Vehicle centering device and vehicle access room

Abstract

The utility model provides a vehicle centering device and a vehicle access room. The vehicle centering device is used for moving a vehicle to the central position of a parking area and comprises at least two wheel transverse moving assemblies arranged on the two sides of the longitudinal axis of the parking area respectively; a bearing surface used for bearing wheels is formed at the top of the wheel transverse moving assembly, and the wheel transverse moving assembly is suitable for moving the wheels located on the bearing surface in the direction perpendicular to the longitudinal axis of the parking area through movement of the bearing surface; a groove channel is formed in the center area of the parking area, and the at least two wheel transverse moving assemblies are arranged on the two sides of the groove channel correspondingly. According to the embodiment, the problem that a vehicle steering mechanism is possibly damaged by the pushing assembly can be solved, and the user experience of the stereo garage is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of intelligent parking, in particular to a vehicle centering device and a vehicle access room. BACKGROUND

[0002] A stereo garage can save urban land and relieve the urban parking problem, and a vehicle access room plays an important role in the garage. When storing a vehicle, the vehicle is driven by the owner to the vehicle access room. Due to the size of the vehicle, blind area, and the owner's technology, the vehicle may be inclined relative to the vehicle access room. When the automated guided vehicle (AGV) clamps the vehicle, the vehicle needs to be centered relative to the vehicle access room. The inclination of the vehicle increases the risk of rollover during storage. Therefore, the vehicle access room needs to be provided with a vehicle centering device.

[0003] The prior art sets a pushing assembly on each side of the vehicle tire, each pushing assembly includes a telescopic mechanism; a control assembly is used to control the two telescopic mechanisms to move in opposite directions at the same time. When the vehicle is parked on the bearing table and deviates from the central position, the control assembly can control the two telescopic mechanisms on both sides of the vehicle to move towards the vehicle tire at the same time, one of the telescopic mechanisms first contacts the wheel and pushes the vehicle to move until the other telescopic mechanism also contacts the wheel, at this time the vehicle is pushed to the central position. The prior art found that the telescopic mechanism may damage the steering mechanism of the vehicle after pushing the wheel.

[0004] Therefore, it is necessary to propose a new technical solution to solve at least one of the above technical problems. SUMMARY

[0005] In order to overcome at least one aspect of the technical problems in the prior art, the present disclosure is proposed.

[0006] According to one aspect of an embodiment of the present disclosure, a vehicle centering device is provided for moving a vehicle to a central position of a parking area, the device comprising: at least two wheel transverse moving assemblies arranged on both sides of a longitudinal axis of the parking area; a top of the wheel transverse moving assembly forms a bearing surface for bearing a wheel, the wheel transverse moving assembly is adapted to move the wheel on the bearing surface in a direction perpendicular to the longitudinal axis of the parking area by a turning movement of the bearing surface; a central region of the parking area is provided with a passage, and the at least two wheel transverse moving assemblies are arranged on both sides of the passage.

[0007] In an optional implementation, the passage is a groove.

[0008] In an optional embodiment, the at least two wheel transverse shifting assemblies include four wheel transverse shifting assemblies, and two of the wheel transverse shifting assemblies are provided on each side of the longitudinal axis of the parking area, corresponding to the front wheels and the rear wheels of the vehicle respectively.

[0009] In an optional embodiment, the longitudinal length of the wheel transverse displacement assembly corresponding to the rear wheels of the vehicle is greater than the longitudinal length of the wheel transverse displacement assembly corresponding to the front wheels of the vehicle.

[0010] In an optional embodiment, each of the wheel traverse assemblies is connected to a corresponding one of the drive assemblies;

[0011] The two drive assemblies corresponding to the front wheels of the vehicle are electrically connected to each other, and the two drive assemblies corresponding to the rear wheels of the vehicle are electrically connected to each other.

[0012] In an optional embodiment, among the two drive components corresponding to the front wheels of the vehicle or the two drive components corresponding to the rear wheels of the vehicle, the first drive component is suitable for operating according to a control signal, and the second drive component is suitable for operating according to the operating state of the first drive component.

[0013] In an optional embodiment, a liftable blocking component is provided on the inner side of each wheel transverse shift assembly, and when the blocking component is in a raised state, it prevents the wheel on the corresponding wheel transverse shift assembly from transversely shifting toward the inner side of the parking area.

[0014] In an optional embodiment, the wheel transverse movement assembly is a roller assembly, and the roller assembly includes a plurality of rollers arranged in parallel, and the top surfaces of the plurality of rollers form the bearing surface.

[0015] In an optional embodiment, driven gears are provided on the rotating shafts of the multiple rollers to form multiple driven gears, at least one of the multiple driven gears is engaged with the driving gear, and an idler gear is provided between adjacent driven gears.

[0016] In an optional embodiment, two driven gears among the plurality of driven gears are engaged with the driving gear, and the two driven gears are located on both sides of the driving gear in the transverse direction.

[0017] In an optional embodiment, driven wheels are provided on the rotating shafts of the multiple rollers to form multiple driven wheels, and the multiple driven wheels are driven by the driving wheel through a transmission belt.

[0018] In an optional embodiment, a tensioning pulley is provided between adjacent driven pulleys.

[0019] In an optional embodiment, driven wheels are provided on the rotating shafts of the multiple rollers to form multiple driven wheels, and the multiple driven wheels are driven by the driving wheel through a chain.

[0020] In an optional embodiment, the device further comprises a position detecting assembly arranged around the parking area for detecting the position of the vehicle in the parking area.

[0021] In an optional embodiment, the position detecting assembly comprises a depth camera arranged above the parking area, or at least two distance sensors arranged at both sides of the parking area.

[0022] In an optional embodiment, the device further comprises a control assembly electrically connected with the at least two wheel transverse moving assemblies and the position detecting assembly respectively.

[0023] In an optional embodiment, the blocking member is arranged inside the corresponding wheel transverse moving assembly and outside the passage.

[0024] According to another aspect of the embodiments of the present disclosure, there is provided an access car room comprising a parking area and a vehicle centering device according to the first aspect of the present disclosure, wherein the vehicle centering device comprises at least two wheel transverse moving assemblies arranged at both sides of the longitudinal axis of the parking area respectively. BRIEF DESCRIPTION OF DRAWINGS

[0025] The above and other aspects and features of the present disclosure will become apparent from the following description of embodiments, taken in conjunction with the accompanying drawings, which show, by way of example, the principles of the present disclosure.

[0026] Figure 1 is a front view of an access car room according to an embodiment of the present disclosure;

[0027] Figure 2 is a top view of a vehicle centering device according to an embodiment of the present disclosure;

[0028] Figure 3 is a perspective view of a wheel transverse moving assembly according to an embodiment of the present disclosure;

[0029] Figure 4 is a front view of a wheel transverse moving assembly according to an embodiment of the present disclosure; Figure 3

[0030] is a front view of a wheel transverse moving assembly according to an embodiment of the present disclosure; Figure 5 Figure 4 is a front view of a wheel transverse moving assembly according to an embodiment of the present disclosure, which adopts belt transmission;

[0031] Figure 6 Figure 4 is a front view of a wheel transverse moving assembly according to an embodiment of the present disclosure, which adopts chain transmission.

[0032] ​​In the figure: 1. Wheel transverse shift assembly; 1-1. Left front wheel transverse shift assembly; 1-1-1. Servo reduction motor; 1-1-2. Motor bracket; 1-1-3. Driving gear; 1-1-4. Idle gear; 1-1-5. Driven gear; 1-1-6. Roller; 1-1-7. Idle gear shaft; 1-1-8. Roller frame; 1-1-9. Driving wheel; 1-1-10. Driven wheel; 1-1-11. Belt; 1-1-12. Tensioner pulley; 1-1-13. Guide wheel; 1-1-14. Chain; 1-2. Right front wheel transverse shift assembly; 1-3. Left rear wheel transverse shift assembly; 1-4. Right rear wheel transverse shift assembly; 2. Blocking component; 3. Storage and retrieval room frame; 4. Position detection assembly; 5. Passage; 6. Wheel. DETAILED DESCRIPTION

[0033] The following description of the embodiments of the present disclosure with reference to the accompanying drawings is intended to explain the overall inventive concept of the present disclosure and should not be understood as a limitation of the present disclosure. Based on the embodiments of the present disclosure, all other embodiments obtained by those skilled in the art are within the scope of protection of the present disclosure.

[0034] An embodiment of the present disclosure provides a vehicle centering device.

[0035] Figure 1 2 is a front view of a vehicle access compartment according to an embodiment of the present disclosure, which includes the vehicle centering device of this embodiment. Figure 2 FIG. 1 is a top view of a vehicle centering device according to an embodiment of the present disclosure.

[0036] Figure 2 In the figure, the area within the rectangular frame is the parking area, and the dotted line is the longitudinal axis of the parking area. Figure 1 In the example, the bottom of the rectangular area is the parking area. When the longitudinal axis of the vehicle coincides (or substantially coincides) with the longitudinal axis of the parking area, the vehicle is located in the center of the parking area. The vehicle centering device in this embodiment is used to move the vehicle to the center of the parking area.

[0037] like Figure 2 As shown, the vehicle centering device in this embodiment includes four wheel traverse assemblies: a left front wheel traverse assembly 1-1, a right front wheel traverse assembly 1-2, a left rear wheel traverse assembly 1-3, and a right rear wheel traverse assembly 1-4. These four wheel traverse assemblies are disposed on either side of the longitudinal axis of the parking area, with the left front wheel traverse assembly 1-1 and the left rear wheel traverse assembly 1-3 located on one side of the longitudinal axis of the parking area, and the right front wheel traverse assembly 1-2 and the right rear wheel traverse assembly 1-4 located on the other side of the longitudinal axis of the parking area.

[0038] In alternative embodiments, the vehicle centering device may include another number of wheel traverse assemblies. It will be readily understood that the number of wheel traverse assemblies is at least two. In the case of two wheel traverse assemblies, the two wheel traverse assemblies may be disposed on either side of the longitudinal axis of the parking area, and wheels on the same side of the vehicle may be parked on the same wheel traverse assembly.

[0039] like Figure 1 As shown, in this embodiment, the top of the wheel transverse shifting assembly 1 forms a bearing surface for bearing the wheel 6. The wheel transverse shifting assembly 1 is suitable for moving the wheel 6 on the bearing surface in a direction perpendicular to the longitudinal axis of the parking area by rotating the bearing surface. Figure 1 The rotation here includes the rotation of the entire bearing surface and the rotation of the components of the bearing surface.

[0040] Figure 3 is a perspective schematic diagram of a wheel traverse assembly according to an embodiment of the present disclosure, Figure 4 yes Figure 3 In an optional embodiment, as shown in FIG. Figure 3 As shown, the wheel lateral movement assembly is a roller assembly, which includes a plurality of rollers 1-1-6 arranged in parallel, and the top surfaces of the plurality of rollers 1-1-6 form a bearing surface (this is an example of a component of the bearing surface). Specifically, as Figure 3 and Figure 4 As shown, the servo reduction motor 1-1-1 is fixed to the roller frame 1-1-8 via the motor bracket 1-1-2. A driving gear 1-1-3 is mounted on the shaft end of the servo reduction motor 1-1-1. An idler gear 1-1-4 is mounted on the roller frame 1-1-8 via the idler gear shaft 1-1-7. Rollers 1-1-6 are mounted on the roller frame 1-1-8. A driven gear 1-1-5 is provided at the end of each roller 1-1-6. The driving gear 1-1-3 meshes with two driven gears 1-1-5 located on either side of it laterally, thereby driving the two driven gears 1-1-5 to rotate. An idler gear 1-1-4 meshes between adjacent driven gears 1-1-5. This allows the two driven gears 1-1-5 to rotate via the idler gear 1-1-4, driving the further driven gear 1-1-5 to rotate. Ultimately, all driven gears 1-1-5 and all rollers 1-1-6 rotate. The idler gear 1-1-4 ensures that all rollers 1-1-6 rotate in the same direction. The rotation of the roller 1-1-6 along its axis creates a rotation. This rotation can be clockwise or counterclockwise, depending on the direction of rotation of the servo reduction motor 1-1-1.

[0041] The roller assembly in this embodiment adopts a gear transmission structure, which has high transmission accuracy and large torque, and will not cause transmission slippage, inaccurate transmission ratio, etc.

[0042] like Figure 3 and Figure 2 As shown, the rotation axis of each roller 1-1-6 is arranged parallel to the longitudinal axis of the parking area. It is easy to understand that when the multiple rollers 1-1-6 rotate in the same direction, the bearing surface formed by the tops of the multiple rollers 1-1-6 moves in a direction perpendicular to the longitudinal axis of the parking area. Figure 2 The middle wheel moves to the left or right, which drives the upper wheel to move left or right accordingly.

[0043] In other embodiments, the wheel transverse shifting assembly may also adopt other transmission forms. Figure 5 yes Figure 4 A modified example of the wheel traverse assembly is a belt drive. Figure 5 As shown, a driven pulley 1-1-10 is provided on the rotating shaft of the roller 1-1-6. The driving pulley 1-1-9 drives the driven pulley 1-1-10 to rotate via the belt 1-1-11, thereby driving the roller 1-1-6 to rotate. A tensioning pulley 1-1-12 is also provided between adjacent driven pulleys 1-1-10. Figure 6 yes Figure 4 A modified example of the wheel transverse shift assembly adopts chain drive, such as Figure 6 As shown, a driven wheel 1-1-10 is mounted on the rotating shaft of roller 1-1-6. Both driving wheel 1-1-9 and driven wheel 1-1-10 are sprockets. Driving wheel 1-1-9 drives driven wheel 1-1-10 via chain 1-1-14, which in turn drives roller 1-1-6. A guide wheel 1-1-13 is also mounted on the side opposite driving wheel 1-1-9. In this modified example, roller 1-1-6 can rotate either clockwise or counterclockwise, depending on the need, by steering driving wheel 1-1-9.

[0044] In an optional embodiment, if Figure 2 As shown, the length of the wheel transverse shifting assemblies corresponding to the rear wheels of the vehicle (e.g., the left rear wheel transverse shifting assembly 1-3 and the right rear wheel transverse shifting assembly 1-4) in the longitudinal direction (i.e., the length direction of the parking area or the vehicle) is greater than the length of the wheel transverse shifting assemblies corresponding to the front wheels of the vehicle (e.g., the left front wheel transverse shifting assembly 1-1 and the right front wheel transverse shifting assembly 1-2) in the longitudinal direction. In this embodiment, the wheel transverse shifting assemblies corresponding to the front wheels of the vehicle are shorter in the longitudinal direction, which is beneficial for the longitudinal positioning of the vehicle. The wheel transverse shifting assemblies corresponding to the rear wheels of the vehicle are longer in the longitudinal direction and can be used for vehicles with different wheelbases.

[0045] In this embodiment, if Figure 1 and Figure 2As shown, the central region of the parking area is provided with a passage 5. Exemplarily, the passage 5 is a groove, and can also be in other forms. The unmanned carrier can drive into the passage 5 and perform the carrying operation on the vehicle above. Four wheel transverse assemblies are respectively arranged on both sides of the passage 5. On the inner side of each wheel transverse assembly (i.e. the side close to the longitudinal axis of the parking area), the outer side of the passage 5 is correspondingly provided with a liftable blocking component 2. When the blocking component 2 is in the raised state, the wheels 6 on the corresponding wheel transverse assembly 1 are prevented from transversely moving to the inner side of the parking area. When the vehicle drives into the parking area or the wheel transverse assembly 1 performs the action, the blocking component 2 is in the raised state. By means of the blocking component 2, on the one hand, the wheels 6 can be prevented from falling into the passage 5 due to improper operation of the driver, and on the other hand, the wheels 6 can be prevented from falling into the passage 5 due to the misoperation of the wheel transverse assembly 1 during movement.

[0046] When the blocking component 2 is in the lowered state, the wheels 6 on the wheel transverse assembly 1 are allowed to transversely move to the inner side of the parking area. At this time, the AGV can move the vehicle in the parking area away.

[0047] In an optional embodiment, each wheel transverse assembly 1 is connected to a corresponding driving assembly (not shown). The driving assembly is adapted to drive the wheel transverse assembly 1 connected thereto. The two driving assemblies corresponding to the front wheels of the vehicle are electrically connected to each other and synchronously act, and then the two wheel transverse assemblies corresponding to the front wheels of the vehicle (i.e. the left front wheel transverse assembly 1-1 and the right front wheel transverse assembly 1-2) synchronously act. The two driving assemblies corresponding to the rear wheels of the vehicle are electrically connected to each other and synchronously act, and then the two wheel transverse assemblies corresponding to the rear wheels of the vehicle (i.e. the left rear wheel transverse assembly 1-3 and the right rear wheel transverse assembly 1-4) synchronously act. The above-mentioned manner can avoid damage to the wheels or the vehicle.

[0048] In an optional embodiment, the two driving assemblies corresponding to the front wheels of the vehicle or the two driving assemblies corresponding to the rear wheels of the vehicle can adopt the master-slave control mode. In the two driving assemblies corresponding to the front wheels of the vehicle or the two driving assemblies corresponding to the rear wheels of the vehicle, the first driving assembly is adapted to act according to the control signal, and the second driving assembly is adapted to act according to the action state of the first driving assembly.

[0049] In one example, the drive assembly uses a drive motor. For the two drive assemblies corresponding to the front wheels of the vehicle or the two drive assemblies corresponding to the rear wheels of the vehicle, one is a master motor and the other is a slave motor. The master motor serves as a reference motor, and the slave motor achieves synchronous movement by receiving the speed signal of the master motor. The master motor is equipped with a position encoder and sends the output position or speed signal as a synchronization signal to the slave motor. The slave motor adjusts its own movement speed by comparing the received signal with the signal output by its own encoder to achieve synchronization. When the master motor fails, it will cause the slave motor to stop, thereby avoiding the situation of towing the vehicle due to the lack of synchronization between the two motors.

[0050] In an optional embodiment, if Figure 1 As shown, the vehicle centering device also includes a position detection component 4. The position detection component is arranged around the parking area and is used to detect the position of the vehicle in the parking area. In some cases, the position detection component 4 may include at least two distance sensors arranged on both sides of the parking area. With the help of the above-mentioned distance sensors, the distance between the vehicle body and the distance sensor is first measured, and then the position status of the vehicle in the parking and access room is calculated based on the measurement data. In other cases, the position detection component 4 may include a depth camera arranged above the parking area. With the help of the above-mentioned depth camera, the depth image of the parking and access room is first obtained, and then the position status of the vehicle in the parking and access room is calculated through image recognition.

[0051] In an optional embodiment, the vehicle centering device may further include a control component. The control component is respectively connected to Figure 1 Each wheel lateral shift assembly 1 is electrically connected to the position detection assembly 4. The control assembly can receive the vehicle position signal sent by the position detection assembly 4 and send an action instruction to each wheel lateral shift assembly 1. The above-mentioned control assembly is, for example, a PLC control unit.

[0052] In this embodiment, the bearing surface on the top of the wheel transverse displacement assembly 1 is moved to move the wheel 6 located on the bearing surface in a direction perpendicular to the longitudinal axis of the parking area, thereby realizing translation or rotation of the vehicle, thereby completing vehicle centering without causing damage to the vehicle. This solves the problem that the pushing assembly may damage the vehicle steering mechanism, thereby improving the user experience of the multi-story parking garage.

[0053] In one embodiment, the vehicle centering process is as follows: when the vehicle enters the parking space, the position detection component 4 detects the distance between the vehicle and the sensor, and transmits the detection data to the PLC control unit. The PLC control unit calculates the displacement of the vehicle translation or rotation, and then controls the servo motor 1-1-1 to move forward or reverse, thereby driving the rollers 1-1-6 to move the vehicle. During the vehicle centering process, the vehicle front wheel corresponding wheel transverse component (including the left front wheel transverse component 1-1 and the right front wheel transverse component 1-2) must be turned left or right at the same time, and the vehicle rear wheel corresponding wheel transverse component (including the left rear wheel transverse component 1-3 and the right rear wheel transverse component 1-4) must be turned left or right at the same time. When the vehicle front wheel corresponding wheel transverse component and the vehicle rear wheel corresponding wheel transverse component are turned in opposite directions, the vehicle can be rotated. When the vehicle front wheel corresponding wheel transverse component and the vehicle rear wheel corresponding wheel transverse component are turned in the same direction, the vehicle can be moved left or right, thereby achieving the centering of the vehicle. After the centering action is completed, the blocking component 2 is lowered, and the AGV can enter the parking space to move the vehicle away.

[0054] The present disclosure also provides a vehicle centering method, which can be implemented based on the vehicle centering device described above. Referring to Figure 1 The method comprises: moving the vehicle wheels 6 on the bearing surface of the at least two wheel transverse components 1 arranged on both sides of the longitudinal axis of the parking area in a direction perpendicular to the longitudinal axis of the parking area, so as to move the vehicle to the central position of the parking area.

[0055] In an optional embodiment, during the vehicle centering process, the two vehicle front wheel corresponding wheel transverse components (for example, the left front wheel transverse component 1-1 and the right front wheel transverse component 1-2) are made to act synchronously, and the two vehicle rear wheel corresponding wheel transverse components (for example, the left rear wheel transverse component 1-3 and the right rear wheel transverse component 1-4) are made to act synchronously. The synchronous action of the two wheel transverse components refers to the bearing surfaces of the two wheel transverse components moving in the same direction at the same speed for the same distance (or time). In this embodiment, the synchronous action of the two wheel transverse components can avoid damaging the vehicle wheels.

[0056] In an optional embodiment, each wheel transverse component is connected to a corresponding driving component. The two driving components corresponding to the vehicle front wheels or the two driving components corresponding to the vehicle rear wheels can adopt a master-slave mode. In the two driving components corresponding to the vehicle front wheels or the two driving components corresponding to the vehicle rear wheels, the first driving component is controlled to act according to the control signal, and the second driving component is controlled to act according to the action state of the first driving component.

[0057] In an optional embodiment, during vehicle centering, the wheel traverse assemblies corresponding to the front wheels and the wheel traverse assemblies corresponding to the rear wheels are synchronized to translate the vehicle, or the wheel traverse assemblies corresponding to the front wheels and the wheel traverse assemblies corresponding to the rear wheels are synchronized to rotate the vehicle. The opposite movements of the two wheel traverse assemblies refer to the bearing surfaces of the two wheel traverse assemblies moving in opposite directions.

[0058] In an optional embodiment, during the vehicle centering process, the control component may perform the following steps: first, receiving a vehicle position signal from the position detection component; second, determining motion instructions for at least two wheel lateral steering components based on the vehicle position signal; and third, sending motion instructions to the at least two wheel lateral steering components. The motion instructions are used to control the direction, speed, and distance (or time) of the wheel lateral steering component's motion.

[0059] The present disclosure also provides a car storage and access room. Figure 1 As shown, the parking compartment includes a parking area and the vehicle centering device described above. The vehicle centering device includes a plurality of wheel lateral shifting assemblies 1 respectively arranged on both sides of the longitudinal axis of the parking area.

[0060] The access compartment in this embodiment also includes a compartment frame 3. This frame 3 provides a pedestrian passageway. The height of the compartment frame 3 is higher than the bearing surface of the wheel lateral shifting assembly 1, facilitating the lateral positioning of the wheels 6 (i.e., in the vehicle width direction).

[0061] The specific details and technical effects of the vehicle centering method and the parking and access compartment in the embodiments of the present disclosure can be found in the above description of the vehicle centering device, which will not be repeated here.

[0062] The above are merely embodiments of the present disclosure and are not intended to limit the present disclosure. Those skilled in the art will appreciate that any modifications, equivalent substitutions, improvements, etc. made without departing from the spirit and principles of the present disclosure should be included within the scope of protection of the present disclosure.

Claims

1. A vehicle centering device for moving a vehicle to the center of a parking area, characterized in that: The device comprises: at least two wheel traverse assemblies, respectively disposed on either side of a longitudinal axis of the parking area; The top of the wheel traverse assembly forms a bearing surface for bearing the wheel, and the wheel traverse assembly is adapted to move the wheel located on the bearing surface in a direction perpendicular to the longitudinal axis of the parking area by rotating the bearing surface; A passage is provided in the central area of ​​the parking area, and the at least two wheel transverse movement assemblies are respectively provided on both sides of the passage; The wheel lateral movement assembly is a roller assembly, and the roller assembly includes a plurality of rollers arranged in parallel, and the top surfaces of the plurality of rollers form the bearing surface; The rotating shafts of the plurality of rollers are each provided with a driven gear to form a plurality of driven gears, at least one of the plurality of driven gears is meshed with the driving gear, and an idler gear is provided between adjacent driven gears; Two driven gears among the plurality of driven gears are engaged with the driving gear, and the two driven gears are located on both sides of the driving gear in a lateral direction.

2. The device according to claim 1, characterized in that: The channel is a groove.

3. The device according to claim 1, characterized in that: The at least two wheel traverse assemblies include four wheel traverse assemblies, and two wheel traverse assemblies are provided on each side of the longitudinal axis of the parking area, corresponding to the front wheels and the rear wheels of the vehicle respectively.

4. The device according to claim 3, characterized in that: The longitudinal length of the wheel transverse displacement assembly corresponding to the rear wheels of the vehicle is greater than the longitudinal length of the wheel transverse displacement assembly corresponding to the front wheels of the vehicle.

5. The device according to claim 3, characterized in that: Each of the wheel traverse assemblies is connected to a corresponding drive assembly; The two drive assemblies corresponding to the front wheels of the vehicle are electrically connected to each other, and the two drive assemblies corresponding to the rear wheels of the vehicle are electrically connected to each other.

6. The device according to claim 5, characterized in that: Among the two drive assemblies corresponding to the front wheels of the vehicle or the two drive assemblies corresponding to the rear wheels of the vehicle, the first drive assembly is adapted to operate according to a control signal, and the second drive assembly is adapted to operate according to an operating state of the first drive assembly.

7. The device according to claim 1, characterized in that: A liftable blocking component is provided on the inner side of each wheel transverse shift assembly. When the blocking component is in a raised state, it prevents the wheel on the corresponding wheel transverse shift assembly from transversely shifting toward the inner side of the parking area.

8. The device according to any one of claims 1 to 7, characterized in that: The device further includes a position detection component, which is disposed around the parking area and is used to detect the position of the vehicle in the parking area.

9. The device according to claim 8, characterized in that: The position detection component includes a depth camera located above the parking area, or at least two distance sensors located on both sides of the parking area.

10. The device according to claim 9, characterized in that: The device further includes a control component, which is electrically connected to the at least two wheel lateral movement components and the position detection component respectively.

11. The device according to claim 7, characterized in that: The blocking component is arranged on the inner side of the corresponding wheel transverse displacement assembly and the outer side of the channel.

12. A car storage and retrieval room, characterized in that: The vehicle centering device comprises a parking area and a vehicle centering device according to any one of claims 1 to 11, wherein the vehicle centering device comprises at least two wheel traverse assemblies respectively arranged on both sides of a longitudinal axis of the parking area.

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