The invention relates to small storage type double-layer stereo parking equipment with an insertion-and-extraction type parking frame and a control method. The parking equipment is mainly composed ofa warehouse, a lifting and rotating mechanism, a travelling mechanism and a ground mechanism and further comprises a camera recognition module, an ultrasonic sensor, a human infrared sensor and an infrared aligning module or a laser aligning module mounted near wheels. Parking place layer additional arrangement is achieved through the insertion-and-extraction type comb parking frame and ground supporting columns, a storage warehouse of the comb parking frame is matched, the one-to-one limitation of an original small stereo parking device is overcome, the one-to-multiple parking place layer-additionally-arranged expansion of the small stereo parking device is achieved, the transforming extent on an original parking lot is greatly decreased, and the cost of building the stereo parking lot isreduced. The capacity of the comb parking frame in the warehouse is adjustable, the small storage type double-layer stereo parking equipment can be suitable for parking lots with different sizes in various new and old communities, the application range is wide, and operation is easy, meanwhile the cost input of building of the stereo parking lots is reduced, and the very good application and popularization prospects are achieved.