A kind of upper and lower tray type three-dimensional parking garage and control method

Abstract

The present invention provides an upper and lower tray type three-dimensional parking garage and a control method. The three-dimensional parking garage includes: a multi-layer parking floor, and a vertical lift running through the entrances and exits of each parking floor. Each parking floor includes at least one automatic navigation vehicle and at least one parking space provided with a vehicle pallet. The vertical lift includes: a first lifting platform, the first lifting platform is provided with a platform access channel on the side close to the parking floor entrance and exit; a first pallet rack, the first pallet rack is arranged on the first lifting platform, and is used to park a vehicle pallet carrying a vehicle; a second pallet rack, the second pallet rack is arranged below the first lifting platform, and forms an upper and lower structure with the first pallet rack, and is used to park an empty vehicle pallet; the automatic navigation vehicle is provided with a lifting mechanism for lifting the vehicle pallet. The present invention effectively improves the parking efficiency of the garage by arranging two platforms on the vertical lift, both of which are equipped with pallet racks, to store vehicle pallets carrying vehicles and empty vehicle pallets.

Description

Technical Field

[0001] The invention relates to the field of parking machinery, and in particular to an upper and lower tray type three-dimensional parking garage and a control method thereof. Background Art

[0002] Mechanical stereo parking garage is a kind of mechanical equipment that integrates vehicle handling, parking and storage. Warehouse-type mechanical stereo parking garage uses automatic navigation trolleys and vertical lifts to handle, park and store vehicles. Each parking space has a vehicle pallet that can be transported. The parking garage can be equipped with several vertical lifts, and each floor can be equipped with several automatic navigation trolleys.

[0003] Usually, during the parking process, the vehicle is first parked on the vehicle pallet of the parking space, and then the automatic navigation trolley on that floor takes the vehicle and the vehicle pallet from the parking space together and transfers them to the vertical elevator; the vehicle is lifted and lowered to the target parking layer by the vertical elevator, and then the automatic navigation trolley on that parking layer takes the vehicle and the vehicle pallet out together and transfers them to the parking space on that layer. Finally, the automatic navigation trolley takes the vehicle pallet on an empty parking space on that layer and descends to the first floor through the vertical elevator, and then the automatic navigation trolley on the first floor takes the vehicle pallet from the vertical elevator and places it on the parking space on the first floor. After the automatic navigation trolley on the first floor sends the vehicle and the vehicle pallet into the elevator, it must wait in place until the elevator rises to park the vehicle and takes another vehicle pallet to descend before it can proceed to the next step, which cannot effectively utilize this window time; at the same time, during the time when the automatic navigation trolley on the target parking layer is parking the vehicle and putting the empty vehicle pallet into the elevator, the elevator must wait on that floor, thereby making the parking efficiency low. Summary of the invention

[0004] In view of this, the present invention provides an upper and lower tray type three-dimensional parking garage and a control method to solve the problem of low parking efficiency of the existing storage type mechanical three-dimensional parking garage.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0006] According to an embodiment of the present invention, a vertical tray type three-dimensional parking garage comprises: a multi-layer parking layer, and at least one vertical lift running through each parking layer, each parking layer comprises at least one automatic navigation vehicle and at least one parking space provided with a vehicle loading tray,

[0007] Vertical lifts include:

[0008] A first lifting platform, wherein the first lifting platform is provided with a platform access passage on a side close to the parking layer;

[0009] A first pallet rack, which is disposed on the first lifting platform and is arranged corresponding to the access channel and is used to park a vehicle-carrying pallet carrying a vehicle;

[0010] A second pallet rack, which is arranged below the first lifting platform and forms an upper and lower structure with the first pallet rack for parking vehicle pallets;

[0011] The automatic navigation trolley is provided with a lifting mechanism for lifting / lowering the loading tray under the loading tray.

[0012] In one embodiment of the present invention, the vertical lift further comprises:

[0013] The second lifting platform is arranged below the first lifting platform and is fixedly connected to the bottom of the first lifting platform to form an upper and lower platform. The second lifting platform is provided with a second tray rack.

[0014] In one embodiment of the present invention, a vehicle loading pallet rack is provided on the parking space of the parking floor, and the vehicle loading pallet rack is used to load the vehicle loading pallet.

[0015] In one embodiment of the present invention, a fixing frame is provided above the first lifting platform, and the fixing frame and the first lifting platform form a car structure.

[0016] In one embodiment of the present invention, the parking layer is provided with at least one lane to separate a plurality of parking spaces.

[0017] In one embodiment of the present invention, the three-dimensional parking garage further comprises:

[0018] The controller is electrically connected to the vertical lift and the automatic navigation vehicle.

[0019] The present invention also provides a control method for an upper and lower tray type three-dimensional parking garage, the three-dimensional parking garage comprising: a multi-layer parking layer, at least one vertical lift running through each parking layer, the parking layer comprising at least one automatic navigation vehicle and at least one parking space provided with a vehicle loading tray,

[0020] Vertical lifts include:

[0021] A first lifting platform, wherein the first lifting platform is provided with a platform access passage on a side close to the parking layer;

[0022] A second lifting platform, which is arranged below the first lifting platform and is fixedly connected to the bottom of the first lifting platform to form an upper and lower platform;

[0023] A first pallet rack, which is disposed on the first lifting platform and is arranged corresponding to the access channel and is used to park a vehicle-carrying pallet carrying a vehicle;

[0024] A second pallet rack, which is arranged on the second lifting platform and is used to park the vehicle-carrying pallet, and the second pallet rack is used to be pre-arranged with the vehicle-carrying pallet;

[0025] The automatic navigation trolley is provided with a lifting mechanism for lifting / lowering the loading tray under the loading tray.

[0026] Control methods include:

[0027] When a vehicle parked in a parking space on the first floor of a three-dimensional parking garage needs to be stored on a target parking floor, the vertical lift is controlled to descend to the first floor;

[0028] The automatic navigation trolley on the first floor starts the lifting mechanism to move the vehicle pallet carrying the vehicle to the first pallet shelf, and takes out the vehicle pallet pre-stored on the second pallet shelf;

[0029] The vertical lift is lifted to the target parking floor, and the automatic navigation trolley of the target parking floor starts the lifting mechanism to transfer the vehicle pallet pre-stored at the entrance and exit of the target parking floor to the second pallet rack, and takes out the vehicle pallet carrying the vehicle on the first pallet rack;

[0030] The automatic navigation trolley starts the lifting mechanism to move the vehicle pallet carrying the vehicle to the parking space of the target parking floor, and takes out the vehicle pallet on the nearby unparked parking space and moves it to the entrance and exit of the target parking floor.

[0031] In one embodiment of the present invention, the automatic navigation vehicle on the first floor transfers the vehicle loading pallet carrying the vehicle to the first pallet rack, and takes out the vehicle loading pallet pre-stored on the second pallet rack, including:

[0032] The automatic navigation trolley on the first floor starts the lifting mechanism to move the vehicle-carrying pallet carrying the vehicle to the first pallet shelf through the platform access channel;

[0033] The automatic navigation trolley exits the first lifting platform, the vertical lift rises to align the second lifting platform with the ground surface of the first floor, the automatic navigation trolley enters the second lifting platform, starts the lifting mechanism to take out the pre-stored vehicle pallet and transport it to the parking space.

[0034] In one embodiment of the present invention, a vertical lift is lifted to a target parking floor, and an automatic navigation vehicle at the target parking floor transfers a vehicle pallet pre-stored at an entrance and exit of the target parking floor to a second pallet rack, and takes out a vehicle pallet carrying a vehicle on the first pallet rack, including:

[0035] The vertical lift is lifted to the target parking floor and the second lifting platform is aligned with the ground surface of the target parking floor. The automatic navigation trolley of the target parking floor starts the lifting mechanism to transfer the vehicle pallet pre-stored at the entrance and exit of the target parking floor to the second pallet rack;

[0036] The vertical lift descends to align the first pallet rack with the ground surface of the target parking layer, and the automatic navigation vehicle starts the lifting mechanism to take out the vehicle-carrying pallet on the first pallet rack.

[0037] In one embodiment of the present invention, when a new vehicle is parked in the first floor of the three-dimensional parking garage, the method in the above process is repeatedly executed.

[0038] The above technical solution of the present invention has at least one of the following beneficial effects:

[0039] 1. The upper and lower tray type three-dimensional parking garage of the embodiment of the present invention can effectively improve the efficiency of storing and retrieving vehicles in the three-dimensional parking garage by arranging tray racks in a vertical lift to form an upper and lower structure to store the trays loaded with vehicles and the empty trays respectively;

[0040] 2. In the upper and lower tray-type three-dimensional parking garage of the embodiment of the present invention, the first-floor automatic navigation vehicle can transport the pre-stored tray racks to the parking spot to wait for the parking vehicle, effectively utilizing the idle time of the vertical lift, and further improving the efficiency of parking and retrieving vehicles in the three-dimensional parking garage;

[0041] 3. The upper and lower tray-type three-dimensional parking garage of the embodiment of the present invention can adapt to vehicle pallets of different heights while stably lifting / lowering the vehicle plate by arranging a lifting mechanism on the automatic navigation vehicle, thereby effectively improving the applicability. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 It is a schematic diagram of the layout of the vertical surface of the upper and lower tray type three-dimensional parking garage according to an embodiment of the present invention;

[0043] Figure 2 It is a schematic cross-sectional structure diagram of a vertical lifter of an upper and lower tray-type three-dimensional parking garage according to an embodiment of the present invention;

[0044] Figure 3 It is a schematic diagram of the plan layout of an upper and lower tray type three-dimensional parking garage according to an embodiment of the present invention;

[0045] Figure 4 The present invention is a flowchart of a control method for an upper and lower tray type three-dimensional parking garage according to an embodiment of the present invention.

[0046] Figure numerals: 100, vertical lift; 110, first lifting platform; 111, fixed frame; 120, first pallet rack; 130, second pallet rack; 140, second lifting platform; 200, automatic navigation vehicle; 300, vehicle pallet; 400, vehicle pallet rack; 500, alley; 600, vehicle. DETAILED DESCRIPTION

[0047] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0048] Unless otherwise defined, the technical terms or scientific terms used in the present invention shall have the usual meanings understood by persons with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "one" or "one" do not indicate quantity restrictions, but indicate the existence of at least one. Words such as "connect" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship also changes accordingly.

[0049] Firstly, the upper and lower tray type three-dimensional parking garage according to an embodiment of the present invention is described in detail below with reference to the accompanying drawings.

[0050] Figure 1 This is a schematic diagram of the elevation layout of an upper and lower tray-type three-dimensional parking garage according to an embodiment of the present invention. The three-dimensional parking garage includes: multiple parking floors, and at least one vertical elevator 100 running through the entrances and exits of each parking floor. Each parking floor includes at least one automatic navigation vehicle 200 and at least one parking space provided with a vehicle loading pallet 300.

[0051] Specifically, if Figure 1 and Figure 2 As shown, the vertical lift 100 includes: a first lifting platform 110, a second lifting platform 140, a first pallet rack 120, and a second pallet rack 130. The first lifting platform 110 is provided with a platform access channel on one side close to the entrance and exit of the parking layer, so that the automatic trolley can park the vehicle pallet 300 into the first lifting platform 110 through the platform access channel; the first pallet rack 120 is arranged on the first lifting platform 110 and is arranged corresponding to the access channel, and is used to park the vehicle pallet 300 carrying the vehicle 600; the second lifting platform 140 is arranged below the first lifting platform 110 and is fixedly connected to the bottom of the first lifting platform 110 to form an upper and lower platform, and is kept at a certain distance from the bottom of the first lifting platform 110. The second pallet rack 130 is arranged on the second lifting platform 140, and is used to park the vehicle pallet 300.

[0052] More specifically, at the entrances and exits of the parking floors other than the first floor, there are pre-set empty vehicle pallets 300. Therefore, when the vertical lift 100 reaches the floor, the automatic navigation trolley 200 can quickly park the vehicle pallet 300 in the second pallet rack 130, which effectively saves parking time and improves the efficiency of storing and retrieving vehicles. In addition, the automatic navigation trolley 200 is provided with a lifting mechanism, which is used to lift / lower the loading pallet 300 under the vehicle pallet 300. Therefore, the automatic navigation trolley 200 can move the vehicle pallet 300 by driving to the bottom of the vehicle pallet 300 and activating the lifting mechanism to lift / lower the loading pallet 300. Therefore, by providing a lifting mechanism on the automatic navigation trolley 200, it is possible to adapt to vehicle pallets of different heights while stably lifting / lowering the vehicle pan, which effectively improves the applicability.

[0053] like Figure 2 As shown, in one embodiment of the present invention, the vertical lift 100 further includes: a second lifting platform 140. The second lifting platform 140 is arranged below the first lifting platform 110 and is fixedly connected to the bottom of the first lifting platform 110 to form an upper and lower platform, and the second pallet rack 130 is arranged on the second lifting platform 140. As a result, the height of the second lifting platform 140 can be customized according to the needs, so as to adjust the distance between the second pallet rack 130 and the bottom of the first lifting platform 110, reduce the overall height of the vertical lift 100, and the vertical lift 100 can be in place faster, effectively reducing the time for storing and retrieving cars. At the same time, the use of a double-layer platform to place the pallet rack also effectively improves the structural strength of the vertical lift 100 and improves the load-bearing performance. In addition, in one embodiment of the present invention, a fixed frame 111 is provided above the first lifting platform 110, and the fixed frame 111 and the first lifting platform 110 form a car structure. As a result, the vertical lift 100 can form a stable car structure with the first lifting platform 110 through the fixed frame 111, which effectively improves the structural strength of the vertical lift 100.

[0054] like Figure 1 and Figure 3 As shown, in one embodiment of the present invention, a vehicle loading tray rack 400 is provided on the parking space of the parking layer, and the vehicle loading tray rack 400 is used to carry the vehicle loading tray 300. Thus, the automatic navigation vehicle 200 can complete the parking procedure by transporting the vehicle loading tray 300 to the vehicle loading tray rack 400.

[0055] like Figure 3 As shown, in one embodiment of the present invention, the parking layer is provided with at least one lane 500 to separate a plurality of parking spaces. Thus, by dividing the parking spaces by the lane 500, while playing a planning role, the automatic navigation vehicle 200 can also move along the lane 500, effectively improving the mobility of the automatic navigation vehicle 200.

[0056] In one embodiment of the present invention, the upper and lower tray type three-dimensional parking garage further comprises: a controller (not shown), which is electrically connected to the vertical lift 100 and the automatic navigation vehicle 200. Thus, the controller can schedule the vertical lift 100 according to the real-time number of vehicles 600 in the three-dimensional parking garage, effectively improving the efficiency of storing and retrieving vehicles in the upper and lower tray type three-dimensional parking garage. It should be noted that Figure 1 It is a schematic diagram of the elevation layout of the upper and lower tray-type three-dimensional parking garage according to an embodiment of the present invention. In actual application, the number of vertical lifts 100 can be increased according to the needs of the parking garage.

[0057] The present invention also provides a control method for an upper and lower tray type three-dimensional parking garage, which is applied to the three-dimensional parking garage described in the above embodiment. The specific structure of the three-dimensional parking garage has been described in detail in the above embodiment, and specific reference may be made to the double-tray three-dimensional parking garage in the above embodiment.

[0058] The control method of the double-tray stereoscopic parking garage will be described in detail below with reference to the accompanying drawings.

[0059] Figure 4 The flowchart of a control method of a vertical tray type parking garage according to an embodiment of the present invention is specifically described. The flowchart includes S410-S440, and several steps are described in detail below:

[0060] S410: When a vehicle parked in a parking space on the first floor of the multi-story parking garage needs to be stored in a target parking floor, the vertical lift is controlled to descend to the first floor.

[0061] Specifically, at least one parking space is provided at the entrance and exit of the first floor of the three-dimensional parking garage, and a vehicle loading tray is provided on the parking space. When a vehicle needs to be parked in the parking garage, the vehicle can be parked in the parking space. At this time, the controller can control the lifting platform to descend to the first floor, so that the automatic navigation vehicle on the first floor can move the vehicle loading tray carrying the vehicle from the parking space on the first floor into the vertical lift.

[0062] S420, the automatic navigation trolley on the first floor starts the lifting mechanism to transfer the vehicle loading pallet carrying the vehicle to the first pallet rack, and takes out the vehicle loading pallet pre-stored on the second pallet rack.

[0063] Specifically, the automatic navigation trolley on the first floor starts the lifting mechanism to transfer the vehicle pallet carrying the vehicle through the platform access channel to the first pallet shelf; then, the automatic navigation trolley moves backwards and exits the first lifting platform, the vertical lift rises to align the second lifting platform with the ground surface of the first floor, the automatic navigation trolley enters the second lifting platform, starts the lifting mechanism to take out the pre-stored vehicle pallet and transport it to the parking space. As a result, the vertical lift only needs to stop once on the first floor, and it can transport the empty vehicle pallets needed on the first floor to the first floor while loading the vehicle pallets carrying the vehicle, effectively improving the efficiency of picking up vehicles in the three-dimensional parking garage.

[0064] S430, the vertical lift is lifted to the target parking floor, the automatic navigation trolley of the target parking floor starts the lifting mechanism to transfer the vehicle pallet pre-stored at the entrance and exit of the target parking floor to the second pallet rack, and takes out the vehicle pallet carrying the vehicle on the first pallet rack.

[0065] Specifically, the vertical lift is lifted to the target parking floor and the second lifting platform is aligned with the ground of the target parking floor. The automatic navigation trolley at the target parking floor starts the lifting mechanism to transfer the vehicle pallet pre-stored at the entrance and exit of the target parking floor to the second pallet shelf; the vertical lift descends to align the first lifting platform with the ground of the target parking floor, and the automatic navigation trolley starts the lifting mechanism to take out the vehicle pallet with the vehicle on the first pallet shelf. As a result, the vertical lift only needs to stop at the target parking floor once, and the empty vehicle pallet can be loaded at the same time as the parking is completed, so that when descending to the first floor, the automatic navigation trolley on the first floor can transport the empty vehicle pallet to the parking spot, further improving the efficiency of parking and retrieving vehicles.

[0066] S440, the automatic navigation trolley starts the lifting mechanism to move the vehicle pallet carrying the vehicle to the parking space of the target parking floor, and takes out the vehicle pallet on the nearby unparked parking space and moves it to the entrance and exit of the target parking floor.

[0067] Specifically, when the number of automatic navigation vehicles on the target parking layer cannot meet the parking requirements of vehicles, the automatic navigation vehicles on other layers can be transported to the target parking layer through a vertical lift to participate in the operation. In this way, the efficiency of storing and retrieving vehicles in the three-dimensional parking garage can be effectively improved.

[0068] It should be noted that the above flowchart describes the process of parking a vehicle once. When a new vehicle is parked on the first floor of the three-dimensional parking garage, the method of S410-S440 in the above flow is repeated. In addition, the above is the process when a vehicle is parked in the three-dimensional parking garage. When it is necessary to take out a vehicle, the steps in the above flow can be performed in reverse order, and no further description is given here.

[0069] Therefore, according to the upper and lower tray type three-dimensional parking garage and control method of the embodiment of the present invention, by setting a tray shelf formed into an upper and lower structure in the vertical lift, respectively storing the vehicle-loaded vehicle plate and the empty vehicle plate, the efficiency of storing and retrieving vehicles in the three-dimensional parking garage can be effectively improved. At the same time, the first-floor automatic navigation trolley can transport the pre-stored tray shelf to the parking spot to wait for the parking vehicle, effectively utilizing the window period of the vertical lift, and further improving the efficiency of storing and retrieving vehicles in the three-dimensional parking garage. In addition, by setting a lifting mechanism on the automatic navigation trolley, it can adapt to vehicle-loaded pallets of different heights while stably lifting / lowering the vehicle plate, effectively improving the applicability.

[0070] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An upper and lower tray type three-dimensional parking garage, characterized in that: The three-dimensional parking garage includes: multiple parking floors, and at least one vertical elevator running through each of the parking floors, each of the parking floors includes at least one automatic navigation vehicle and at least one parking space provided with a vehicle loading tray, The vertical lift comprises: A first lifting platform, wherein the first lifting platform is provided with a platform access passage on a side close to the parking layer; a first pallet rack, which is disposed on the first lifting platform and corresponds to the access channel and is used to park the vehicle-carrying pallet carrying the vehicle; A second lifting platform, which is arranged below the first lifting platform and is fixedly connected to the bottom of the first lifting platform to form an upper and lower platform; A second pallet rack, wherein the second lifting platform is provided with the second pallet rack, the second pallet rack is arranged below the first lifting platform, and forms an upper and lower layer structure with the first pallet rack, and is used for parking the vehicle pallet; The automatic navigation trolley is provided with a lifting mechanism for lifting / lowering the vehicle loading tray under the vehicle loading tray; When a vehicle parked in a parking space on the first floor of the three-dimensional parking garage needs to be stored in a target parking floor, the vertical lift is controlled to descend to the first floor; The automatic guided vehicle on the first floor starts the lifting mechanism to transfer the vehicle pallet carrying the vehicle to the first pallet shelf, and then the automatic guided vehicle withdraws from the first lifting platform, the vertical lift rises to make the second lifting platform face the ground of the first floor, the automatic guided vehicle enters the second lifting platform, and takes out the vehicle pallet pre-stored on the second pallet shelf.

2. The three-dimensional parking garage according to claim 1, characterized in that: A vehicle loading pallet rack is provided on the parking space of the parking floor, and the vehicle loading pallet rack is used for carrying the vehicle loading pallet.

3. The three-dimensional parking garage according to claim 1, characterized in that: A fixing frame is provided above the first lifting platform, and the fixing frame and the first lifting platform form a car structure.

4. The three-dimensional parking garage according to claim 1, characterized in that: The parking layer is provided with at least one lane to separate the plurality of parking spaces.

5. The three-dimensional parking garage according to claim 1, characterized in that: Also includes: A controller is electrically connected to the vertical lift and the automatic navigation vehicle.

6. A control method for an upper and lower tray type three-dimensional parking garage, characterized in that: The three-dimensional parking garage comprises: a multi-layer parking floor, at least one vertical lift running through each of the parking floors, the parking floor comprising at least one automatic navigation vehicle and at least one parking space provided with a vehicle loading pallet, The vertical lift comprises: A first lifting platform, wherein the first lifting platform is provided with a platform access passage on a side close to the parking layer; A second lifting platform, which is arranged below the first lifting platform and is fixedly connected to the bottom of the first lifting platform to form an upper and lower platform; a first pallet rack, which is disposed on the first lifting platform and corresponds to the access channel and is used to park the vehicle-carrying pallet carrying the vehicle; A second pallet rack, the second pallet rack is arranged on the second lifting platform and is used to park the vehicle-carrying pallet, and the second pallet rack is used to be pre-arranged with a vehicle-carrying pallet; The automatic navigation vehicle is provided with a lifting mechanism for lifting / lowering the vehicle loading tray below the vehicle loading tray. The control method comprises: When a vehicle parked in a parking space on the first floor of the three-dimensional parking garage needs to be stored in a target parking layer, the vertical lift is controlled to descend to the first floor; The automatic guided vehicle on the first floor starts the lifting mechanism to transfer the vehicle-carrying pallet carrying the vehicle to the first pallet shelf through the platform access channel, the automatic guided vehicle exits the first lifting platform, the vertical lift rises to make the second lifting platform face the ground surface of the first floor, the automatic guided vehicle enters the second lifting platform, starts the lifting mechanism to take out the vehicle-carrying pallet pre-stored on the second pallet shelf and transports it to the parking space; The vertical lift is lifted to the target parking floor and the second lifting platform is aligned with the ground surface of the target parking floor. The automatic navigation trolley at the target parking floor starts the lifting mechanism to transfer the vehicle pallet pre-stored at the entrance and exit of the target parking floor to the second pallet shelf. The vertical lift is lowered to align the first pallet shelf with the ground surface of the target parking floor. The automatic navigation trolley starts the lifting mechanism to take out the vehicle pallet carrying the vehicle on the first pallet shelf. The automatic navigation vehicle starts the lifting mechanism to transfer the vehicle loading pallet carrying the vehicle to the parking space of the target parking layer, and takes out the vehicle loading pallet on the nearby unparked parking space and transfers it to the entrance and exit of the target parking layer.

7. The control method according to claim 6, characterized in that: When a new vehicle is parked on the first floor of the three-dimensional parking garage, the method according to claim 6 is repeatedly executed.

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