to the field of automated parking technology, specifically to a three-dimensional parking system for a mother-daughter parking robot equipped with a side-guided transporter. Background Technology

[0002] Currently, parking robots using a mother-daughter car configuration transplant the longitudinal car transporter from a mechanical parking garage as the daughter car into the parking robot field. However, because the longitudinal car transporter can only perform two-way transport, car retrieval can only be done in a first-in-first-out (FIFO) or last-in-first-out (LIFO) manner, or in a queue-style sequential or reverse-order manner. When the target car is in the middle of the queue, the transport efficiency is low or even impossible, making it difficult to achieve dense car storage on the parking level. Furthermore, because these parking robots can only use longitudinal car storage and retrieval, space of at least the length of a car must be left between each storage station or shelf to meet the needs of the parking robot's operation and car loading / unloading, resulting in a large footprint. Problems such as small effective parking area, difficult shelf layout, low space utilization, few parking spaces, and low storage and retrieval efficiency are common in existing mother-daughter parking robot systems, making them unsuitable for leveraging the dense storage advantages of automated parking garages. Summary of the Invention

[0003] To address the aforementioned problems, the inventors provide a mother-daughter parking robot three-dimensional parking system equipped with a side-guided transporter. The daughter vehicle adopts a simple and reliable guide rail design, allowing the side-guided transporter to travel in multiple directions along preset guide rails. When unloaded, it can quickly shuttle under vehicles or mechanical structures along the route, avoiding traffic congestion caused by multiple transporters operating simultaneously and effectively improving parking efficiency. The mother vehicle is a track-type four-way shuttle, automated guided vehicle (AGV), or automated mobile robot (AMR) with a lifting device. By arranging tracks or planning paths, it can connect to the parking garage from multiple directions. Combined with the parking garage design, vehicles can be stored and retrieved three-dimensionally from multiple directions within the parking garage, achieving efficient and dense storage in the three-dimensional parking garage.

[0004] In this invention, for ease of understanding, the length direction of the vehicle or side-guided transporter trolley is defined as longitudinal, and the width direction is defined as transverse. The definitions of the longitudinal and transverse grooved guide rails change depending on the orientation of the vehicle or side-guided transporter trolley. 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 movement of the side-guided transporter trolley; the plane's height is not limited to the ground level and can be the floor of a platform, building, or other structure.

[0005] This invention provides a three-dimensional parking system for a mother-daughter parking robot equipped with side-guided transporters, including a mother-daughter parking robot and multiple parking levels, each with multiple parking spaces; the mother-daughter parking robot includes a mother vehicle and multiple side-guided transporter vehicles. After the side-guided transporter vehicles enter the mother vehicle, they are transported by the mother vehicle to the area below the target parking level, and then the mother vehicle lifts and lowers the side-guided transporter vehicles so that they can enter different parking levels to load and unload vehicles. Each parking level has running guide rails on its plane, which include: independent or cross-arranged transverse guide rails, longitudinal guide rails, and reversing guide rails;

[0006] The height of the running guide rail is less than the ground clearance of the transporter chassis;

[0007] The side-guided transporter trolley is equipped with a guide assembly consisting of multiple guide members. The guide members contact the sides of the longitudinal guide rail / transverse guide rail / reversing guide rail, guiding the side-guided transporter trolley to move along the longitudinal guide rail / transverse guide rail / reversing guide rail. Interconnected gaps are provided at the intersection of the running guide rails to allow the guide assembly and the traveling mechanism of the side-guided transporter trolley to pass through.

[0008] The lifting platform of the mother car is either a side-opening platform or a full platform with no obstructions on all sides. The side-opening platform is provided with multiple openings for the side-guided transporter trolleys to enter and exit.

[0009] The lifting platform and parking level are equipped with docking guide mechanisms, which are used to dock with the running guide rails to guide the side guide transporter trolleys in and out of the lifting platform.

[0010] Furthermore, the body of the side-guided transporter vehicle can be any one of a long body, a short body, or a telescopic body. The height of the side-guided transporter vehicle is less than the ground clearance of vehicles or mechanical structures along its travel route, allowing the side-guided transporter vehicle to travel in four or more directions beneath vehicles or mechanical structures along its travel route.

[0011] Furthermore, the mating structure of the running guide rail and the guide assembly includes:

[0012] (1) The outer surface of the side guide rail contacts the inner surface of the guide assembly; or

[0013] (2) The inner surface of the side guide rail contacts the outer surface of the guide assembly; or

[0014] (3) A channel is formed between the two running guide rails, and the guide component contacts the inner side of one guide rail with its outer side, or contacts the outer side of the other guide rail with its inner side.

[0015] The above three structures can be set in the same system, and the different structures can be switched smoothly;

[0016] The longitudinal guide rail setting and the transverse guide rail setting can adopt different structural combinations, and the same driving direction can also be set with different structures;

[0017] Among them, the side of the running guide rail facing the center line of the vehicle body is the inner side of the running guide rail, and the side of the running guide rail facing away from the center line of the vehicle body is the outer side of the running guide rail.

[0018] Furthermore, the two longitudinal guide rails and the two transverse guide rails are in a "well" - shaped intersection, with an interconnected gap at the intersection, which is a guide rail basic element; the guiding component includes: four corner guiding members respectively located at the four corners or near the four corners of the side - guiding carrier sub - vehicle and corresponding to the positions of the gaps at the intersections, which is a guiding basic element; a guide rail basic element and a guiding basic element form a main longitudinal - transverse commutation unit;

[0019] When the side - guiding carrier sub - vehicle moves longitudinally, the four corner guiding members contact the longitudinal guide rails;

[0020] When the side - guiding carrier sub - vehicle moves transversely, the four corner guiding members contact the transverse guide rails;

[0021] When the side - guiding carrier sub - vehicle makes a longitudinal / transverse commutation, the four corner guiding members convert from contacting the longitudinal guide rails to contacting the transverse guide rails through the gaps at the intersections of the guide rails, or the four corner guiding members convert from contacting the transverse guide rails to contacting the longitudinal guide rails through the gaps at the intersections of the guide rails, completing the conversion of the driving direction.

[0022] Furthermore, the longitudinal guide rail and the transverse guide rail are in a "艹" - shaped intersection, with an interconnected gap at the intersection, which is a basic element; the guiding component includes: two guiding members respectively located on the side - guiding carrier sub - vehicle corresponding to the gaps at the intersections, and the two guiding members are a basic element; the two basic elements form a sub - longitudinal - transverse commutation unit;

[0023] When the side - guiding carrier sub - vehicle moves longitudinally, the two guiding members contact the longitudinal guide rails;

[0024] When the side - guiding carrier sub - vehicle moves transversely, the two guiding members contact the transverse guide rails;

[0025] When the side - guiding carrier sub - vehicle makes a longitudinal / transverse commutation, the two guiding members convert from contacting the longitudinal guide rails to contacting the transverse guide rails through the gaps at the intersections of the guide rails, or the two guiding members convert from contacting the transverse guide rails to contacting the longitudinal guide rails through the gaps at the intersections of the guide rails, completing the conversion of the driving direction.

[0026] Furthermore, when making a longitudinal / transverse commutation, one main commutation unit, or one sub - commutation unit, or a combination of several main commutation units and several sub - commutation units is set.

[0027] Furthermore, the guiding assembly also includes: retractable guide members located on the side-guided transporter trolley and retractable guide members installed according to the configuration, ensuring that two or more guide members are in contact with the running guide rail at any given time, enabling the side-guided transporter trolley to travel stably or change direction. Retractable guide members can also replace the fixedly installed guide members at desired locations. The retractable guide members are positioned on the transporter at locations corresponding to the gaps between the running guide rails and the running guide rails, such as the center and four / near the four sides, depending on the layout of the transporter and the overall running guide rails.

[0028] Furthermore, the guide rail for changing direction includes a curved guide rail; two curved guide rails are kept at equal intervals to form a curved strip channel, and two retractable guide members located in the middle of the side guide transporter trolley are lowered to a low position. The line connecting the centers of the two retractable guide members forms the chord of the center line of the curved strip channel. The two retractable guide members move into the curved strip channel with the transporter to provide guidance for the side guide transporter trolley, so as to realize the curved turning of the side guide transporter trolley from one direction to another.

[0029] Furthermore, the guide rail includes an inclined guide rail; two inclined guide rails are kept parallel to form an inclined channel, and multiple retractable guide components move into the inclined channel with the side guide transporter trolley or reach the top of the inclined channel and then be lowered to a low position to enter the inclined channel and contact the inclined guide rail, so as to provide guidance for the side guide transporter trolley to realize the side guide transporter trolley to move horizontally along the inclined channel.

[0030] Furthermore, the reversing guide rail also includes an annular guide rail; the transporter reaches the top of the annular guide rail under the guidance of the running guide rail, and its multiple retractable guide members corresponding to the positions of the annular guide rail are in a low position, with their inner sides all in contact with the outer side of the annular guide rail. The outer circle of the retractable guide member is tangent to the outer circle of the annular guide rail, and the polygon formed by the line connecting two adjacent tangent points is an inscribed polygon of the outer circle of the annular guide rail, which can realize the transporter's in-situ spin reversal under the guidance of the annular guide rail.

[0031] Furthermore, an actuator controls a section of the running guide rail to stand up or lie flat, thus forming a movable guide rail.

[0032] Furthermore, the docking guide mechanism is a docking guide rail that is located on the plane of the lifting platform and is the same as the running guide rail, or a navigation reference object arranged at the docking position between the lifting platform and the parking floor;

[0033] Wherein, after the docking guide rail is docked with the running guide rail, the guiding component cooperates with the docking guide rail / running guide rail to guide the multi-directional transporter trolley into and out of the lifting platform;

[0034] The side-guided transporter trolley is equipped with a guidance sensor that detects navigation reference objects. After the lifting platform and the navigation reference object at the docking position of the parking floor are docked, the guidance sensor measures the relative position of the multi-directional transporter trolley and the navigation reference object and transmits it to the vehicle controller to correct and control the attitude and driving of the side-guided transporter trolley, guide the side-guided transporter trolley to enter and exit the lifting platform, and ensure that the guiding components are accurately matched with the running guide rail.

[0035] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0036] (1) The side-guided guide rail method is adopted, and the transporter trolley can travel directly on the parking floor plane. Compared with the traditional dedicated rail guide method, it is simpler and more reliable. Compared with dedicated rail, transporter reversing mechanism and other guide facilities, the maintenance difficulty and cost can be significantly reduced. In the renovation of old garages, the renovation difficulty is lower.

[0037] (2) The guide rail type and drive method make the travel path of the transporter trolley more diversified. In actual scheduling and control, there are more paths to choose from, which can effectively avoid other transporters or avoid problems such as traffic congestion on the travel path, and can effectively improve parking efficiency.

[0038] (3) Various running guide rails and their combination forms are diverse. In the layout of parking spaces, various forms such as parallel, matrix, and circular can be adopted. They can be arranged in single or multi-layer or shelf-style. They also have multiple route conversion functions such as longitudinal and transverse reversal, diagonal translation, curve turning, and self-rotation reversal, which can meet the needs of various layout parking garages and make efficient use of parking spaces.

[0039] (4) When storing and retrieving vehicles, the transporter trolley can choose to store or retrieve vehicles longitudinally, laterally, or in multiple directions. Its operation combines the advantages of the speed and reliability of rail transporters with the flexibility of automated guided vehicles. It can meet the functional requirements of single and double-station rack-type automated parking garages, as well as the functional requirements of planar moving parking levels. Furthermore, it can be used in conjunction with the mother car to enter from multiple locations and directions on various parking levels to store or retrieve vehicles or reach the target parking space via planned guide rail channels, thus constructing a comprehensive intelligent automated parking system and achieving efficient and dense storage of vehicles. Attached Figure Description

[0040] Figure 1 This is a schematic diagram of the three-dimensional parking system of the mother-daughter parking robot equipped with a side guide transporter in Example 1;

[0041] Figure 2 This is a plan view of the parking system in Example 1;

[0042] Figure 3 This is a diagram showing the usage status of the side-guided transporter cart in Example 1;

[0043] Figure 4 This is a schematic diagram of the side-guided transporter cart in Example 1;

[0044] Figure 5 This is a schematic diagram of the bottom of the side-guided transporter trolley in Example 1;

[0045] Figure 6 for Figure 2 A magnified view of point A in the image;

[0046] Figure 7 This is a schematic diagram illustrating the principle of the side-guided transporter trolley moving along the outer side of the guide rail in Example 1.

[0047] Figure 8 This is a schematic diagram illustrating the principle of the side-guided transporter trolley moving along the inner side of the guide rail in Example 1.

[0048] Figure 9 This is a schematic diagram of the mother car in Example 1;

[0049] Figure 10 This is a schematic diagram of the operation of the mother car in Example 1;

[0050] Figure 11 for Figure 10 A magnified view of a section at point B in the middle;

[0051] Figure 12 This is a schematic diagram illustrating the principle of the side-guided transporter trolley moving along the channel in Example 2.

[0052] Figure 13 This is a schematic diagram illustrating the principle of the side-guided transporter trolley moving along the arc-shaped channel in Example 3.

[0053] Figure 14 This is a schematic diagram illustrating the principle of the side-guided transporter trolley moving along an inclined channel in Example 4.

[0054] Figure 15 This is a schematic diagram illustrating the principle of the side-guided transporter trolley moving along the annular guide rail in Example 5.

[0055] Figure 16 This is a schematic diagram illustrating the movement of the telescopic vehicle body side guide transporter trolley in Example 6;

[0056] Figure 17 This is a plan view of the parking system in Example 7.

[0057] Figure label:

[0058] 11-Longitudinal guide rail; 12-Transverse guide rail; 13-Channel; 131-Arc-shaped channel; 132-Angled channel; 15-Movable guide rail; 16-Circular guide rail; 17-Parking rack; 2-Side guide transporter trolley; 3-Transport execution device; 4-Corner guide wheel; 41-Retractable guide wheel; 42-Secondary guide wheel; 5-Main trolley; 51-Walking device; 52-Lifting mechanism; 53-Lifting platform; 54-Dating guide rail. Detailed Implementation

[0059] The present invention will now be described in further detail with reference to specific embodiments and accompanying drawings.

[0060] In this invention, for ease of understanding, the length direction of the vehicle or transporter is defined as longitudinal, and the width direction is defined as transverse. The definitions of the longitudinal and transverse guide rails change depending on the direction of the vehicle or transporter. In practical engineering applications, a global coordinate system can be defined first, followed by the longitudinal and transverse directions. All running guide rails can guide the transporter's shuttle movement.

[0061] Example 1

[0062] like Figure 1 As shown, this invention provides a three-dimensional parking system for a mother car 5, a side-guided transporter car 2, and multiple parking levels. Each parking level is equipped with multiple parking racks 17, and each parking level has intersecting longitudinal guide rails 11 and transverse guide rails 12. Vehicles are parked on the parking racks 17, and the clearance below the parking racks 17 and the space between the parking racks 17 allow the side-guided transporter car 2 to move freely when unloaded. In this embodiment, as... Figure 2 As shown, the longitudinal guide rails 11 and the transverse guide rails 12 intersect in a "well" shape, with gaps at the intersections for the guide and drive components to pass through. After the side-guided transporter trolley 2 enters the mother car 5, it is transported by the mother car 5 to the area below the target parking level. The mother car 5 then raises and lowers the side-guided transporter trolley 2 to allow it to enter different parking levels. The mother car 5 can move the side-guided transporter trolley 2 to different locations on the racks for vehicle storage and retrieval. Single-lane paths can be arranged between racks. When multiple mother cars 5 are operating simultaneously, they can be moved to other locations on the racks to connect with parking levels, thereby avoiding traffic congestion, reducing space occupation, and improving storage density and operational efficiency.

[0063] The mother vehicle 5 of the mother-daughter parking robot adopts an omnidirectional driven laser-guided automated guided vehicle (AGV) or mobile robot (AMR), driven by four steering wheels, enabling omnidirectional movement such as straight, lateral, translation, and rotation, and docking with the parking garage from all directions according to a planned path. The lifting mechanism of the lifting platform can adopt existing technologies, such as: using a scissor lift mechanism to lift an unobstructed full-platform lifting platform; or using four sets of hydraulically or electrically driven single-mast telescopic mechanisms in conjunction with sprockets and hanging chains to lift a lifting platform with openings on all four sides; or using a scissor lift device combined with a gantry driven by a hydraulic cylinder on one side to lift a lifting platform with an opening on one side. The side-guided transporter 2 adopts a telescopic body structure, with its total 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 total width is less than the vehicle's track width. The minimum ground clearance height and the space between the tires allow the side-guided transporter 2 to travel in four directions when unloaded.

[0064] like Figures 3-6As shown, the side-guided transporter trolley 2 includes a vehicle body, a transport execution device 3 mounted on the vehicle body, and a traveling mechanism. The transport execution device 3 can adopt common transporter mechanisms such as comb-type, clamp-type, vehicle-lifting plate type, and maintenance point lifting type. In this embodiment, a comb-type mechanism is adopted, which mainly uses a lifting mechanism to drive the comb frame to rise and fall, cooperating with the comb frames on the platform and parking spaces of the multi-level parking garage to store and retrieve vehicles. Specifically, a scissor-type mechanism or other lifting mechanism can be used, which can be driven by hydraulic cylinders or electric push rods, etc. Since the comb-type lifting mechanism is a mature technology, it will not be described in detail in this embodiment. The traveling mechanism can adopt a unidirectional wheel drive mode, a steering wheel drive mode, or an all-directional wheel drive mode. The unidirectional wheel drive mode is divided into all-wheel drive or partial wheel drive (some wheels are not powered). A single wheel is directly driven by a motor and a reducer, or is driven by a main motor and a reducer through mechanical devices such as a transfer case and a clutch. In a single-direction wheel system, longitudinal movement is driven by the longitudinal wheel that needs to be driven, and lateral movement is driven by the lateral wheel that needs to be driven, as shown in Chinese patent application CN112761396A. This system uses a switching method between longitudinal and lateral movement to achieve both. In a steering wheel drive system, the driving wheel is the steering wheel; in an omnidirectional wheel drive system, the driving wheels are omnidirectional wheels or mecanum wheels, etc.; the other wheels are caster wheels or omnidirectional wheels. The steering wheel, omnidirectional wheel, mecanum wheel, and their corresponding control can be implemented 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 elaborated here. In this embodiment, a mecanum wheel is used, eliminating the lateral wheel, which simplifies the wheel system switching device and the drive device; this structure is existing and will not be elaborated here.

[0065] A long vehicle body refers to a body whose length is greater than the vehicle's wheelbase, while a short vehicle body refers to a body whose length is less than the vehicle's wheelbase. A telescopic vehicle body can adjust its length using a telescopic device according to its operating conditions, with its length varying between less than the vehicle's wheelbase and its maximum body length. In this embodiment, a long vehicle body is used.

[0066] The guiding assembly can be a roller, drum, wheel, or similar structure, used to cooperate with and contact the running guide rail set on the ground during travel, and to be constrained by it, guiding the course of the side-guided transporter trolley 2. Specifically, in this embodiment, the guiding assembly includes four corner guide wheels 4 located at the four corners of the side-guided transporter trolley 2. The running guide rail adopts the form of a side guide rail, that is, the outer side of the side guide rail contacts the inner side of the guiding assembly, or the inner side of the side guide rail contacts the outer side of the guiding assembly.

[0067] like Figures 7-8As shown, when the side guide transporter trolley 2 moves longitudinally, the four corner guide wheels 4 contact the inner or outer sides of the longitudinal guide rail 11. To improve the accuracy of the corner guide wheels 4 passing through gaps, several retractable guide wheels 41 can be provided between two corner guide wheels 4 distributed longitudinally / transversely. The retractable guide wheels 41 are configured as a retractable structure, which can be used to contact / disengage from the guide rail by rotation or extension. In this embodiment, extension is used to raise and lower the retractable guide wheels 41 to achieve contact / disengagement with the guide rail.

[0068] The gaps between the segmented guide rails, designed to enable four-way travel switching, are larger than the dimensions of the corner guide wheel 4's outline and the corresponding direction of the drive assembly. During longitudinal travel, the mecanum wheel passes radially and the corner guide wheel 4 sequentially through the gaps between the transverse guide rails; during lateral travel, the mecanum wheel and its associated components pass axially and the corner guide wheel 4 sequentially through the gaps between the longitudinal guide rails; these two gaps are interconnected. Clearly, at the guide rail intersections, the gaps between the longitudinal guide rail segments are larger than the gaps between the longitudinal guide rail segments to allow the drive assembly—the mecanum wheel and its associated components—to pass axially.

[0069] It is evident that by adding a floating clamping mechanism to the guide wheel to maintain effective contact with the side guide rail, and by performing chamfering or rounding at the joints and ends of the guide rail, the stability and smoothness of the side guide transporter 2 during travel and direction changes can be increased.

[0070] Specifically, such as Figures 9-11As shown, in this embodiment, the mother car 5 mainly consists of a walking device 51, a lifting mechanism 52, and a lifting platform 53. The lifting platform 53 has an open structure with openings on all four sides, allowing the side-guided transporter trolley 2 to enter and exit the lifting platform from four directions. When the side-guided transporter trolley 2 on the mother car 5 needs to dock with the running guide rail in the parking area, the lifting platform is equipped with a docking guide mechanism, namely the docking guide rail 54, to guide the side-guided transporter trolley 2 into the running guide rail. If the positioning accuracy of the mother car 5 is low, the docking accuracy of the guide rail will be poor, which will cause problems such as jamming during the transition of the side-guided transporter trolley 2. Therefore, a combination of trackless guidance and tracked guidance methods of automated guided vehicle (AGV) technology can be used to achieve smooth transition of the side-guided transporter trolley 2. For example, a navigation reference magnetic tape can be laid on the parking level exit and entry platforms and the mother car lifting platform 53 to replace a section of the running guide rail and docking guide rail 54, and a magnetic navigation sensor can be installed on the side-guided transporter trolley 2 to detect the magnetic tape. When the mother car 5 deviates from its parking position, that is, when there is a deviation between the lifting platform 53 of the mother car 5 and the magnetic tape of the parking floor entry / exit platform, the magnetic navigation sensor on the side guide transporter 2 detects the deviation between itself and the magnetic tape. The control module of the side guide transporter 2 calculates the control quantities such as the rotation angle, movement distance, and speed of the side guide transporter 2 body to correct the deviation through the control algorithm, and then performs motion control to control the drive device to make the side guide transporter 2 correct its posture and travel along the magnetic tape of the entry / exit platform. Finally, the parking deviation of the mother car 5 is corrected, and the guide component on the side guide transporter 2 smoothly enters the running guide rail. The side guide transporter 2 is guided to travel normally along the running track, completing the smooth switch from trackless guidance to tracked guidance. Conversely, when the side-guided transporter trolley 2 returns to the mother car 5 from the parking area, after its guide component disengages from the parking garage's running rails, the magnetic navigation sensor detects the magnetic tape deviation. Its control module then controls the drive unit to correct the side-guided transporter trolley 2's posture, causing it to move from the entry / exit platform onto the lifting platform. During the transition, it travels along the magnetic tape on the lifting platform, ultimately correcting the mother car 5's parking deviation. The side-guided transporter trolley 2 can then accurately park on the mother car 5, completing a smooth transition from rail-guided to railless guidance. This improves the fault tolerance, adaptability, and accuracy of the docking between the mother-daughter parking robot and the parking garage, thereby ensuring the reliable, safe, and efficient operation of the mother-daughter parking robot's automated parking system. Similarly, without setting up a dedicated navigation reference, the side-guided transporter trolley 2 is equipped with a visual sensor or a lidar sensor as a guidance sensor to detect the characteristics of the mother car lifting platform or the entry / exit platform, as well as the relative position of the side-guided transporter trolley 2 and the navigation reference for guidance. Other automated guided vehicle (AGV) guidance technologies can also be used. After calculation by the control module, the drive device is controlled to correct the posture of the side-guided transporter trolley 2 to enter or exit the lifting platform or to make the guide components of the side-guided transporter trolley 2 contact the running rail.This docking method can also be used in sections of parking levels where it is inconvenient to install running rails, such as fireproof partition doors. The side-guided transporter trolley 2 disengages from the running rails, travels through navigation reference points in that section without rails, and then re-engages with the running rails to continue its journey. The attitude correction and motion control of the side-guided transporter trolley 2, combined with its drive mode, can adopt a differential drive mode for unidirectional wheel drive, and an all-directional drive mode for steering wheel and all-directional wheel drive. The corresponding automatic guided vehicle control technology can be implemented by those skilled in the art based on this structure and conventional control methods, and will not be elaborated here.

[0071] In this embodiment, the docking guide mechanism 54 adopts a grid-like layout with the same layout as the longitudinal guide rail 11 and the transverse guide rail 12. It guides the side guide transporter trolley 2 into the parking level by docking the guide rails together, thereby improving the speed at which the side guide transporter trolley 2 enters the parking level from the lifting platform 53.

[0072] Example 2

[0073] In this embodiment, as Figure 12 The running guide rail shown adopts the form of a channel 13 between two parallel side guide rails for the guide component to pass through. A gap is provided at the intersection of the longitudinal guide rail 11 and the transverse guide rail 12 for the guide component and the wheel of the transporter to pass through. The transporter can be the transporter in Chinese patent application CN112761396A, and the corresponding guide component can be added to the transporter.

[0074] When traveling longitudinally, the retractable guide wheel 41 and the transverse wheel set are both in a high position and exit the channel 13; when changing direction, while switching the transverse and longitudinal wheel sets, the retractable guide wheel 41 in the longitudinal direction is raised and the retractable guide wheel 41 in the transverse direction is lowered, moving along the transverse channel 13.

[0075] Example 3

[0076] like Figure 13As shown, in this embodiment, the running guide rail is an arc-shaped channel 131 formed between two arc-shaped guide rails, which connects two parking areas that are 90° apart with reference to the longitudinal direction of the transporter. All nine guide wheels of the transporter 2 are retractable guide wheels 41, which enter the starting position under the guidance of the longitudinal guide rails 11 on both sides and the channel 13. When the six retractable guide wheels 41 in contact with the longitudinal guide rails 11 are retracted, and the three retractable guide wheels 41 arranged along the longitudinal centerline begin to enter the arc-shaped channel 131 through the channel 13, one of them is retracted and in a high position, disengaging from the channel 13. The line connecting the centers of the other two retractable guide wheels 41 in a low position forms the chord of the centerline (arc) of the arc-shaped channel 131. The transporter 2 adopts a unidirectional wheel drive mode. Driven by the differential speed mode of the longitudinal drive wheel set, and guided by the two retractable guide wheels 41 in the low position along the arc-shaped channel 131, it turns to reach the other parking area arranged at 90°. The movable guide rail 15 can be erected and laid flat under the drive of the actuator. When erected, it can contact the guide wheel to provide guidance. When laid flat, it does not obstruct the passage of the wheel. It is arranged at the connection between the channel 13 and the arc channel 131. Parts of the arc guide rails on both sides of the arc channel 131 are in an erected state, and the two segments of the transverse guide rail 12 corresponding to the other side of the transverse guide rail are in a flat state. After the transporter 2 arrives, the retractable guide wheel 41 of the longitudinal center line is retracted and disengaged from the channel 13 at a high position. The two segments of the movable guide rail 15 corresponding to the transverse guide rail are erected, and the movable guide rails 15 on both sides of the arc channel 131 are laid flat to allow the corner guide wheel 4, the transverse retractable guide wheel 41, and the transverse wheel to pass through. The transporter lowers the transverse wheel, the four corner guide wheels 4, and the transverse retractable guide wheel 41, and it can move laterally by contacting the corresponding transverse guide rail 12 and the movable guide rail 15. For longitudinal movement, the longitudinal wheel and the six retractable guide wheels 41 corresponding to the longitudinal guide rail 11 are lowered to allow longitudinal movement. Similarly, using a similar guide rail layout, two parking areas that are 90° apart with reference to the transverse direction of the transporter can be connected by an arc-shaped channel 131; other curved channels and steering wheel drive or omnidirectional wheel drive can enable the transporter to turn in different directions.

[0077] The curved passage 131 and other curved passages such as "U" and "S" shapes can provide a variety of operating routes and parking space combinations, making the parking space layout more reasonable and making effective use of the parking garage space.

[0078] Example 4

[0079] like Figure 14 As shown, in this embodiment, the transporter 2 starts from the starting position as follows: Figure 14 (a) As shown in the diagram, drive to the transition position as follows Figure 14(b) shows the completion of the longitudinal-diagonal translational travel transition, allowing for diagonal translational travel along the diagonal channel 132. Legend: "+" indicates the retractable guide wheels 41 are lowered to a low position; "-" indicates the retractable guide wheels 41 are retracted to a high position. The longitudinal wheel set for longitudinal travel uses a steering wheel drive, while the lateral wheel set for lateral travel uses a unidirectional wheel drive. When changing travel direction, the longitudinal or lateral wheel set is switched in the same manner as described in Example 1. All nine guide wheels are retractable guide wheels 41. Before entering the starting position, the three retractable guide wheels 41 along the longitudinal centerline are retracted to a high position, and the six retractable guide wheels 41 at the corners and sides are guided by their inner sides contacting the outer surface of the longitudinal guide rail 11. When the transporter 2 begins to enter the starting position, the three retractable guide wheels 41 along the longitudinal centerline pass the lateral guide rail 12 and are sequentially lowered to a low position to enter the channel 13. As the transporter 2 moves from the starting position to the transition position, it sequentially retracts the retractable guide wheels 41 that are about to interfere with the running guide rail, and sequentially lowers the retractable guide wheels 41 that need to contact the running guide rail. Under the relay guidance of the channel 13 and the longitudinal guide rail 11, at least two retractable guide wheels 41 are kept in contact with the running guide rail, and the transporter moves to the transition position as follows: Figure 14 As shown in (b). Then, the steering wheel of the longitudinal wheel assembly rotates to an angle parallel to the inclined channel 132. The three retractable guide wheels 41 on the diagonal are lowered and in contact with the inclined channel 132, while the other retractable guide wheels 41 are retracted and in a high position, disengaging from the running guide rail. The transporter 2 can then move diagonally along the inclined channel 132. Similarly, by arranging inclined channels with different inclination angles and cooperating with retractable guide wheels at different positions on the transporter, the transporter can achieve diagonal translation from longitudinal or lateral to different directions; similar running rails can also be arranged at the arrival position to connect with other layouts, allowing the transporter to travel in longitudinal, lateral, or other directions.

[0080] Example 5

[0081] like Figure 15 As shown, in this embodiment, the transporter 2 rotates 90° counterclockwise along the annular guide rail 16. All ten guide wheels on the transporter 2 are retractable guide wheels 41. The transporter 2 is guided into the transition position by eight retractable guide wheels 41 in a low position contacting the longitudinal guide rail 11. The two retractable guide wheels 41 on the longitudinal center line of the transporter are retracted and in a high position before contacting the annular guide rail 16. [The text abruptly ends here, likely due to an incomplete translation or a missing section.] Figure 12After the indicated transition position, the four retractable guide wheels 41 in the middle are retracted and in a high position, disengaging from the corresponding longitudinal guide rail 11. The four retractable guide wheels 41 at the corners and the two retractable guide wheels 41 on the longitudinal center line are in a low position, contacting the annular guide rail 16. The hexagon formed by the lines connecting the contact points is inscribed within the outline of the outer circle of the annular guide rail 16. The transporter 2 switches to lateral travel, guided by the annular guide rail 16, and rotates 90° to complete the turn under the differential drive mode of the lowered lateral drive wheels. Then, the transporter 2 switches to longitudinal travel. The two retractable guide wheels 41 on the longitudinal center line are retracted and in a high position, while the four retractable guide wheels 41 in the middle are lowered and the four retractable guide wheels 41 at the corners remain in a low position, continuing to contact the corresponding longitudinal guide rail 11 and guiding the transporter out of the transition position. The movable guide rail 15 lies flat during the rotation of the transporter 2, allowing the drive assembly and retractable guide wheel 41 to pass through. After the transporter 2 completes its rotation, it stands upright and connects with the longitudinal guide rail 11, enabling a smooth transition in the transporter 2's guidance. Similarly, by arranging longitudinal guide rails 11 or transverse guide rails 12 with different steering angles for entry and exit, the transporter 2 can achieve rotational reversal from longitudinal or transverse to different angle directions along the annular guide rail 16.

[0082] Example 6

[0083] like Figure 16 As shown, in this embodiment, the transporter 2 adopts a telescopic body. Each parking space is arranged as a longitudinal and transverse reversing station, corresponding to one main longitudinal and transverse reversing unit and two auxiliary longitudinal and transverse reversing units. The transporter 2 body is equipped with four corner guide wheels 4 and four auxiliary guide wheels 42 respectively installed on the two telescopic sections. When the transporter 2 is unloaded, the telescopic sections retract, allowing it to travel in four directions under the vehicle. The main longitudinal and transverse reversing unit plays a primary guiding role. During longitudinal travel, it relies on the four corner guide wheels 4 and four auxiliary guide wheels 42 to contact and guide the longitudinal guide rail 11; during transverse travel, it relies on the four corner guide wheels 4 to contact and guide the transverse guide rail 12. When the transporter 2 is loaded, the telescopic sections extend. One main longitudinal and transverse reversing unit and two auxiliary longitudinal and transverse reversing units work together. During longitudinal or transverse travel, the four corner guide wheels 4 and four auxiliary guide wheels 42 contact and guide the vehicle respectively with the longitudinal guide rail 11 or the transverse guide rail 12.

[0084] Example 7

[0085] like Figure 17As shown, this embodiment provides a parking system that comprehensively utilizes the guide rail layout and row, column, or matrix parking space layouts from Embodiments 2, 3, 4, and 5. The guide rail layouts in the above embodiments are used to connect parking spaces A (A1-A7), B (B1-B4), C (C1-C3), and D (D1-D6). The four side-guided transporters 2 are guided by the guide rails, with the inner side of their guide wheels contacting the outer side of the running guide rails during both longitudinal and lateral travel. The main guide wheels of side-guided transporters 2 (numbers 1 and 2) are installed on the four sides of the vehicle body, with drive wheels located on the four sides. The main guide wheels of side-guided transporters 2 (numbers 3 and 4) are installed at the bottom of the vehicle body near the four sides, with drive wheels located in front of the four corner guide wheels. The four side-guided transporters 2 can be equipped with comb-type, car-lifting-plate, tire-clamping, or maintenance point lifting transport devices, using long, short, or telescopic vehicle bodies, to transport vehicles within parking spaces and routes with running guide rails.

[0086] Specifically, for example, if the No. 1 side guide transporter 2 needs to transport the vehicle to parking space B2 in area B, the load transporter drives into parking space A1 along the longitudinal guide rail 11 and the channel 13, lowers the three retractable guide wheels 41 corresponding to the position of the inclined channel 132 and enters the inclined channel 132, and retracts the other retractable guide wheels 41; the four longitudinal wheels (steering wheels) turn to be parallel to the inclined channel, driving the No. 1 side guide transporter 2 to be guided along the inclined channel 132 to B3; the corresponding wheel set is switched and the corresponding retractable guide wheels 41 are retracted, turning to longitudinal travel and being guided through the channel 13 to B1, and then turning to lateral travel to B2, unloading the vehicle and completing the transport task. After the No. 1 side-guided transporter 2 reaches B1, it can rely on two retractable guide wheels 41 that are lowered in the passage to retract one retractable guide wheel 41 on the longitudinal center line and the other retractable guide wheels 41. The four longitudinal wheels (steering wheels) follow the steering or differential steering, guiding it along the arc-shaped passage 131 to the C2 parking space. Then, it switches the corresponding wheel set and retracts the corresponding retractable guide wheel 41, and then travels laterally to the C1 or C3 parking space. If the No. 3 side-guided transporter 2 needs to transport the vehicle to the C3 parking space in area C, the load transporter lowers the six retractable guide wheels 41 corresponding to the circular guide rail 16 at the D1 parking space and contacts the circular guide rail 16. It switches to lateral wheel differential steering, and rotates 90° clockwise under the guidance of the circular guide rail 16. It switches the corresponding wheel set and retracts the corresponding retractable guide wheel 41, switches to longitudinal driving to the C2 parking space, and then switches to lateral driving to the C1 parking space, unloading the vehicle and completing the transport task. Side guide transporter 2 is moving from the mother car to parking space A4 under the guidance of longitudinal guide rail 11, while side guide transporter 4 is moving from parking space A7 to the mother car along transverse guide rail 12 after completing the transport task.

[0087] It should be understood that the side-guided transporter trolley 2 can move on a plane in a variety of ways, and point-to-point movement can be achieved by combining various methods. The specific method used depends on factors such as the actual number of vehicles parked and the location of the vehicles.

[0088] The above details the side-guided transporter trolley 2's ability to perform internal scheduling, transport, and parking within the parking level based on its function. This embodiment also includes two models of mother-daughter parking robots; both models' walking devices 51 are configured with four steering wheels for omnidirectional drive, and the mother vehicle 5 is a laser-guided omnidirectional mobile robot. For example... Figure 10 As shown, Model I lifting mechanism 52 is equipped with four sets of single-mast hydraulic telescopic booms and sprockets and chains to lift a lifting platform 53 with openings on all four sides. The lifting platform 53 is equipped with docking guide rails 54 arranged in a "well" shape, and the side guide transport trolley 2 can enter and exit the lifting platform 53 from four directions. Model II lifting mechanism 52 is equipped with a rear double-cylinder hydraulic lifting gantry and a bottom scissor lift mechanism to lift a three-sided lifting platform 53. The difference from the full-platform lifting mechanism is that there is a lifting gantry on the rear side that cannot be entered or exited. The lifting platform 53 is equipped with docking guide rails 54 arranged in a "well" shape, and the side guide transport trolley 2 can enter and exit the lifting platform 53 from three directions. The Type I mother-daughter parking robot travels laterally to the side of the target parking space A7. The lifting mechanism 52 raises the lifting platform 53 to dock with the A7 parking space. The docking guide rail 54 aligns with the transverse groove guide rail 12 of the running guide rail. The No. 4 side guide transporter, whether unloaded or carrying a vehicle, enters the docking guide rail 54 along the transverse groove guide rail 12 and drives into the lifting platform 53. The lifting mechanism 52 lowers the lifting platform 53 and the side guide transporter trolley 2. The mother robot carries the side guide transporter trolley 2 and the vehicle to the target platform for unloading. The Type II mother-daughter parking robot travels longitudinally to the front of the target parking space A4 and completes the same actions as the Type I mother-daughter parking robot. The side guide transporter trolley 2, guided by the guide component along the docking guide rail 54 and entering the longitudinal groove guide rail 11, drives out of the lifting platform 53. The vehicle is transported and transferred to the A4 parking space via the side guide transporter trolley 2. Then, the side guide transporter trolley 2 is retrieved or directly proceeds to the next target point to transport other side guide transporter trolleys.

[0089] This embodiment also includes a host system for unified scheduling of the mother and child parking robots, the mother vehicle, and the side-guided transporter vehicle 2. The host system consists of a central control computer and a communication module. The host system communicates with the mother vehicle and the side-guided transporter vehicle 2 of the mother and child parking robots via a wireless network. The automated parking garage consists of multi-level platforms distributed in various forms such as a matrix or cylindrical towers. This embodiment adopts... Figure 1The diagram shows a comb-type parking rack automated parking system. The number of mother cars and side-guided transporter vehicles 2 in the system is configured according to the operating environment; it can be 1:1 or a:b, with the number of mother cars either exceeding or decreasing the number of side-guided transporter vehicles 2. The system operation process is as follows:

[0090] 1. The driver parks the vehicle on the parking platform and gets out of the vehicle;

[0091] 2. The host system receives the vehicle safety and arrival signal from the platform, and the central control computer sends the parking task instruction to the idle mother and daughter parking robots through the communication module.

[0092] 3. When the idle mother-daughter parking robot moves to the platform position, the lifting platform is aligned with the platform. The host system or the mother car control system sends a command to the side guide transporter trolley 2. The side guide transporter trolley 2 drives longitudinally or laterally under the comb-type parking frame according to the platform type, raises the comb frame and engages with the comb-type parking frame to lift the vehicle, and drives back to the mother car lifting platform.

[0093] 4. The side-guided transporter trolley 2 lowers the comb frame to the low position. When the lifting platform is parked, the wheel system switching device makes all wheels in the low position and in contact with the lifting platform to prevent the side-guided transporter trolley 2 from sliding when the mother car is moving. The side-guided transporter trolley 2 reports to the upper system and the mother car control system that the loading task is completed.

[0094] 5. The host system sends the target position to the mother and daughter parking robots. The mother and daughter parking robots drive to the target plane position, raise the lifting platform and align it with the platform. The side guide transporter trolley 2 raises the comb frame and switches the wheel system to the required driving direction.

[0095] 6. The side-guided transporter trolley 2 runs to the target parking space in the guide rail system, lowers the comb frame, and the vehicle stops on the comb-type parking frame in the parking space. The side-guided transporter trolley 2 reports to the host system and the mother car that the unloading task is completed.

[0096] 7. The side-guided transporter trolley 2 returns to the mother car, and the mother car reports to the upper system that the storage task instruction is completed, and waits for the upper system's dispatch instruction to return to the rest point or start the next transport task.

[0097] 8. The process of retrieving a vehicle is the same as that of storing a vehicle.

[0098] With the four-way travel function of the lifting platform and the side-guided transporter trolley 2, vehicles in parking spaces around the aisle can be directly transported. Depending on whether the mother car lifting platform is equipped with a comb frame and the configuration ratio of the mother and child parking robots, when the target vehicle is located in the middle parking space, the upper system can schedule the mother and child parking robots or separately schedule the mother car and the side-guided transporter trolley 2 to work together in multiple modes or combinations of multiple modes to complete the vehicle retrieval:

[0099] 1. With one occupied parking space between the robot and the passageway, the mother-daughter parking robot first moves the obstructed vehicle to an empty parking space in its own area or another area. Then, the side-guided transporter 2 moves the target vehicle onto the mother robot through the passageway formed by the empty parking space. The mother-daughter parking robot then moves the target vehicle to the platform to complete the vehicle retrieval; alternatively, another mother-daughter parking robot can move the target vehicle to the platform to complete the vehicle retrieval.

[0100] 2. There is one available parking space between the vehicle and the passage. When there is no available parking space, two parent-child parking robots work together. One parent-child parking robot moves the obstructed vehicle onto itself for temporary storage, while the other parent-child parking robot retrieves the target vehicle and delivers it to the platform. The first parent-child parking robot then moves the obstructed vehicle to the original target vehicle parking space to complete the vehicle retrieval.

[0101] 3. With multiple parking spaces between the robot and the passageway, one or more parent-child parking robots work together in mode 1, 2 or a combination of modes to retrieve the vehicle.

[0102] 4. Multiple occupied parking spaces are spaced between the parking garage and the access road, while vacant parking spaces are available on the same level platform. Multiple parent-child parking robots can place their respective side-guided transporter vehicles 2 into the same level platform. Depending on the ratio of parking and retrieval tasks, when there are many retrieval tasks or the number of side-guided transporter vehicles 2 exceeds the number of parent robots, some side-guided transporter vehicles 2 can remain in the automated parking garage. Under the scheduling of the upper-level system, the side-guided transporter vehicles 2 on the same platform sequentially transport obstructed vehicles to vacant parking spaces, opening the transport channel for the target vehicle, and then completing the retrieval according to mode 1. At the same time, the vacant parent robot can cooperate with other stationed side-guided transporter vehicles 2 to complete other parking and retrieval tasks under the scheduling of the upper-level system.

[0103] 5. Multiple parking spaces with cars are spaced between the access channels, and there are no vacant parking spaces on the same level platform. Multiple parent-child parking robots can place their respective side-guided transporter vehicles 2 on the same level platform to work collaboratively with the stationary side-guided transporter vehicles 2. The upper-level system schedules the parent robot to reach the required position. Under the scheduling of the upper-level system, all side-guided transporter vehicles 2 simultaneously move the entire row or column of vehicles obstructed by obstacles in the associated parking spaces at the same pace. Simultaneously, using modes 1 and 2, a transport channel is opened for the target vehicle, and then mode 1 is used to complete the vehicle retrieval. Meanwhile, the vacant parent robot can cooperate with other stationary side-guided transporter vehicles 2 to complete other vehicle storage and retrieval tasks under the scheduling of the upper-level system. The above specific examples illustrate the invention and are only for the purpose of helping to understand the invention, and are not intended to limit the invention. For those skilled in the art, based on the ideas of the invention, several simple deductions, modifications, or substitutions can be made.

Claims

1. A three-dimensional parking system for a mother-daughter parking robot equipped with side-guided transporters, comprising a mother-daughter parking robot and multiple parking levels, each parking level having multiple parking spaces; the mother-daughter parking robot comprises a mother vehicle and multiple side-guided transporter vehicles, wherein after the side-guided transporter vehicles enter the mother vehicle, they are transported by the mother vehicle to the area below the target parking level, and then the mother vehicle raises and lowers the side-guided transporter vehicles to allow the side-guided transporter vehicles to enter different parking levels for loading and unloading vehicles, characterized in that: Each parking level is equipped with running guide rails, which include: independent or intersecting transverse guide rails, longitudinal guide rails, and reversing guide rails. The height of the running guide rail is less than the ground clearance of the side guide transporter chassis; The side-guided transporter trolley is equipped with a guide assembly consisting of multiple guide members. The guide members contact the sides of the longitudinal guide rail / transverse guide rail / reversing guide rail, guiding the side-guided transporter trolley to move along the longitudinal guide rail / transverse guide rail / reversing guide rail. Interconnected gaps are provided at the intersection of the running guide rails to allow the guide assembly and the traveling mechanism of the side-guided transporter trolley to pass through. The lifting platform of the mother car is either a side-opening platform or a full platform with no obstructions on all sides. The side-opening platform is provided with multiple openings for the side-guided transporter trolleys to enter and exit. A docking guide mechanism is provided at the docking position between the lifting platform and the parking floor. The docking guide mechanism is used to dock with the running guide rail to guide the side guide transporter trolley into and out of the lifting platform. The two longitudinal guide rails and the two transverse guide rails intersect in a "well" shape, with interconnected gaps at the intersection, forming a basic guide rail element; the guide assembly includes: four corner guides located at the four corners of the side guide transporter trolley and corresponding to the gaps at the intersection, forming a basic guide element; a basic guide rail element and a basic guide element constitute a main longitudinal and transverse reversing unit. When the side-guided transporter trolley moves longitudinally, the four corner guides contact the longitudinal guide rail; When the side-guided transporter trolley moves laterally, the four corner guides contact the lateral guide rail; When the side-guided transporter trolley reverses its longitudinal / lateral direction, the four corner guides switch from contacting the longitudinal guide rail to contacting the lateral guide rail through the gap at the intersection of the guide rails, or the four corner guides switch from contacting the lateral guide rail to contacting the longitudinal guide rail through the gap at the intersection of the guide rails, thus completing the change of travel direction.

2. The mother-daughter parking robot three-dimensional parking system equipped with a side-guided transporter as described in claim 1, characterized in that, The body of the side-guided transporter vehicle can be any one of a long body, a short body, or a telescopic body.

3. The mother-daughter parking robot three-dimensional parking system equipped with a side-guided transporter as described in claim 1, characterized in that, The height of the side-guided transporter vehicle is less than the ground clearance of the vehicles or mechanical structures on its travel route, allowing it to travel in multiple directions under the vehicles or mechanical structures on its travel route.

4. The mother-daughter parking robot three-dimensional parking system equipped with a side-guided transporter as described in claim 1, characterized in that, The mating structure of the running guide rail and the guide assembly includes: (1) The outer surface of the running guide rail contacts the inner surface of the guide assembly; or (2) The inner surface of the running guide rail contacts the outer surface of the guide assembly; or (3) A channel is formed between the two running guides, and the guide assembly contacts the inner side of one running guide with its outer side, or contacts the outer side of the other running guide with its inner side. The above three structures can be set in the same system and can be smoothly switched between different structures; The longitudinal guide rail setting and the transverse guide rail setting adopt different structural combinations; Among them, the side of the running guide rail facing the center line of the vehicle body is the inner side of the running guide rail, and the side of the running guide rail facing away from the center line of the vehicle body is the outer side of the running guide rail.

5. The mother-daughter parking robot three-dimensional parking system equipped with a side-guided transporter as described in claim 1, characterized in that, The longitudinal guide rail and the transverse guide rail also cross in a "艹" shape, and there are interconnected gaps at the intersection, which is a guide rail basic element; the guiding component includes: two guiding members respectively located at the gaps corresponding to the intersection on the side guiding carrier sub-vehicle, and the two guiding members are a guiding basic element; a guide rail basic element and a guiding basic element form a sub-longitudinal and transverse commutation unit; When the side guiding carrier sub-vehicle moves longitudinally, the two guiding members contact the longitudinal guide rail; When the side guiding carrier sub-vehicle moves transversely, the two guiding members contact the transverse guide rail; When the side guiding carrier sub-vehicle changes its longitudinal / transverse direction, the two guiding members switch from contacting the longitudinal guide rail to contacting the transverse guide rail through the gap at the intersection of the guide rails, or the two guiding members switch from contacting the transverse guide rail to contacting the longitudinal guide rail through the gap at the intersection of the guide rails, completing the conversion of the driving direction.

6. The mother-daughter parking robot three-dimensional parking system equipped with a side-guided transporter as described in claim 5, characterized in that, When changing the longitudinal / transverse direction, a main commutation unit, or a sub-commutation unit, or a combination of several main commutation units and several sub-commutation units is set.

7. The mother-daughter parking robot three-dimensional parking system equipped with a side-guided transporter as described in claim 1, characterized in that, The guiding component further includes: a retractable guiding member located on the side guiding carrier sub-vehicle, to ensure that there are more than two guiding members contacting the running guide rail at any time, so as to make the side guiding carrier sub-vehicle run or change direction stably.

8. The mother-daughter parking robot three-dimensional parking system equipped with a side-guided transporter as described in claim 1, characterized in that, The commutation guide rail includes a curved guide rail; the two curved guide rails maintain an equal distance to form a curved strip-shaped channel. Two retractable guiding members located in the middle of the side guiding carrier sub-vehicle are lowered to a low position, and the line connecting the centers of the two retractable guiding members forms a chord of the center line of the curved strip-shaped channel. The two retractable guiding members move into the curved strip-shaped channel along with the side guiding carrier sub-vehicle, providing guidance for the side guiding carrier sub-vehicle to achieve a curved turn of the side guiding carrier sub-vehicle from one direction to another direction.

9. The mother-daughter parking robot three-dimensional parking system equipped with a side-guided transporter as described in claim 1, characterized in that, The commutation guide rail includes an oblique guide rail; the two oblique guide rails are parallel to form an oblique channel. Multiple retractable guiding members move into the oblique channel along with the side guiding carrier sub-vehicle or reach above the oblique channel and then are lowered to a low position to enter the oblique channel and contact the oblique guide rail, providing guidance for the side guiding carrier sub-vehicle to achieve a translational movement of the side guiding carrier sub-vehicle along the direction of the oblique channel.

10. The mother-daughter parking robot three-dimensional parking system equipped with a side-guided transporter as described in claim 1, characterized in that, The commutation guide rail further includes an annular guide rail; the side guiding carrier sub-vehicle arrives above the annular guide rail under the guidance of the running guide rail, and its multiple retractable guiding members corresponding to the annular guide rail are in a low position, and the inner sides of all of them contact the outer side of the annular guide rail. The outer circle of the retractable guiding member is tangent to the outer circle of the annular guide rail, and the polygon formed by the connection lines between adjacent tangent points is an inscribed polygon of the outer circle of the annular guide rail, which can achieve the in-situ spin commutation of the side guiding carrier sub-vehicle under the guidance of the annular guide rail.

11. The mother-daughter parking robot three-dimensional parking system equipped with a side-guided transporter as described in claim 1, characterized in that, A section of the running guide rail or a part of a section of the running guide rail is controlled by an actuator to be erected or laid flat to form a movable guide rail.

12. The mother-daughter parking robot three-dimensional parking system equipped with a side-guided transporter as described in claim 1, characterized in that, The docking guide mechanism is a docking guide rail that is set on the plane of the lifting platform and is the same as the running guide rail, or a navigation reference object arranged at the docking position of the lifting platform and the parking floor; Wherein, after the docking guide rail is docked with the running guide rail, the guiding component cooperates with the docking guide rail / running guide rail to guide the side guide transporter trolley to enter and exit the lifting platform; The side-guided transporter trolley is equipped with a guidance sensor that detects navigation reference objects. After the lifting platform and the navigation reference object at the docking position of the parking floor are docked, the guidance sensor measures the relative position of the side-guided transporter trolley and the navigation reference object and transmits it to the vehicle controller to correct and control the attitude and driving of the side-guided transporter trolley, guide the side-guided transporter trolley to enter and exit the lifting platform, and ensure that the guiding components are accurately matched with the running guide rail.

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