A mother-and-child vehicle capable of precise docking

Abstract

The present application provides a mother-and-child vehicle that can be precisely docked, comprising: a mother vehicle, a child vehicle and a pallet; the mother vehicle comprises: a mobile base, a mother vehicle body, a lifting device and a handling device; the mother vehicle body is arranged on the mobile base, the lifting device and the handling device are arranged on the mother vehicle body, the lifting device is connected to the handling device, and the handling device is used to connect the pallet; the mother vehicle body is provided with a first identification device and a mother identification part, the child vehicle is provided with a second identification device and a child identification part, the mother vehicle is used to identify the child identification part through the first identification device to determine the relative position with the child vehicle, and the child vehicle is used to identify the mother identification part through the second identification device to determine the relative position with the mother vehicle, thereby achieving precise docking between the mother vehicle and the child vehicle. The present application provides a mother-and-child vehicle that can be precisely docked, which improves the accuracy of the docking position between the mother vehicle and the child vehicle during the docking process, improves the docking efficiency, and optimizes the docking effect.

Description

Technical Field

[0001] The present application relates to the technical field of mother-and-child carts, and in particular to a mother-and-child cart that can be precisely docked. Background Art

[0002] A mother-and-child cart is a robotic vehicle used in automated warehousing and logistics systems, usually used to transport goods in warehouses or production lines. The mother-and-child cart system usually consists of a child cart and a mother cart. The mother cart and the child cart can perform the task of transporting goods separately, or they can cooperate through automated control and path planning to achieve efficient cargo handling, collection and sorting tasks, thereby improving the efficiency and accuracy of the warehousing and logistics system.

[0003] Mother-and-child trucks play an increasingly important role in modern logistics. In the process of coordinated cooperation between mother trucks and child trucks, the docking of mother-and-child trucks is also an important step. However, in the prior art, the docking of mother-and-child trucks is often prone to problems such as slow docking speed or inaccurate docking position, which in turn affects transportation efficiency.

[0004] Therefore, there is a need for a solution to solve at least one of the above problems. Utility Model Content

[0005] In view of at least one of the defects in the prior art, the present application proposes a mother-and-child vehicle that can be precisely docked.

[0006] The technical solution adopted by the present application to solve at least one of the above technical problems is:

[0007] A mother-child vehicle that can be precisely docked, comprising: a mother vehicle, a child vehicle and a pallet;

[0008] The mother vehicle comprises: a mobile base, a mother vehicle body, a lifting device and a handling device;

[0009] The main body of the mother vehicle is arranged on the mobile base, the lifting device and the handling device are arranged on the main body of the mother vehicle, the lifting device is connected to the handling device, and the handling device is used to connect the pallet;

[0010] The main body of the mother vehicle is provided with a first identification device and a mother identification part, and the child vehicle is provided with a second identification device and a child identification part. The mother vehicle is used to identify the child identification part through the first identification device to determine the relative position with the child vehicle, and the child vehicle is used to identify the mother identification part through the second identification device to determine the relative position with the mother vehicle, thereby realizing the precise docking of the mother vehicle and the child vehicle.

[0011] In a specific embodiment, the sub-marking portion and / or the female marking portion comprises a V-shaped structure.

[0012] In a specific embodiment, the first recognition device and / or the second recognition device include one or more of a camera sensor, a laser radar, and a stereo camera.

[0013] In a specific embodiment, the mother vehicle has a U-shaped arm extending in a preset first direction, and the U-shaped arm is used to guide the movement of the sub-vehicle and provide a docking area for the sub-vehicle.

[0014] In a specific embodiment, it also includes a distance measuring device, which includes one or at least two distance measuring devices, and the at least two distance measuring devices are respectively arranged on one side of the U-shaped arm close to the transport device to detect the relative distance between the mother vehicle and the child vehicle.

[0015] In a specific embodiment, at least part of the distance measuring device is located within the projection of the sub-vehicle on the U-shaped arm.

[0016] In a specific embodiment, a mobile device is provided at the bottom of the mobile base, and a shock-absorbing assembly is provided at the connection between the mobile device and the mobile base, and the shock-absorbing assembly includes an elastic member and a folding member; the elastic member is provided on the mobile device and connected to one side of the folding member, the side of the folding member connected to the elastic member is also connected to the mobile device, and the side of the folding member away from the elastic member is connected to the mobile base.

[0017] In a specific embodiment, the pallet is provided with a plurality of groups of through holes distributed along the length direction and / or width direction of the pallet, and the through holes distributed in different directions of the pallet are connected to each other to facilitate the connection of the handling device to the pallet.

[0018] In a specific embodiment, a driving device is further provided, which is arranged in the mother vehicle body and connected to the lifting device to drive the lifting device to reciprocate in the vertical direction.

[0019] In a specific embodiment, the mother vehicle and the child vehicle are further provided with a groove structure and an installation cavity;

[0020] The installation cavity matches the first identification device and the second identification device to realize the positioning installation of the first identification device and the second identification device;

[0021] The groove-shaped structure is connected to the installation cavity to reduce the shielding of the first identification device by the mother vehicle and the shielding of the second identification device by the child vehicle.

[0022] Beneficial effects:

[0023] The present application provides a mother-child vehicle that can be precisely docked, which improves the accuracy of the docking position between the mother vehicle and the child vehicle during the docking process, improves the docking efficiency, and optimizes the docking effect; specifically, a first identification device and a mother identification part are provided on the mother vehicle, and a second identification device and a child identification part are provided on the child vehicle, thereby realizing multiple identifications of the docking position, improving the accuracy of determining the docking position, and improving the stability and consistency of the docking effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 This is an exploded view of the mother-and-child carriage structure of this embodiment;

[0026] Figure 2 This is a three-dimensional diagram of the docking state of the mother-child vehicle of this embodiment;

[0027] Figure 3 The mother vehicle structure of this embodiment is three-dimensional Figure 1 ;

[0028] Figure 4 The mother vehicle structure of this embodiment is three-dimensional Figure 2 ;

[0029] Figure 5 A three-dimensional diagram of the sub-vehicle structure of this embodiment;

[0030] Figure 6 This is a three-dimensional structural diagram of the pallet of this embodiment;

[0031] Figure 7 is a structural diagram of the shock absorbing assembly of this embodiment;

[0032] Figure 8 This is a structural diagram of the mobile base of this embodiment;

[0033] Fig. 9 The cross section of the structure diagram of the mother-child carriage of this embodiment Figure 1 ;

[0034] Fig.10 The cross section of the structure diagram of the mother-child carriage of this embodiment Figure 2 .

[0035] Reference numerals:

[0036] 1-mother car; 11-movable base; 110-U-shaped arm; 111-first extension arm; 112-second extension arm; 113-middle connecting member; 114-moving device; 115-shock absorbing assembly; 116-elastic member; 117-folding member; 12-mother car body; 13-lifting device; 14-handling device; 2-child car; 3-pallet; 31-through hole; 41-first identification device; 42-second identification device; 51-child identification part; 52-mother identification part; 6-distance measuring device; 71-installation cavity; 72-groove structure. DETAILED DESCRIPTION

[0037] In the following, various embodiments of the present disclosure will be described more fully. The present disclosure may have various embodiments, and adjustments and changes may be made therein. However, it should be understood that there is no intention to limit the various embodiments of the present disclosure to the specific embodiments disclosed herein, but rather the present disclosure should be understood to cover all adjustments, equivalents and / or alternatives that fall within the spirit and scope of the various embodiments of the present disclosure.

[0038] Hereinafter, the terms "include" or "may include" used in various embodiments of the present disclosure indicate the presence of disclosed functions, operations, or elements, and do not limit the addition of one or more functions, operations, or elements. In addition, as used in various embodiments of the present disclosure, the terms "include", "have", and their cognates are intended only to indicate specific features, numbers, steps, operations, elements, components, or a combination of the foregoing, and should not be understood as first excluding the presence of one or more other features, numbers, steps, operations, elements, components, or a combination of the foregoing or the possibility of adding one or more features, numbers, steps, operations, elements, components, or a combination of the foregoing.

[0039] In various embodiments of the present disclosure, the expression "or" or "at least one of A or / and B" includes any combination or all combinations of the words listed at the same time. For example, the expression "A or B" or "at least one of A or / and B" may include A, may include B, or may include both A and B.

[0040] The expressions (such as "first", "second", etc.) used in the various embodiments of the present disclosure may modify the various constituent elements in the various embodiments, but may not limit the corresponding constituent elements. For example, the above expressions do not limit the order and / or importance of the elements. The above expressions are only used for the purpose of distinguishing one element from other elements. For example, the first user device and the second user device indicate different user devices, although both are user devices. For example, without departing from the scope of the various embodiments of the present disclosure, the first element may be referred to as the second element, and similarly, the second element may also be referred to as the first element.

[0041] It should be noted that if it is described that one component element is “connected” to another component element, the first component element may be directly connected to the second component element, and a third component element may be “connected” between the first component element and the second component element. Conversely, when one component element is “directly connected” to another component element, it can be understood that there is no third component element between the first component element and the second component element.

[0042] The term “user” used in various embodiments of the present disclosure may indicate a person using an electronic device or a device (eg, an artificial intelligence electronic device) using the electronic device.

[0043] The terms used in the various embodiments of the present disclosure are only used for the purpose of describing specific embodiments and are not intended to limit the various embodiments of the present disclosure. As used herein, the singular form is intended to also include the plural form, unless the context clearly indicates otherwise. Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meaning as the meanings commonly understood by ordinary technicians in the field to which the various embodiments of the present disclosure belong. The terms (such as the terms defined in the generally used dictionary) will be interpreted as having the same meaning as the contextual meaning in the relevant technical field and will not be interpreted as having an idealized meaning or an overly formal meaning, unless clearly defined in the various embodiments of the present disclosure.

[0044] Example

[0045] The embodiment of the present application provides a mother-and-child vehicle that can be precisely docked, such as Figures 1 to 6 As shown, it includes: a mother vehicle 1, a sub-vehicle 2 and a pallet 3;

[0046] The mother vehicle 1 comprises: a mobile base 11, a mother vehicle body 12, a lifting device 13 and a transport device 14;

[0047] The mother vehicle body 12 is arranged on the mobile base 11, and the lifting device 13 and the handling device 14 are arranged on the mother vehicle body 12, the lifting device 13 is connected to the handling device 14, and the handling device 14 is used to connect the pallet 3;

[0048] The mother vehicle body 12 is provided with a first identification device 41 and a mother identification part 52, and the child vehicle 2 is provided with a second identification device 42 and a child identification part 51. The mother vehicle 1 is used to identify the child identification part 51 through the first identification device 41 to determine the relative position with the child vehicle 2, and the child vehicle 2 is used to identify the mother identification part 52 through the second identification device 42 to determine the relative position with the mother vehicle 1, thereby realizing the precise docking of the mother vehicle 2 and the child vehicle 1.

[0049] It can be understood that the first identification device 41 arranged on the mother vehicle 1 can accurately identify the sub-identification part 51 arranged on the child vehicle 2, and the second identification device 42 arranged on the child vehicle 2 can accurately identify the mother identification part 52 arranged on the mother vehicle 1. The sub-identification part 51 is first identified by the first identification device 41 to determine the relative position of the mother vehicle 1 and the child vehicle 2, and then the mother identification part 52 is identified by the second identification device 42 to determine the relative position of the child vehicle 2 and the mother vehicle 1. This two-way identification mechanism can improve the accuracy of the relative position of the mother vehicle 1 and the child vehicle 2 during docking, and also helps to adjust the position and posture of the mother vehicle 1 and the child vehicle 2 in real time, thereby reducing the error of the relative position between the mother vehicle 1 and the child vehicle 2, and realizing accurate docking of the mother vehicle 1 and the child vehicle 2.

[0050] In addition, the first recognition device 41 can quickly and accurately identify the sub-identification part 51, and the second recognition device 42 can quickly and accurately identify the parent identification part 52, thereby increasing the docking speed and further improving the handling efficiency of the mother-child vehicle; it also essentially realizes an automated docking process, reduces the need for manual control, and improves operational efficiency and intelligence.

[0051] Furthermore, if Fig. 9 and Fig.10 As shown, the sub-marking portion 51 and / or the female marking portion 52 at least partially includes a V-shaped structure.

[0052] It can be understood that the sub-identification portion 51 and / or the mother identification portion 52 is at least partially V-shaped. The V-shaped structure has relatively obvious geometric features, which can help the first identification device 41 and the second identification device 42 to be more easily identified and located, thereby improving the recognition speed and recognition accuracy of the first identification device 41 and the second identification device, and helping to improve the docking speed.

[0053] Preferably, both the sub-identification portion 51 and the female identification portion 52 present a complete V-shaped structure.

[0054] Furthermore, the first recognition device 41 and / or the second recognition device 42 includes one or more of a camera sensor, a laser radar, and a stereo camera.

[0055] Different recognition devices have different functions. The first recognition device 41 and / or the second recognition device 42 often includes a combination of multiple sensors such as camera sensors, lidars, stereo cameras, etc. The combined use can provide more comprehensive and accurate environmental perception and target recognition.

[0056] For example, camera sensors can provide color and texture information, lidar can provide precise distance information, and stereo cameras can provide depth perception, which together can provide a more comprehensive understanding of the surrounding environment and make more accurate docking decisions.

[0057] Furthermore, the mother vehicle 1 has a U-shaped arm 110 extending in a preset first direction, and the U-shaped arm 110 is used to guide the movement of the sub-vehicle 2 and provide a docking area for the sub-vehicle 2 .

[0058] The preset first direction is the direction in which the mother vehicle 1 faces the child vehicle 2 when docking.

[0059] Specifically, in some embodiments of the present application, Figure 8 As shown, the mobile base 11 includes: a first extension arm 111, a second extension arm 112 and an intermediate connecting member 113;

[0060] The first extension arm 111 , the second extension arm 112 and the intermediate connecting member 113 may be integrally formed to form the outline of the U-shaped arm 110 ;

[0061] The first extension arm 111 and the second extension arm 112 may also be connected respectively through an intermediate connecting member 113 to form the outline of a U-shaped arm 110 that facilitates the docking of the mother vehicle 1 and the child vehicle 2 .

[0062] The formed U-shaped arm 110 presets the docking area between the mother vehicle 1 and the child vehicle 2, which is convenient for the docking between the mother vehicle 1 and the child vehicle 2. The shape setting of the U-shaped arm 110 is an open structure, which can guide the docking between the mother vehicle 1 and the child vehicle 2, and impose certain restrictions on the docking area in advance, so as to facilitate further refined position adjustment through the recognition function of the first recognition device 41 and the second recognition device 42.

[0063] Furthermore, if Figure 1 , Figure 3 and Figure 4 As shown, it also includes a distance measuring device 6, which includes one or at least two distance measuring devices 6. The at least two distance measuring devices 6 are respectively arranged on one side of the U-shaped arm 110 close to the transport device 14 to detect the relative distance between the mother vehicle 1 and the child vehicle 2.

[0064] It can be understood that the multiple distance measuring devices 6 can firstly achieve full coverage of the docking process and docking position of the mother vehicle 1 and the child vehicle 2 during the entire docking time, and can accurately detect the relative distance between the child vehicle 2 and the mother vehicle 1; secondly, even if some distance measuring devices 6 fail due to malfunction or obstruction, other distance measuring devices 6 can still be used for distance measurement, thereby improving the reliability of the system; finally, by performing distance measurement through multiple distance measuring devices 6, more accurate distance measurement can be achieved, and comprehensive analysis using multi-point measurement data can eliminate errors and improve the accuracy of distance measurement.

[0065] Furthermore, at least part of the distance measuring device 6 is located within the projection of the sub-vehicle 2 on the U-shaped arm 110 .

[0066] Preferably, during docking, all distance measuring devices 6 are located within the projection of the sub-vehicle 2 on the U-shaped arm 110 .

[0067] When the distance measuring device 6 is located within the projection range of the sub-vehicle 2 on the mother vehicle 1, the measuring device can more accurately capture the position and movement status of the sub-vehicle 2, which can significantly improve the accuracy of distance measurement, and help to achieve more precise docking and operation; it can also reduce the interference of the external environment on the measurement results, such as light changes, obstacles and other factors.

[0068] Furthermore, if Figure 7 As shown, a mobile device 114 is provided at the bottom of the mobile base 11, and a shock absorbing assembly 115 is provided at the connection between the mobile device 114 and the mobile base 11, and the shock absorbing assembly 115 includes an elastic member 116 and a folding member 117; the elastic member 116 is provided on the mobile device 114 and connected to one side of the folding member 117, and the side of the folding member 117 connected to the elastic member 116 is also connected to the mobile device 114, and the side of the folding member 117 away from the elastic member 116 is connected to the mobile base 11.

[0069] The setting of the mobile device 114 can make the mother vehicle 1 have better mobility and flexibility; the setting of the shock-absorbing component 115 can effectively reduce the impact of vibration and impact on the mother vehicle, maintain the stability of the equipment during operation, and when moving on uneven ground, the shock-absorbing component 115 can alleviate bumps and vibrations, so that the equipment and items on the mother vehicle are not damaged; the shock-absorbing component 115 can also effectively reduce the noise and vibration generated during movement.

[0070] The shock absorbing assembly 115 can achieve multiple shock absorbing effects by combining the design of the elastic member 116 and the folding member 117. The elastic member 116 can effectively absorb and relieve vibration and impact force, and the form of the folding member 117 can also provide certain shock absorbing and buffering functions, and the combined effect can make the shock absorbing effect more significant. The shock absorbing assembly 115 has certain flexibility and adjustability, and can be adjusted and optimized according to specific needs to obtain the best shock absorbing effect and stability; the elastic member 116 and the folding member 117 usually also have good durability and fatigue resistance, can maintain the shock absorbing effect for a long time and are not easy to be damaged, thereby extending the service life of the shock absorbing assembly 115.

[0071] Furthermore, if Figure 6 As shown, the pallet 3 is provided with a plurality of groups of through holes 31 distributed along the length direction and / or width direction of the pallet 3 , and the through holes 31 distributed in different directions of the pallet 3 are connected to each other to facilitate the connection of the handling device 14 to the pallet 3 .

[0072] By providing multiple groups of through holes 31 on the pallet 3, compatibility with different types of handling devices 14 can be improved. No matter how the handling device 14 is connected, it can be connected through these through holes 31, which increases the flexibility and versatility of the system; connecting through multiple groups of through holes 31 can also provide a more stable connection method, achieve a stable connection between the pallet 3 and the handling device 14, improve safety during transportation, reduce the risk of accidental falling off or loosening, and reduce damage or accidents caused by unstable connection; through the design of multiple groups of through holes 31, the weight of the pallet 3 can also be reduced to achieve lightweight development; by distributing multiple groups of through holes 31 on the pallet 3, uniform load distribution can be achieved to avoid deformation or damage caused by local overload.

[0073] Furthermore, a driving device (not shown in the figure) is also provided. The driving device is arranged in the mother vehicle body 12 and connected to the lifting device 13 to drive the lifting device 13 to reciprocate in the vertical direction.

[0074] Specifically, in some embodiments of the present application, the driving device includes a motor and a chain; the motor serves as a power source to provide driving force to drive the movement of the lifting device 13, and the chain serves as a transmission mechanism to transmit the rotational force of the motor to the lifting device 13, so that it reciprocates in the vertical direction. The motor can be a DC motor or an AC motor, and the appropriate motor type can be selected according to specific application needs and design requirements. The motor converts electrical energy into mechanical energy to generate a rotational torque to drive the movement of the chain; the chain generally adopts a high-strength metal chain, such as a steel chain, which connects the motor shaft and the transmission shaft of the lifting device 13 to smoothly transmit the rotational force of the motor to the lifting device 13, thereby realizing the lifting movement in the vertical direction.

[0075] Through the combination of the motor and the chain, the driving device can effectively convert electrical energy into mechanical energy and transmit the power to the lifting device 13, so that it can perform stable reciprocating motion in the vertical direction.

[0076] Furthermore, if Figure 4 and Figure 5 As shown, a groove structure 72 and an installation cavity 71 are also provided on the mother vehicle 1 and the child vehicle 2; the installation cavity 71 matches the first identification device 41 and the second identification device 42 to realize the positioning installation of the first identification device 41 and the second identification device 42;

[0077] The groove structure 72 is connected to the installation cavity 71 to reduce the shielding of the first identification device 41 by the structure of the mother vehicle 1 and the shielding of the second identification device 42 by the structure of the child vehicle 1 .

[0078] By designing matching groove structures 72 and installation cavities 71, the first identification device 41 and the second identification device 42 can be precisely aligned during installation. This design can effectively avoid misalignment or tilting during the installation process, thereby improving the working accuracy and stability of the identification devices. The design of the groove structures 72 and the installation cavities 71 also makes the installation and disassembly of the identification devices simpler and more convenient.

[0079] The design of the groove structure 72 connecting the installation cavity 71 helps to minimize the obstruction of the field of vision of the identification device, thereby ensuring that the identification device can obtain the best field of vision and identification effect. Reducing obstruction can improve the recognition rate and accuracy, thereby improving the docking accuracy of the mother vehicle 1 and the child vehicle 2; the design of the installation cavity 71 provides a stable fixing method, so that the identification device is not easy to loosen or shift during operation, thereby improving the stability of each docking effect; the design of the groove structure 72 reasonably utilizes the space, making the entire device more compact, thereby optimizing the layout of the device and space utilization. The groove structure 72 and the installation cavity 71 can provide certain protection for the first identification device 41 and the second identification device 42 to avoid external impact or other physical damage in the working environment.

[0080] The embodiments of the present application have at least the following beneficial effects:

[0081] The present application provides a mother-child vehicle that can be accurately docked, which improves the accuracy of the docking position between the mother vehicle and the child vehicle 2 during the docking process, improves the docking efficiency, and optimizes the docking effect; specifically, the child vehicle 2 and the mother vehicle 1 are respectively provided with an identification device and an identification part, and multiple identifications are performed on the docking position, which improves the accuracy of the docking position determination and the stability and consistency of the docking effect. Those skilled in the art can understand that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, and the modules or processes in the accompanying drawings are not necessarily required for the implementation of the present application.

[0082] Those skilled in the art will appreciate that the modules in the device in the implementation scenario can be distributed in the device in the implementation scenario according to the implementation scenario description, or can be changed accordingly and located in one or more devices different from the implementation scenario. The modules in the above implementation scenario can be combined into one module, or can be further split into multiple sub-modules.

[0083] The above application serial numbers are for description only and do not represent the advantages or disadvantages of the implementation scenarios.

[0084] The above disclosure only discloses several specific implementation scenarios of the present application. However, the present application is not limited thereto, and any changes that can be conceived by technicians in this field should fall within the scope of protection of the present application.

Claims

1. A mother-and-child vehicle that can be precisely docked, characterized in that: include: Mother truck, sub-trolley and pallet; The mother vehicle comprises: a mobile base, a mother vehicle body, a lifting device and a handling device; The main body of the mother vehicle is arranged on the mobile base, the lifting device and the handling device are arranged on the main body of the mother vehicle, the lifting device is connected to the handling device, and the handling device is used to connect the pallet; The main body of the mother vehicle is provided with a first identification device and a mother identification part, and the child vehicle is provided with a second identification device and a child identification part. The mother vehicle is used to identify the child identification part through the first identification device to determine the relative position with the child vehicle, and the child vehicle is used to identify the mother identification part through the second identification device to determine the relative position with the mother vehicle, thereby realizing the precise docking of the mother vehicle and the child vehicle.

2. The precise docking parent-child vehicle according to claim 1, characterized in that: The sub-marking portion and / or the female marking portion comprises a V-shaped structure.

3. The precise docking parent-child vehicle according to claim 1, characterized in that: The first recognition device and / or the second recognition device include one or more of a camera sensor, a laser radar, and a stereo camera.

4. The precise docking parent-child vehicle according to claim 1, characterized in that: The mother vehicle has a U-shaped arm extending toward a preset first direction, and the U-shaped arm is used to guide the movement of the sub-vehicle and provide a docking area for the sub-vehicle.

5. The precise docking parent-child vehicle according to claim 4, characterized in that: It also includes a distance measuring device, which includes one or at least two distance measuring devices. The at least two distance measuring devices are respectively arranged on one side of the U-shaped arm close to the transport device to detect the relative distance between the mother vehicle and the child vehicle.

6. The precise docking parent-child vehicle according to claim 5, characterized in that: At least part of the distance measuring device is located within the projection of the sub-vehicle on the U-shaped arm.

7. The precise docking parent-child vehicle according to claim 1, characterized in that: A mobile device is arranged at the bottom of the mobile base, and a shock-absorbing assembly is arranged at the connection between the mobile device and the mobile base, and the shock-absorbing assembly includes an elastic member and a folding member; the elastic member is arranged on the mobile device and connected to one side of the folding member, the side of the folding member connected to the elastic member is also connected to the mobile device, and the side of the folding member away from the elastic member is connected to the mobile base.

8. The precise docking parent-child vehicle according to claim 1, characterized in that: The pallet is provided with a plurality of groups of through holes distributed along the length direction and / or width direction of the pallet, and the through holes distributed in different directions of the pallet are connected to each other to facilitate the connection of the handling device to the pallet.

9. The precise docking parent-child vehicle according to claim 1, characterized in that: A driving device is also provided, which is arranged in the main body of the mother vehicle and connected to the lifting device to drive the lifting device to reciprocate in the vertical direction.

10. The precisely dockable parent-child vehicle according to claim 1, characterized in that: The mother vehicle and the child vehicle are also provided with a groove structure and an installation cavity; The installation cavity matches the first identification device and the second identification device to realize the positioning installation of the first identification device and the second identification device; The groove-shaped structure is connected to the installation cavity to reduce the shielding of the first identification device by the mother vehicle and the shielding of the second identification device by the child vehicle.

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