A three-dimensional parking garage and control method thereof

Abstract

The present application discloses a stereo garage and a control method thereof, wherein the stereo garage comprises: at least two layers of parking spaces; a vehicle loading plate for carrying vehicles to be transferred within the stereo garage; a lift car whose running path covers the parking spaces on each layer, and the lift car is provided with at least three position confirmation switches for detecting the position of the vehicle loading plate; a carrier for transferring vehicles between the lift car and the parking spaces on the corresponding layers, and each layer of parking spaces is provided with a carrier and a carrier parking area; a control system for coordinating the operation of the lift car and the carrier, and the control system receives the trigger signal of the position confirmation switch to control the operation of the lift car. The stereo garage provided by the present application provides mechanical and electrical dual protection for the safe operation of the carrier and the lift car, and has higher safety.

Description

Technical Field

[0001] The present application relates to the technical field of stereoscopic parking garages, and in particular to a stereoscopic parking garage and a control method thereof. Background Art

[0002] With the increasing number of vehicles every year, the demand for parking spaces in cities has fallen short of supply, and difficulty in finding parking has become a major problem in life. The multi-story parking garages seen on the market mainly include nine categories, including flat movable, vertical lifting, and simple lifting types. Compared with traditional ground parking and civil parking buildings, they have great advantages.

[0003] With the increase in irregular parking lots and the renovation of old communities, in areas with limited space, the use of AGV as a transporter to transport vehicles can meet the needs of storing and retrieving vehicles in small spaces. However, the use of AGV for vehicle transportation still needs to solve safety issues. Summary of the Invention

[0004] Based on this, a stereoscopic parking garage with better safety performance is provided.

[0005] A three-dimensional parking garage, comprising:

[0006] At least two levels of parking;

[0007] Carriage plates used to carry vehicles for transfer within a stereo garage;

[0008] A lift car whose running path covers parking spaces on each floor, wherein the lift car is provided with at least three position confirmation switches for detecting the position of the vehicle loading plate;

[0009] A carrier for transferring vehicles between the lift car and the corresponding parking space, with each parking space on each floor correspondingly provided with a carrier and a carrier parking area;

[0010] A control system for coordinating the operation of the lift car and the carrier, wherein the control system receives the position confirmation switch trigger signal to control the operation of the lift car.

[0011] Several optional methods are also provided below, but they are not intended to be additional limitations on the above-mentioned overall solution. They are merely further supplements or optimizations. Under the premise that there are no technical or logical contradictions, each optional method can be combined separately for the above-mentioned overall solution, or multiple optional methods can be combined.

[0012] Optionally, the carrier docking area is provided with at least one first safety switch for confirming whether the carrier leaves or enters the lift car, and the control system receives a trigger signal of the first safety switch to control the operation of the lift car.

[0013] Optionally, the lift car is provided with at least one second safety switch triggered by the carrier, and the control system receives the trigger signal of the second safety switch to start detecting the leveling status of the lift car, and controls the operation of the carrier after receiving the leveling status confirmation signal of the lift car.

[0014] Optionally, there is one first safety switch, and the carrier is provided with N groups of running wheels arranged along the moving direction of the carrier. The control system controls the operation of the lift car after receiving the trigger signal of the first safety switch N times.

[0015] Optionally, when the lift car is in a level state, the closest distance between the first safety switch closest to the lift car and the edge of the lift car is L1, and the distance between the running wheel closest to the end of the transporter in the walking direction and the corresponding end is L2, and L1 is not less than L2.

[0016] Optionally, the vehicle loading plate includes:

[0017] Support plate;

[0018] And at least one group of supporting feet is fixed under the supporting plate, and two groups of supporting feet are symmetrically arranged at both ends of the supporting plate.

[0019] Optionally, the lift car includes:

[0020] Lifting car frame;

[0021] A plate surface fixed on the lifting car frame for supporting the vehicle loading plate, the plate surface is provided with a vehicle loading plate positioning groove for accommodating the supporting legs, each set of supporting legs corresponds to a vehicle loading plate positioning groove, and the position confirmation switch is arranged at the bottom of the vehicle loading plate positioning groove;

[0022] A leveling positioning mechanism is installed on the lifting car frame.

[0023] Optionally, several pairs of vehicle loading plate positioning strips are detachably fixed on the disk surface, and the vehicle loading plate positioning grooves are formed between the vehicle loading plate positioning strips belonging to the same pair, and at least two of the position confirmation switches are distributed at the bottom of each vehicle loading plate positioning groove.

[0024] Optionally, a lifting blocking member is provided on the disk surface for blocking the vehicle carrier from moving, and the lifting blocking member includes:

[0025] a stop frame to block the vehicle carrier;

[0026] a rack mounted on a stop frame;

[0027] a drive gear meshing with the rack;

[0028] A driving motor drives the driving gear to rotate, and the control system receives a trigger signal from the first safety switch to control the lifting of the stop frame.

[0029] This application also provides a control method for the stereo garage, comprising:

[0030] The control system receives a vehicle storage and retrieval instruction;

[0031] After receiving the trigger signal of the position confirmation switch and the trigger signal of the first safety switch, the control system controls the lift car equipped with the vehicle loading plate to run between the entrance and exit and the parking space on the target floor according to the vehicle storage and retrieval instruction;

[0032] After receiving the trigger signal of the second safety switch and the elevator car leveling state confirmation signal, the control system controls the carrier to run between the elevator car and the target floor parking space to transfer the vehicle loading plate.

[0033] The three-dimensional parking garage provided in this application provides dual mechanical and electrical protection for the safe operation of the transporter and the lift car, which is safer. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic diagram of the elevator car parked at the target floor parking space in this application;

[0035] Figure 2 A side view of the lift car in this application;

[0036] Figure 3 A top view of the lift car in this application;

[0037] Figure 4 This is a side view of the lift car in this application (from another perspective);

[0038] Figure 5 A schematic diagram of a stop mechanism in a lift car in this application;

[0039] Figure 6 This is a schematic diagram of the position confirmation switch in this application.

[0040] In the figure: 1. Transporter; 2. Lifting car; 21. Disc; 22. Lifting car frame; 23. Guide wheel; 24. Car loading plate positioning groove; 25. Tensioning sprocket; 26. Tensioning chain; 27. Car loading plate positioning strip; 3. Car loading plate; 31. Support plate; 32. Support foot; 4. Leveling positioning mechanism; 41. Leveling positioning rod; 42. Leveling motor; 5. Lifting block; 51. Stop frame; 52. Rack; 53. Driving gear; 54. Upper limit switch; 55. Lower limit switch; 56. Limit plate; 6. Position confirmation switch; 7. First safety switch. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0042] In order to better describe and illustrate the embodiments of the present application, reference may be made to one or more drawings, but the additional details or examples used to describe the drawings should not be considered as limiting the scope of the invention of the present application, any of the currently described embodiments or preferred methods.

[0043] It should be noted that when a component is referred to as being "connected" to another component, it may be directly connected to the other component or there may be an intermediate component. When a component is referred to as being "disposed on" another component, it may be directly disposed on the other component or there may be an intermediate component.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application.

[0045] See also Figure 1 、 Figure 2 As shown, a three-dimensional parking garage includes:

[0046] At least two levels of parking;

[0047] A vehicle loading plate 3 for carrying vehicles for transfer within the stereo garage;

[0048] A lift car 2 whose running path covers parking spaces on each floor is provided with at least three position confirmation switches 6 for detecting the position of the vehicle loading plate 3;

[0049] A carrier 1 is used to transfer vehicles between the lift car 2 and the corresponding parking space on each floor. Each parking space on each floor is provided with a carrier 1 and a parking area for the carrier 1;

[0050] The control system coordinates the operation of the lift car 2 and the carrier 1 , and receives a trigger signal from the position confirmation switch 6 to control the operation of the lift car 2 .

[0051] The lift car 2 runs between the entrance and exit and the parking spaces on each floor. During the operation of the lift car 2, there is always a loading plate 3. The loading plate 3 can be an empty plate or a plate with a vehicle. In order to improve the safety of operation, a position confirmation switch 6 is set on the lift car 2. After the loading plate 3 is accurately parked, the corresponding position confirmation switch 6 will be triggered. After the control system receives the trigger signal of the position confirmation switch 6, it controls the operation of the lift car 2. That is, if the expected position confirmation switch 6 signal is not received, the lift car 2 will not run.

[0052] Each parking space on each floor is equipped with a transporter 1. The transporter 1 can be an AGV robot. The transporter 1 is parked in the transporter 1 docking area. When the elevator car 2 runs to the target parking space floor, the corresponding transporter 1 transfers the vehicle on the vehicle loading plate 3 by transporting the vehicle loading plate 3.

[0053] See also Figure 1 As shown, the carrier 1 parking area is provided with at least one first safety switch 7 for confirming that the carrier 1 leaves or enters the lift car 2 , and the control system receives the trigger signal of the first safety switch 7 to control the operation of the lift car 2 .

[0054] The control system sends a signal to the carrier 1 indicating that it is moving toward or out of the lift car 2. The first safety switch 7 is used to confirm whether the carrier 1 has entered or left the lift car 2. When the first safety switch 7 is triggered, it sends a signal to the control system to control the operation of the lift car 2. Specifically, if the first safety switch 7 is triggered after the carrier 1 receives a signal indicating that it is moving toward the lift car 2, it is confirmed that the carrier 1 has entered the lift car 2. If the first safety switch 7 is triggered after the carrier 1 receives a signal indicating that it is moving out of the lift car 2, it is confirmed that the carrier 1 has left the lift car 2.

[0055] By electrically confirming the positions of the carrier 1 and the lift car 2, the car is prevented from moving when the carrier 1 has not completely left the car or has not completely entered the car. The signal response is fast, the operation is smooth, and the failure rate is low.

[0056] To further improve safety, in one embodiment, the lift car 2 is provided with at least one second safety switch triggered by the carrier 1. The control system receives a trigger signal from the second safety switch to start detecting the leveling status of the lift car 2, and controls the operation of the carrier 1 after receiving a signal confirming the leveling status of the lift car 2.

[0057] When the carrier 1 leaves the lift car 2 or enters the lift car 2, the carrier 1 will trigger the second safety switch. After the second safety switch is triggered, the carrier 1 begins to confirm the leveling status of the lift car 2. When it is confirmed that the lift car 2 is in the leveling state, the carrier 1 continues to move. If the lift car 2 is not in the leveling state, the carrier 1 stops.

[0058] The leveling state of the lift car 2 can be detected by using existing technology, such as a sensor.

[0059] In one embodiment, there is one first safety switch 7 , and the carrier 1 is provided with N sets of running wheels arranged along the moving direction of the carrier 1 . The control system controls the operation of the lift car 2 after receiving N trigger signals of the first safety switch 7 .

[0060] N is a natural number not less than 2. For example, if the carrier 1 has two sets of running wheels, then the control system receives the trigger signal of the first safety switch 7 twice, which means that all the running wheels of the carrier 1 have moved out of or into the lift car 2, and the lift car 2 can move up and down.

[0061] See also Figure 1 As shown, when the lift car 2 is in the leveling state, the closest distance between the first safety switch 7 closest to the lift car 2 and the edge of the lift car 2 is L1, and the distance between the running wheel closest to the end of the carrier 1 in the traveling direction and the corresponding end is L2, and L1 is not less than L2.

[0062] When the first safety switch 7 is triggered, it means that the carrier 1 has completely left the elevator car 2, and the elevator car 2 will not have any adverse effects on the carrier 1 when it is moving up and down.

[0063] See also Figure 1 As shown, the vehicle loading plate 3 includes:

[0064] Support plate 31;

[0065] At least one set of supporting feet 32 ​​is fixed under the supporting plate 31 , and two sets of supporting feet 32 ​​are symmetrically arranged at both ends of the supporting plate 31 .

[0066] The vehicle loading plate 3 itself has no running mechanism and is completely dependent on the carrier 1 for transfer.

[0067] See also Figure 2 、 Figure 3 、 Figure 4 As shown, the lift car 2 comprises:

[0068] Lifting car frame 22;

[0069] A plate 21 is fixed on the lift car frame 22 for supporting the vehicle loading plate 3. The plate 21 is provided with vehicle loading plate positioning grooves 24 for accommodating support legs. Each set of support legs 32 corresponds to a vehicle loading plate positioning groove 24. The position confirmation switch 6 is provided at the bottom of the vehicle loading plate positioning groove 24.

[0070] A leveling positioning mechanism 4 is installed on the lifting car frame 22.

[0071] The plate 21 is bolted to the lift frame 22. The plate 21 is welded from profiles, and the top of the plate 21 serves as the support surface for the carrier 1. The plate 21 is rectangular, matching the shape of the vehicle loading plate 3. Four position confirmation switches 6 are located at the four corners of the plate 21, corresponding to the support legs 32 of the vehicle loading plate 3.

[0072] See also Figure 2 、 Figure 3 、 Figure 4 As shown, the lifting car frame 22 is made of welded profiles, and the lifting car frame 22 is equipped with guide wheels 23 that cooperate with the lifting guide rails. There are two lifting guide rails, each of which has two guide surfaces perpendicular to each other. There are two groups of guide wheels 23, each group of guide wheels 23 cooperates with a corresponding guide surface, and each group of guide wheels 23 has at least two, which are respectively fixed to the top and bottom of the lifting car frame 22 by bolts.

[0073] See also Figure 4 As shown, a tensioning sprocket 25 is installed on the lifting car frame 22, and a tensioning chain 26 is wound around the tensioning sprocket 25. The two ends of the tensioning chain 26 are respectively fixed to the top and bottom ends of the stereo garage. The cooperation between the tensioning chain 26 and the tensioning sprocket 25 can prevent the lifting car 2 from tipping over during operation.

[0074] See also Figure 3 As shown, the leveling mechanism 4 includes two leveling rods 41 pointing in opposite directions, and a leveling motor 42 that drives the rods 41 in synchronous, opposite directions. The multi-story parking garage is provided with positioning holes for receiving the leveling rods 41. When the elevator car 2 reaches the level, the leveling motor 42 drives the rods 41 into the positioning holes, maintaining the elevator car 2 in the leveled position. This maintains the stability of the leveling state of the elevator car 2 during the operation of the transporter 1.

[0075] See also Figure 2 As shown, a plurality of pairs of vehicle loading plate positioning strips 27 are detachably fixed on the disk surface 21 , and vehicle loading plate positioning grooves 24 are formed between the vehicle loading plate positioning strips 27 belonging to the same pair, and at least two position confirmation switches 6 are distributed at the bottom of each vehicle loading plate positioning groove 24 .

[0076] When the transporter 1 places the loading plate 3 on the plate surface 21, the supporting feet of the loading plate 3 are respectively located in the corresponding loading plate positioning grooves 24, and the supporting feet trigger the corresponding position confirmation switches 6. When at least three position confirmation switches 6 are triggered, the lift car 2 is raised and lowered, avoiding scratches on the wall due to the position deviation of the loading plate 3.

[0077] In order to prevent the carrier 1 from rushing out of the elevator car 2, in one embodiment, see Figure 2 、 Figure 5As shown, a lifting block 5 for blocking the vehicle carrier 1 from moving is provided on the disk surface 21. The lifting block 5 includes:

[0078] A stop frame 51 that blocks the vehicle carrier 1;

[0079] A rack 52 mounted on the stop frame 51;

[0080] a drive gear 53 meshing with the rack 52;

[0081] The driving motor drives the driving gear 53 to rotate, and the control system receives the trigger signal of the first safety switch 7 to control the lifting of the stop frame 51.

[0082] A limit plate 56 is also installed on the stop frame 51, and an upper limit switch 54 and a lower limit switch 55 are installed on the disk surface 21. When the limit plate 56 triggers the upper limit switch 54, the stop frame 51 is in the upper limit position. When the limit plate 56 triggers the lower limit switch 55, the stop frame 51 is in the lower limit position.

[0083] The trigger signal of the first safety switch 7 is used to determine whether the carrier 1 has completely entered or left the lift car 2 , and is also used by the control system to control the drive motor of the lift blocking member 5 .

[0084] The lifting stop 5 is detachably connected to the disk surface 21 by bolts. When the elevator car 2 reaches the target parking floor and the carrier 1 enters the elevator car 2, triggering the first safety switch 7, the control system sends a signal to the drive motor, which drives the stop frame 51 upward. When the carrier 1 exits the elevator car 2, triggering the first safety switch 7, the control system sends a signal to the drive motor, which drives the stop frame 51 downward.

[0085] When the carrier 1 has N sets of running wheels arranged along the running direction of the carrier 1 , the first safety switch 7 will be triggered N times. After the N triggerings are completed, the control system sends a control signal to the drive motor to control the drive motor to drive the stop frame 51 to move up and down.

[0086] The present application also provides a control method for the stereoscopic parking garage, comprising:

[0087] The control system receives the instruction to store or retrieve the vehicle;

[0088] After receiving the trigger signal of the position confirmation switch 6 and the trigger signal of the first safety switch 7, the control system controls the lift car 2 equipped with the vehicle loading plate 3 to run between the entrance and the parking space on the target floor according to the vehicle storage and retrieval instructions;

[0089] After receiving the trigger signal of the second safety switch and the leveling state confirmation signal of the elevator car 2 , the control system controls the carrier 1 to move between the elevator car 2 and the parking space on the target floor to transfer the vehicle loading plate 3 .

[0090] The process of loading a car into a three-dimensional garage is as follows:

[0091] (1) The lift car 2 carrying the empty vehicle plate 3 stops at the entrance of the three-dimensional parking garage, and the vehicle to be stored drives onto the empty vehicle plate 3;

[0092] (2) The control system controls the elevator car 2 to move to the target parking space according to the parking instruction, the leveling positioning mechanism 4 is activated, and the carrier 1 corresponding to the target parking space moves toward the elevator car 2. After the first safety switch 7 is triggered a predetermined number of times, the stop frame 51 rises, and the carrier 1 completely enters the elevator car 2;

[0093] (3) The carrier 1 lifts the vehicle-carrying plate 3 out of the lift car 2, triggers the second safety switch, and starts the leveling state detection of the lift car 2. After confirming that the lift car 2 is in the leveling state, the carrier 1 continues to move out of the lift car 2 until the first safety switch 7 is triggered a predetermined number of times, confirming that the carrier 1 has completely left the lift car 2. The carrier 1 moves the vehicle-carrying plate 3 to the target parking space;

[0094] (4) The transporter 1 moves any empty vehicle plate 3 on the parking space on the target floor onto the lift car 2, and the transporter 1 drives out of the lift car 2. After the second safety switch is triggered a predetermined number of times, it is confirmed that the transporter 1 has completely left the lift car 2, and the control system controls the transporter 1 to reset to the transporter 1 parking area;

[0095] When the empty vehicle plate 3 is on the lift car 2, the position confirmation switch 6 is triggered. After at least three position confirmation switches 6 are triggered, the leveling positioning mechanism 4 is released, and the lift car 2 carrying the empty vehicle plate 3 is reset to the entrance and exit of the stereo garage.

[0096] The process of retrieving a car from a stereo garage is as follows:

[0097] (1) In the initial state, the elevator car 2 is loaded with an empty vehicle board 3 and is parked at the entrance of the multi-story parking garage. After receiving the vehicle pickup instruction, the control system controls the elevator car 2 to move to the target parking space. The leveling positioning mechanism 4 is activated, and the carrier 1 corresponding to the target parking space moves toward the elevator car 2. After the first safety switch 7 is triggered a predetermined number of times, the stop frame 51 rises, and the carrier 1 completely enters the elevator car 2.

[0098] (2) The transporter 1 lifts the empty vehicle plate 3 and drives it out of the lift car 2. After triggering the second safety switch, it starts to detect the leveling state of the lift car 2. After confirming that the lift car 2 is in the leveling state, the transporter 1 continues to drive out of the lift car 2 until the first safety switch 7 is triggered a predetermined number of times, confirming that the transporter 1 has completely left the lift car 2. The transporter 1 moves the empty vehicle plate 3 to any parking space on the target floor.

[0099] (3) The carrier 1 moves to the target parking space and moves the vehicle loading plate 3 carrying the vehicle on the target parking space onto the lift car 2. The carrier 1 drives out of the lift car 2. After the second safety switch is triggered a predetermined number of times, it is confirmed that the carrier 1 has completely left the lift car 2. The control system controls the carrier 1 to return to the carrier 1 parking area.

[0100] When the loading plate 3 carrying the vehicle is located on the lifting car 2, the position confirmation switch 6 is triggered. After at least three position confirmation switches 6 are triggered, the leveling positioning mechanism 4 is released, and the lifting car 2 carrying the loading plate 3 carrying the vehicle is reset to the entrance and exit of the multi-story parking garage, and the vehicle drives out of the loading plate 3.

[0101] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0102] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art could make various modifications and improvements without departing from the spirit of the present application, all of which fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A three-dimensional parking garage, characterized in that: include: At least two levels of parking; A vehicle loading plate for carrying vehicles for transfer in a stereo garage, the vehicle loading plate comprising: a support plate, and at least two sets of support legs fixed below the support plate; A lift car whose running path covers parking spaces on each floor, wherein the lift car is provided with at least three position confirmation switches for detecting the position of the vehicle loading plate; A carrier for transferring vehicles between the lift car and the parking space on the corresponding floor, wherein each parking space on each floor is provided with a carrier and a parking area for the carrier; a control system for coordinating the operation of the lift car and the carrier, the control system receiving a trigger signal from the position confirmation switch to control the operation of the lift car; The carrier parking area is provided with at least one first safety switch for confirming that the carrier leaves or enters the lift car, and the control system receives a trigger signal of the first safety switch to control the operation of the lift car; the carrier is provided with N groups of running wheels arranged along the moving direction of the carrier, and the control system controls the operation of the lift car after receiving the trigger signal of the first safety switch N times; The lift car is provided with at least one second safety switch triggered by the carrier, the control system receives a trigger signal of the second safety switch to start detecting the leveling state of the lift car, and controls the carrier to operate after receiving a confirmation signal of the leveling state of the lift car; The lift car comprises: a lift car frame, a plate surface fixed on the lift car frame for supporting a vehicle loading plate, a lift blocking member for blocking the vehicle carrier from moving is arranged on the plate surface, and the lift blocking member comprises a stop frame for blocking the vehicle carrier; The disk surface is provided with a vehicle loading plate positioning groove for accommodating the supporting feet, each group of supporting feet corresponds to a vehicle loading plate positioning groove, and at least two of the position confirmation switches are distributed at the bottom of each vehicle loading plate positioning groove.

2. The three-dimensional car park according to claim 1, characterized in that: The number of the first safety switch is one.

3. The three-dimensional car park according to claim 1, characterized in that: When the lift car is in a level state, the shortest distance between the first safety switch closest to the lift car and the edge of the lift car is L1, the distance between the running wheel closest to the end of the carrier in the running direction and the corresponding end is L2, and L1 is not less than L2.

4. The three-dimensional car park according to claim 1, characterized in that: Two groups of supporting feet are symmetrically arranged at two ends of the supporting plate.

5. The three-dimensional car park according to claim 4, characterized in that: The lift car further comprises: a leveling positioning mechanism installed on the lift car frame.

6. The three-dimensional car park according to claim 5, characterized in that: A plurality of pairs of vehicle loading plate positioning strips are detachably fixed on the plate surface, and the vehicle loading plate positioning grooves are formed between the vehicle loading plate positioning strips belonging to the same pair.

7. The three-dimensional car park according to claim 1, characterized in that: The lifting blocking member also includes: A rack mounted on the stop frame; a drive gear meshing with the rack; A driving motor drives the driving gear to rotate, and the control system receives a trigger signal from the first safety switch to control the lifting of the stop frame.

8. A control method for a stereo garage as claimed in any one of claims 1 to 7, characterized in that: include: The control system receives a vehicle storage and retrieval instruction; After receiving the trigger signal of the position confirmation switch and the trigger signal of the first safety switch, the control system controls the lift car with the vehicle loading plate to run between the entrance and exit and the parking space on the target floor according to the vehicle storage and retrieval instruction; After receiving the trigger signal of the second safety switch and the leveling state confirmation signal of the lift car, the control system controls the carrier to run between the lift car and the parking space on the target floor to transfer the vehicle loading plate.

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