Automatic parking system and associated motor vehicle parking method

Abstract

The invention relates to an automatic parking system comprising at least one carousel-type parking tower (11, 12, 13, 14, 15, 16) comprising pods (60) each comprising a storage tray (65) for storing a vehicle (100), the system comprising at least one transport conveyor (90) so as to carry or deposit the vehicle, and support means for at least partially supporting the weight of the pod receiving a conveyor and a vehicle, wherein the parking system may comprise several parking towers in a row. The invention also relates to a method for controlling the towers and the at least one conveyor.

Description

Scope of the invention

[0001] The present invention relates to the field of car parks of the carousel or vertical tower type comprising mobile vehicle spaces. It also relates to electric handling vehicles, in particular autonomous conveyors for transporting or moving four-wheeled vehicles. State of the art

[0002] In the prior art, it is known to use carousel-type vehicle parking towers; these are called "carousel parking," "stereo garage," "stereo parking," or "APS" (acronym for "automated parking system"). This type of tower comprises a frame supporting several gondolas, each gondola corresponding to a parking space for a motor vehicle. The tower also includes a means of transport that carries and moves the gondolas along a closed path along the frame. These parking systems allow for an increased number of parked vehicles within a given ground area.

[0003] During operation, a person drives the vehicle to the parking area, from the tower entrance to the empty platform of a gondola located on the tower's ground floor. The distance traveled is only a few meters. The transport system is then controlled to move the gondolas along the structure in order to place other vehicles into other empty gondolas or to return a parked vehicle to its owner. The tower has a single entrance allowing vehicles to enter or exit.

[0004] Although satisfactory, he is nevertheless keen to improve the safety of people, especially operators and customers, to allow faster loading and unloading from the customers' point of view and to optimize the number of vehicles parked for a given area.

[0005] It is also known to arrange several carousel-type towers side by side so that all the tower entrances open onto the same street. It is also known to arrange these towers back to back.

[0006] In parallel, document CN108798118 discloses a carousel-type parking device and an omnidirectional transport trolley adapted to said carousel. The trolley carries a vehicle from a platform to the ground floor of the tower to place the transported vehicle onto an empty gondola of the carousel. Each gondola comprises four pairs of rods, each pair of rods designed to receive one wheel of the vehicle. Once the vehicle is placed on the rods of a gondola, the trolley can pass through that gondola.

[0007] This system has the disadvantages of requiring loading and / or unloading docks, which increases the surface area needed for the parking facility to function properly, and of a relatively lengthy installation time due to the use of support rods for the vehicles. Furthermore, in the event of a trolley malfunction, it is not possible to manually position or retrieve a vehicle. Another automated parking system, based on the prior art, is disclosed in CN112177401.

[0008] The present invention therefore aims to improve the handling of vehicles in order to offer a faster and safer service for people and to optimize the available space. Solution provided by the invention

[0009] According to a first aspect, the present invention relates, in its most general sense, to a method of parking motor vehicles in an automatic parking system allowing the storage and unstorage of vehicles.

[0010] The parking system includes at least two carousel-type parking towers, each tower comprising: a vertical framework having a number N of platform locations, and on the ground floor a tower entrance and a tower exit for the passage of a vehicle, at least N-1 platforms connected to the framework, each platform being connected to a platform location, each platform comprising a storage platform corresponding to a parking space for a motor vehicle, and having a platform entrance and a platform exit for the passage of said vehicle, a means of actuation in translation of the platforms along a closed path along the framework.

[0011] Each gondola is designed to be loaded or unloaded when placed on the ground floor of the parking tower.

[0012] The at least two towers are arranged one behind the other: at least one passing tower and one destination tower so that a tower exit of a passing tower is opposite a tower entrance of the next tower so that a vehicle can pass directly from one tower to another, and defining a number R, R being equal to at least 2, of rows of parking towers, the destination tower being positioned at least at row 2.

[0013] The parking system includes at least one four-wheeled vehicle transport conveyor comprising chocking arms arranged to position themselves on either side of the treads of the wheels of said vehicle so as to carry or place said vehicle, at least one conveyor comprising an autonomous guidance means.

[0014] The parking system further includes control means arranged to control the actuation means of at least two parking towers and the autonomous guidance means of at least one conveyor.

[0015] According to the invention, the method comprises: a step of selecting a platform, called the target platform, from a destination tower, to store or unstore a vehicle, a step of controlling the means of actuation of at least two towers, including the movement of the platforms from the destination tower to place the target platform on the ground floor, and the movement of the platforms from at least one transit tower, so as to align an empty platform or the empty platform location of at least one transit tower with the target platform of the destination tower, a step of controlling the movement of at least one conveyor, carrying a vehicle or being empty, to cross the at least one transit tower, and access the target platform of the destination tower to store or unstore said vehicle.

[0016] Depending on alternative embodiments, the process may further include one or more of the following steps: a step of detecting an empty platform or an empty platform location on the ground floor of at least one passage tower before the step of commanding the movement of at least one conveyor, a step of detecting at least one conveyor when passing over a storage platform or the ground floor of a passage tower comprising an empty platform location, a step of identifying at least one conveyor when passing over a storage platform or the ground floor of a passage tower comprising an empty platform location, in which the parking system includes a wireless communication means between the control means and the conveyor guidance means, a step of transmitting the address of the target platform to at least one conveyor, in which the parking system includes a number L, L being equal to at least 2, of rows of parking towers, arranged side by side,each line of parking towers comprising the number R of rows of parking towers, wherein the parking system comprises at least one transport conveyor per line of parking towers, the method comprising a step of controlling the simultaneous movement of at least two conveyors.

[0017] According to a second aspect, the present invention relates to an automatic parking system allowing the storage and retrieval of motor vehicles. comprising at least one carousel-type parking tower including: a vertical frame having N number of platform positions, and on the ground floor a tower entrance and a tower exit for the passage of a vehicle, at least N-1 platforms connected to the frame, each platform being connected to a platform position, each platform including a storage platform corresponding to a parking position for a motor vehicle, and having a platform entrance and a platform exit for the passage of said vehicle, a means of actuation in translation of the platforms along a closed path along the frame, each platform being loaded or unloaded when it is placed on the ground floor of the tower.

[0018] According to one embodiment, at least one carousel-type parking tower comprises N gondolas connected to the frame, such that all gondola locations are occupied by a gondola as defined above.

[0019] According to another embodiment, at least one carousel-type parking tower includes N-1 gondolas connected to the frame, so that only one gondola location is unoccupied, called an empty gondola location.

[0020] The parking system includes at least one four-wheeled vehicle transport conveyor comprising chocking arms arranged to position themselves on either side of the treads of the wheels of said vehicle so as to carry or place said vehicle, at least one conveyor comprising an autonomous guidance means.

[0021] The parking system includes control means arranged to control the actuation means and the autonomous guidance means of at least one conveyor.

[0022] The parking system further includes support means arranged on the ground floor of at least one tower, said means being arranged to support at least partially the weight of a transport conveyor carrying a vehicle.

[0023] The support means are arranged to support at least partially the weight of the platform receiving a conveyor and a vehicle.

[0024] The support means are arranged to allow the transport conveyor to pass through a tower without having to go over a step.

[0025] Preferably, the support means protrude from the surface of the ground floor of the parking tower.

[0026] According to a first embodiment, the system includes an empty gondola location, and the support means include a platform projecting from the ground floor of at least one tower. For example, the platform includes support means acting vertically such that the platform is retractable. The platform is retractable between: a position for the passage of a transport conveyor, a position in which the surface of the platform is level with the surface of the step or threshold of the tower entry and the surface of the step or threshold of the tower exit, and a support position for a platform during the loading or unloading of a vehicle by a transport conveyor arranged on the storage platform.

[0027] According to a second embodiment, the system comprises N platforms, and the support means include load-bearing rollers projecting from the ground floor of at least one tower. The rollers support a platform during the loading or unloading of a vehicle by a transport conveyor located on the storage platform.

[0028] Preferably, the support means include elastic return means, for example, springs. In the case of springs, each axis of rotation of a load-bearing roller is spring-mounted. Each axle end is connected to the ground or the frame via a spring acting vertically to allow a slight vertical movement of the roller when a conveyor, whether carrying a vehicle or not, passes over it. Each spring is, for example, connected to a rotating fixed ring or bearing, said ring or bearing supporting one axle end of a load-bearing roller.

[0029] Preferably, the system includes at least two parking towers, arranged one behind the other, at least one through tower and one destination tower such that a tower exit of a through tower is opposite a tower entrance of the next tower so that at least one conveyor, whether or not carrying a vehicle, can pass directly from one tower to another, defining a number R, R being equal to at least 2, of tower rows, the destination tower being positioned at least at row 2.

[0030] The next turn is called another passing turn or the destination turn.

[0031] At least one transport conveyor enabling transport to or from a parking tower includes a telescopic chassis equipped with a means of rolling and propulsion, and including chocking arms arranged to position themselves on either side of the tread of a wheel of the vehicle to be loaded.

[0032] Optionally, it includes means for detecting vehicle wheel tightening comprising at least one sensor and a tightening detection computer collecting data from at least one sensor and generating a signal representative of the mobility state of said vehicle based on said data. Description of the figures

[0033] The present invention will be better understood upon reading the following description, referring to a non-limiting example of an embodiment illustrated by the accompanying drawings where [ fig.1 ] there figure 1 represents a side view of an automated parking system according to one embodiment, the system comprising a set of carousel-type parking towers arranged one behind the other in a row defining six rows of towers, the towers containing motor vehicles, and a transport conveyor running on the ground floor of the parking towers; fig.2 ] there figure 2 represents a front view of a carousel-type parking tower according to one embodiment, the tower comprising a vertical frame having a tower entrance and exit on the ground floor, and comprising several gondolas, each gondola having a gondola entrance and exit and storing a vehicle; fig.3 ] there figure 3 represents a schematic perspective view of an automated parking system according to an embodiment comprising three rows of carousel-type parking towers arranged side by side, each row comprising four rows of parking towers; fig.4 ] there figure 4represents a side view of the ground floor of a carousel-type parking tower comprising as many gondolas as there are gondola positions and comprising support means according to a first embodiment, said means comprising rollers and being arranged on the ground and projecting upwards to receive the underside of a gondola storage platform; fig.5 ] there figure 5 represents a side view of a carousel-type parking tower comprising N-1 gondolas and an empty gondola space, and comprising support means according to a second embodiment, said means comprising a retractable platform disposed on the ground and capable of moving vertically to receive the underside of a gondola storage platform or a transport conveyor; fig.6 ] there figure 6represents a diagram of the control process for the actuation means of the carousel-type parking towers and the guidance means for the transport conveyors; fig.7 ] there figure 7 represents a schematic perspective view of a transport conveyor according to an exemplary embodiment of the invention, said conveyor comprising two pairs of front support arms and one pair of rear support arms; fig.8 ] there figure 8 represents a schematic top view of a transport conveyor according to a second embodiment of the invention, said conveyor comprising two pairs of front chocking arms and two pairs of rear chocking arms, wheels, of motor vehicle to be loaded, being represented schematically. Description of a method of implementation

[0034] There figure 2represents an automated parking system for parking motor vehicles comprising a carousel-type parking tower 11. The tower allows the storage and retrieval of 100 motor vehicles.

[0035] According to the embodiment shown, the tower comprises a vertical frame 50 with twelve platform positions. The frame further includes, on the ground floor, a tower entrance 51 and a tower exit 52 for the passage of a transport conveyor, which may or may not be carrying a vehicle. The frame is arranged and configured to have opening dimensions at the tower entrance and exit that allow a transport conveyor to pass through the tower. Depending on the direction of travel, a tower entrance 51 can be a tower exit 52, and vice versa.

[0036] The tower comprises twelve platforms 60 connected to the frame 50. Each platform includes a structure connected to a platform location. In this embodiment, the tower has as many platforms as there are platform locations. Each platform 60 includes a storage platform 65 corresponding to a parking space for a motor vehicle 100. Each platform has a platform entrance 61 and a platform exit 62 for the passage of said vehicle. The platform is loaded or unloaded when it is placed on the ground floor of the tower, as illustrated by the figure 2 The structure of each platform is arranged and configured to have opening dimensions at the platform entrance and exit that allow a transport conveyor to pass through it. Depending on the direction of travel, a platform entrance 61 can be a platform exit 62 and vice versa.

[0037] For the purposes of the above and the remainder of this description, a loaded platform is defined as a platform occupied by or storing a vehicle. Furthermore, an unloaded platform is defined as a platform that is empty or unoccupied by a vehicle.

[0038] There figure 2 represents a multi-level carousel-type parking tower comprising 12 gondolas arranged in two columns. In other embodiments, the parking towers may include, for example, between 6 and 20 gondolas arranged in two columns.

[0039] In order to move the gondolas, the parking tower includes a means for actuation in translation (not visible in the figures) of the gondolas along a closed path along the frame, said path being illustrated in figure 3which represents several carousel-type parking towers. The actuation means includes, for example, at least one actuator and connecting means enabling the traction of the gondolas along the vertical frame of the tower.

[0040] The parking system includes at least one transport conveyor (90). Each transport conveyor is arranged to run on the ground, and in particular on the ground floor of the carousel-type parking tower. Each transport conveyor is further arranged to pass through a platform via a platform entrance 61 and a platform exit 62, while rolling on the storage platform 65, see figure 1 .

[0041] Each transport conveyor is arranged to lift the four wheels of a motor vehicle in order to carry said vehicle. According to an embodiment shown in figure 7, at least one conveyor includes support arms 21, 22, 23, 24, 31, 32, arranged to position themselves on either side of the treads of the wheels of said vehicle so as to carry or set down said vehicle.

[0042] The conveyor includes a frame comprising a main beam 2 and a secondary beam 3 mounted to slide inside the main beam 2. A cylinder or linear actuator (not shown), for example a worm gear, allows the secondary beam 3 to be actuated relative to the main beam 2 in order to obtain a telescopic frame.

[0043] The main chassis beam 2 comprises a fixed front transverse member 25, which supports two fixed arms 21, 22, and two retractable front arms 23, 24, which pivot relative to the front member. The retractable front arms 23, 24 are actuated by hydraulic cylinders or electric motors to move between: a retracted position, in which the retractable front arms extend parallel to the main beam to allow the conveyor to roll under the vehicle to be loaded without touching the wheels of said vehicle, and a retracted locking position, to allow contact with the treads of the vehicle's wheels.

[0044] In the retracted position, the spacing between each pair of arms, consisting of a fixed arm and a retractable arm 21, 23 and 22, 24, is determined so that they come into contact with the front and rear sidewalls of the vehicle's tire and grip the tire to raise the vehicle. To facilitate this raising, the fixed arms 21, 22 have an inclined ramp 28, 29.

[0045] When the retractable front arms 24, 23 are in the retracted locking position, they block the movement of the vehicle relative to the conveyor.

[0046] The secondary beam 3 of the chassis also includes a rear transverse member 35 which supports two retractable rear arms 31, 32 that pivot relative to the rear member. The retractable rear arms 31, 32 are actuated by hydraulic cylinders or electric motors to move between: a retracted position, in which the retractable rear arms extend parallel to the secondary beam to allow the conveyor to roll under the vehicle to be loaded without touching the wheels of said vehicle, and a retracted locking position, to allow contact with the treads of the vehicle's wheels.

[0047] The length L of the side members 25, 35, measured between the pivot axes of the retractable front arms 23, 24 and the retractable rear arms 31, 32, is less than Vmin-Lmin, where: Vmin designates the usual and minimum track width of a car, typically 1600 millimeters, Lmin designates the usual width of a car's tire, typically 220 millimeters.

[0048] The length L of the stringers is therefore typically less than 1400 millimeters, and preferably in the order of 1200 millimeters.

[0049] The length of the fixed arms 21, 22, the retractable front arms 23, 24 and the retractable rear arms 31, 32 is determined to correspond to half the width lmax corresponding to the width between the outer sides of the wheels of a large car minus the length of the longitudinal member 25, 35, typically 500 millimeters for each of the arms.

[0050] The conveyor can thus be positioned in the axis of the vehicle, when said conveyor rolls on a storage platform 65, in order to allow the conveyor chassis to pass under the vehicle with the support arms 23, 24, 31, 32 in the folded position, oriented substantially longitudinally, until the ramps 28, 29 of the fixed arms 21, 22 come to rest against the front wheels of the vehicle.

[0051] The retractable support arms 31, 32 are then moved into a transverse position. The secondary chassis beam is actuated forward to adapt to the wheelbase of the car being loaded and bring the retractable support arms 31, 32 into contact with the rear treads of the vehicle's wheels.

[0052] The outrigger arms 23,24 are deployed to lift the vehicles onto the fixed arms 21, 22.

[0053] According to an alternative embodiment and in a complementary manner shown on the figure 8 The secondary beam 3 of the chassis further includes two retractable distal arms 33, 34 that pivot relative to the rear longitudinal member. The retractable distal arms are actuated by hydraulic cylinders or electric motors to move between: a retracted position, in which the retractable distal arms extend parallel to the secondary beam 3 to allow the conveyor to roll under the vehicle to be loaded without touching the wheels of said vehicle, and a retracted locking position, to allow contact with the treads of the vehicle's wheels.

[0054] In the retracted position, the spacing between each pair of arms, consisting of a rear arm 31, 32 and a facing distal arm 31, 33 and 32, 34, is determined so that they contact the front and rear sidewalls of the vehicle's tire and grip the tire to raise the vehicle. When the retractable distal arms 34, 33 are in the locked retracted position, they prevent the vehicle from moving relative to the conveyor.

[0055] Not shown, at least one transport conveyor includes a guidance system enabling its autonomous movement. Furthermore, the parking system includes control means arranged to control the actuation means and the autonomous guidance system of at least one conveyor.

[0056] The presence of a transport conveyor combined with the presence of a vehicle on the storage platform of a platform results in an additional weight for the structure of the platform.

[0057] With reference to figures 4 And 5 The parking system also includes support structures 70 located on the ground floor of at least one tower. These structures are arranged to at least partially support the weight of a transport conveyor 90 carrying a vehicle 100. The passage of a transport conveyor over each platform is then possible, enabling an automated parking system that offers faster and safer service for people.

[0058] With reference to the figure 4A platform 60 is positioned on the ground floor of a carousel-type parking tower, the tower comprising as many platforms as there are platform locations. The tower includes N platforms and N platform locations. The support means 70 include load-bearing rollers 72 projecting from the ground floor of at least one tower. The rollers support the platform 60 during the loading or unloading of a vehicle by a transport conveyor (not shown) located on the storage platform.

[0059] With reference to the figure 5 , a carousel-type parking tower includes N-1 gondolas 60 and an empty gondola location 59. The support means 70 include a platform 71 projecting from the ground floor of at least one tower.

[0060] Preferably, the automated parking system comprises at least two carousel-type parking towers arranged one behind the other: at least one transit tower and one destination tower, such that an exit of a transit tower is opposite an entrance of the next tower, allowing at least one conveyor, whether carrying a vehicle or not, to pass directly from one tower to the other. This set of towers defines a number R, where R is at least 2, of tower rows, with the destination tower positioned at least in row 2. The at least two carousel-type parking towers are aligned to form a line.

[0061] According to an example of implementation shown in the figure 1The automated parking system comprises six carousel-type parking towers 11, 12, 13, 14, 15, 16, aligned longitudinally and defining six rows of towers R1, R2, R3, R4, R5, R6. In this embodiment, each parking tower contains as many gondolas as there are gondola positions. To access a gondola, referred to as a target gondola 60c, in a destination tower, the transport conveyor travels over the empty gondola storage platforms of the transit towers, these empty gondolas being located on the ground floor of the transit towers.

[0062] With reference to the figure 1The target platform 60c is located in parking tower 14, in this case referred to as the destination tower, which is located at level 4 of the parking system. The transport conveyor 90 enters through the entrance of parking tower 11 and then travels over the empty platforms of parking towers 11, 12, and 13 before reaching parking tower 14. In this case, parking towers 11, 12, and 13 are transit towers. Next, as shown in the diagram, the transport conveyor travels over the storage platform of the target platform 60c, inserting itself beneath the vehicle. The vehicle is then lifted and carried by the conveyor. The transport conveyor, carrying the vehicle, exits the target platform by traveling over the storage platforms of the empty platforms.

[0063] According to an alternative embodiment shown in the figure 3, the automatic parking system 1 comprises a number L, L being equal to three, of lines L1, L2, L3 of carousel-type parking towers, arranged side by side, each line of parking towers comprising four rows R1, R2, R3, R4, of parking towers.

[0064] We will now describe the parking control process associated with the automatic parking system, with reference to the Figures 1 And 6 .

[0065] The process involves: a step of choosing a platform, called target platform 60c, from a destination tower, to store or unstore a motor vehicle 100, a step of controlling the means of actuation of the four parking towers 11, 12, 13 and 14, including: the movement of the platforms 60 from the destination tower 14 to place the target platform 60c on the ground floor, and the movement of the platforms from one or more of the three passage towers 11, 12 and 13 so as to align an empty platform from each passage tower with the target platform 60c of the destination tower 14, a step of controlling the movement of the empty transport conveyor 90, to cross all the passage towers 11, 12 and 13, and access the target platform 60c of the destination tower 14 to unstore the vehicle from the target platform 60c.

[0066] Preferably, the means of control of the parking system, also called the parking management system, includes a system for managing conveyor robots and a system for managing carousel-type parking turns.

[0067] The process involves detecting the position of at least one conveyor, and the position of the gondolas of the different towers, in particular the position of the target gondola.

[0068] Preferably, the process involves simultaneously controlling the gondolas of several parking towers and one or more conveyors. The robot management system controls the autonomous guidance systems for the conveyors. The carousel-type parking tower management system controls the tower actuation systems.

[0069] In addition, wireless communication means between the control means and the conveyor guidance means allow the transmission of the addresses of the target gondolas 60c to the conveyors 90.

[0070] The process makes it possible to coordinate and / or synchronize the movements of the transport conveyor robots and the movements of the gondolas of the different carousel-type parking towers and thus offer a parking of motor vehicles allowing, in view of the prior art, faster and safer storage and retrieval for people while optimizing the available space.

Claims

1. Method for parking motor vehicles of an automatic parking system (1) for storing and retrieving motor vehicles (100), the parking system comprising at least two carousel-type parking towers (11, 12, 13, 14, 15, 16), each tower comprising: - a vertical framework (50) having a number N of nacelle locations, and on the ground floor a tower entrance (51) and a tower exit (52) for a vehicle to pass, - at least N-1 nacelles (60) connected to the vertical framework (50), each nacelle being connected to a nacelle location, each nacelle comprising a storage plate (65) corresponding to a parking location of a motor vehicle, and having a nacelle entrance (61) and a nacelle exit (62) for said vehicle to pass, - a means for actuating the nacelles in translation according to a closed path along the framework, each nacelle (60) being loaded or unloaded when it is placed on the ground floor of the tower, the at least two towers being arranged one behind the other, at least one passage tower and a destination tower so that a tower exit (52) of a passage tower is opposite a tower entrance (51) of the next tower so that a vehicle can pass directly from one tower to another, and defining a number R, R being equal to at least 2, of parking tower rows, the destination tower being positioned at least at row 2, the parking system comprising at least one transport conveyor (90) for a four-wheel vehicle (100) comprising wedging arms (21, 22, 23, 24, 31, 32, 33, 34), arranged so as to position themselves on either side of the treads of the wheels of said vehicle (100) so as to carry or deposit said vehicle, the at least one conveyor comprising an autonomous guidance means, the parking system comprising control means arranged to control the means for actuating the at least two towers and the means for autonomously guiding the at least one conveyor, the method comprising: - a step of selecting a nacelle, a so-called target nacelle (60c), of a destination tower, to store or retrieve a vehicle, - a step of controlling the means for actuating the at least two towers, comprising moving the nacelles (60) of the destination tower to place the target nacelle (60c) on the ground floor, and moving the nacelles of the at least one passage tower, so as to align an empty nacelle or the empty nacelle location of the at least one passage tower with the target nacelle (60c) of the destination tower, - a step of controlling the movement of the at least one conveyor (90), carrying a vehicle or being empty, to cross the at least one passage tower, and access the target nacelle (60c) of the destination tower to store or retrieve said vehicle.

2. Method according to claim 1, comprising a step of detecting an empty nacelle or an empty nacelle location on the ground floor of the at least one passage tower before the step of controlling the movement of the at least one conveyor (90).

3. Method according to claim 1, comprising a step of identifying the at least one conveyor (90) when passing over a storage plate (65) or on the ground floor of a passage tower comprising an empty nacelle location.

4. Method according to one of the preceding claims, wherein the parking system comprises a means of wireless communication between the control means and the conveyor guidance means, a method comprising a step of transmitting the address of the target nacelle (60c) to the at least one conveyor (90).

5. Method according to one of the preceding claims, wherein the parking system comprises a number L, L being equal to at least 2, of parking tower lines, disposed next to each other, each parking tower line comprising the number R of parking tower rows, and wherein the parking system comprises at least one transport conveyor (90) per parking tower line, the method comprising a step of controlling the simultaneous movement of at least two transport conveyors (90).

6. Automatic parking system (1) for storing and retrieving motor vehicles (100), comprising at least one carousel-type parking tower (11, 12, 13, 14, 15, 16) comprising: - a vertical framework (50) having a number N of nacelle locations, and on the ground floor a tower entrance (51) and a tower exit (52) for a vehicle to pass, - at least N-1 nacelles (60) connected to the framework (50), each nacelle being connected to a nacelle location, each nacelle comprising a storage plate (65) corresponding to a parking location of a motor vehicle, and having a nacelle entrance (61) and a nacelle exit (62) for said vehicle to pass, - a means for actuating the nacelles in translation according to a closed path along the framework, each nacelle (60) being loaded or unloaded when it is placed on the ground floor of the tower, the parking system comprising at least one transport conveyor (90) for a four-wheel vehicle comprising wedging arms (21, 22, 23, 24, 31, 32, 33, 34), arranged so as to position themselves on either side of the treads of the wheels of said vehicle (100) so as to carry or deposit said vehicle, the at least one conveyor comprising an autonomous guidance means, the parking system comprising control means arranged to control the actuation means and the autonomous guidance means of the at least one conveyor, the parking system further comprising support means (70) disposed on the ground floor of the at least one tower, said means being arranged to at least partially support the weight of a transport conveyor (90) carrying a vehicle (100).

7. System according to claim 6, comprising N-1 nacelles (60) and an empty nacelle location, and the support means (70) comprise a platform (71) projecting from the ground floor of the at least one tower.

8. System according to claim 6, comprising N nacelles (60), and the support means (70) comprise force-absorbing rollers (72) projecting from the ground floor of the at least one tower.

9. System according to one of claims 6 to 8, comprising at least two carousel-type parking towers (11, 12, 13, 14, 15, 16), arranged one behind the other, at least one passage tower and a destination tower so that a tower exit (52) of a passage tower is opposite a tower entrance (51) of the next tower so that the at least one conveyor (90) carrying or not a vehicle can pass directly from one tower to another, defining a number R, R being equal to at least 2, of rows of towers, the destination tower being positioned at least in row 2.

10. System according to the preceding claim, wherein the parking system comprises a number L, L being equal to at least 2, of parking tower lines, arranged next to each other, each row of parking towers comprising the number R of rows of parking towers.

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