Method and system for controlling tower type automatic parking building

Abstract

The invention discloses a control method and system for a tower type automatic parking building, and the method comprises the steps: obtaining a vehicle entering request, extracting vehicle license plate number data in the vehicle entering request, and generating a grabbing instruction according to the license plate number data; the vehicle grabbing robot obtains the target vehicle position and target vehicle data according to the grabbing instruction, and the grabbing parameters of the vehicle grabbing robot are adjusted according to the target vehicle data; a parking area is allocated to the target vehicle, and the target vehicle is conveyed to the parking area for parking based on the vehicle grabbing robot; obtaining a warehouse-out request of the vehicle, extracting vehicle license plate number data in the warehouse-out request, and generating a warehouse-out instruction according to the license plate number data; and the vehicle grabbing robot recognizes and grabs the target vehicle according to the out-of-garage instruction and conveys the target vehicle to the out-of-garage position. Manual operation errors are reduced, safety is improved, the annular layout and the flexible pick-and-place robot design enable the vehicle access to be more efficient, and the operation efficiency is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field of parking buildings, and in particular to a control method and system for a tower-type automatic parking building. Background Art

[0002] The existing vertical parking building realizes parking and position adjustment of cars in the parking spaces by setting up a number of parking spaces on each floor and cooperating with the parking equipment installed in the parking spaces. Due to the large number of vehicles parked in the parking building, the existing method of requiring users to drive into the parking building and cooperate with the parking building for automatic parking causes the vehicles in the parking building to move slowly or even get stuck, affecting the parking and retrieval efficiency of the vehicles in the parking building. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a control system for a tower-type automatic parking building, which has a higher degree of automation, reduces human operation errors, and improves safety. Secondly, the ring layout and flexible pick-and-place robot design make vehicle access more efficient and greatly shorten the pick-up and delivery time. Furthermore, the intelligent main control system can optimize the vehicle access path, further improving the operating efficiency.

[0004] The present invention provides a control method for a tower-type automatic parking building, the control method comprising:

[0005] Step S1: Obtain a vehicle entry request, extract the vehicle license plate number data in the entry request, and generate a capture instruction according to the license plate number data;

[0006] Step S2: the vehicle grabbing robot obtains the target vehicle position and target vehicle data according to the grabbing instruction, and adjusts the grabbing parameters of the vehicle grabbing robot according to the target vehicle data;

[0007] Step S3: Allocate a parking area for the target vehicle, and transport the target vehicle to the parking area for parking based on the vehicle grabbing robot;

[0008] Step S4: obtaining a vehicle outbound request, extracting the vehicle license plate number data in the outbound request, and generating an outbound instruction according to the license plate number data;

[0009] Step S5: the vehicle grabbing robot identifies and grabs the target vehicle according to the outbound instruction, and transports the target vehicle to the outbound location.

[0010] Specifically, the obtaining of the vehicle entry request, extracting the vehicle license plate number data in the entry request, and generating a capture instruction according to the license plate number data includes:

[0011] The user sends a parking application to the main control system of the tower automatic parking building through a mobile device;

[0012] The main control system of the tower-type automatic parking building extracts the license plate number of the target vehicle according to the parking application;

[0013] The main control system of the tower-type automatic parking building detects the position of the target vehicle according to the license plate number of the target vehicle;

[0014] A grab instruction is generated in combination with the license plate number of the target vehicle and the position of the target vehicle.

[0015] Specifically, the main control system of the tower-type automatic parking building detects the position of the target vehicle according to the license plate number of the target vehicle, including:

[0016] The main control system of the tower automatic parking building searches the vehicle entry areas in each quadrant of the tower automatic parking building based on the license plate number of the target vehicle and the monitoring component to confirm the location of the target vehicle.

[0017] Specifically, the vehicle grabbing robot obtains the target vehicle position and target vehicle data according to the grabbing instruction, and adjusts the grabbing parameters of the vehicle grabbing robot according to the target vehicle data, including:

[0018] Obtaining the model parameters of the target vehicle, and extracting the wheel size and wheelbase data of the vehicle according to the model parameters of the target vehicle;

[0019] The gripper size of the vehicle gripping robot is adjusted according to the wheel size of the target vehicle, and the gripper position of the vehicle gripping robot is adjusted according to the wheelbase data of the target vehicle.

[0020] Specifically, the method of allocating a parking area to the target vehicle and transporting the target vehicle to the parking area for parking based on the vehicle grabbing robot includes:

[0021] The vehicle grabbing robot moves to the vehicle entry area based on the grabbing instruction, and rotates to adjust the posture state so that the grabbing direction of the vehicle grabbing robot faces the target vehicle;

[0022] The target vehicle is grabbed according to the grab parameters and driven to the assigned parking area.

[0023] Furthermore, the control method of the tower-type automatic parking building also includes a fee management method, and the fee management method includes:

[0024] After parking the target vehicle in the assigned parking area according to the parking application, record the parking time;

[0025] Transport the target vehicle to the pick-up area according to the pick-up application and record the pick-up time;

[0026] The parking fee of the target vehicle is calculated based on the parking time and the pick-up time, and a payment link for the parking fee is sent to the user's mobile terminal.

[0027] The present invention also provides a control system for a tower-type automatic parking building, the control system is used to execute the control method of the automatic parking building, and the control system includes:

[0028] Parking application processing component: used to obtain vehicle entry requests, extract vehicle license plate data in the entry requests, and generate capture instructions based on the license plate data;

[0029] Car grabbing processing component: used to obtain the target vehicle position and target vehicle data according to the grabbing instruction, and adjust the grabbing parameters of the car grabbing robot according to the target vehicle data;

[0030] Parking processing component: used to allocate parking areas to target vehicles and transport target vehicles to parking areas based on vehicle grabbing robots;

[0031] Vehicle pickup application processing component: used to obtain vehicle outbound requests, extract vehicle license plate data in the outbound requests, and generate outbound instructions based on the license plate data;

[0032] Vehicle retrieval processing component: used by the vehicle grabbing robot to identify and grab the target vehicle according to the outbound instruction, and transport the target vehicle to the outbound location.

[0033] The present invention provides a control system for a tower-type automatic parking building, which has a higher degree of automation, reduces human operation errors, and improves safety. Secondly, the ring layout and flexible pick-and-place robot design make vehicle access more efficient and greatly shorten the pick-up and delivery time. Furthermore, the intelligent main control system can optimize the vehicle access path, further improving the operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] Figure 1 Schematic diagram of a control system of a tower-type automatic parking building in an embodiment of the present invention;

[0036] Figure 2 It is a structural schematic diagram of a tower-type automatic parking building in an embodiment of the present invention. DETAILED DESCRIPTION

[0037] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0038] Embodiment 1:

[0039] Figure 1 A flow chart of a control method for a tower-type automatic parking building in an embodiment of the present invention is shown, and the control method includes:

[0040] Step S1: Obtain a vehicle entry request, extract the vehicle license plate number data in the entry request, and generate a capture instruction based on the license plate number data.

[0041] The user sends a parking application to the main control system of the tower automatic parking building through a mobile device. When the user drives the vehicle into the entry area of ​​the automated parking building, the user sends a parking application to the main control system of the tower automatic parking building through a mobile device, so that the main control system of the tower automatic parking building can realize automatic parking control of the target vehicle according to the parking request.

[0042] Specifically, the main control system of the tower-type automatic parking building extracts the license plate number of the target vehicle according to the parking application, and the main control system of the tower-type automatic parking building detects the position of the target vehicle according to the license plate number of the target vehicle;

[0043] A grab instruction is generated in combination with the license plate number of the target vehicle and the position of the target vehicle.

[0044] The main control system of the tower-type automatic parking building detects the position of the target vehicle according to the license plate number of the target vehicle, including:

[0045] The main control system of the tower automatic parking building searches the vehicle entry areas in each quadrant of the tower automatic parking building based on the license plate number of the target vehicle and the monitoring component to confirm the location of the target vehicle.

[0046] Furthermore, the tower-type automatic parking building is configured as a cylindrical tower-type parking building, and the cylindrical tower-type parking building is divided into four quadrant areas, including a first quadrant area, a second quadrant area, a third quadrant area, and a fourth quadrant area.

[0047] When a vehicle enters the vehicle entry area, the monitoring component will immediately collect vehicle data. The main control system of the tower-type automatic parking building will cooperate with the data collected by the monitoring component according to the parking application, and select the optimal parking position according to the data collected by the monitoring component, that is, according to the position of the target vehicle in the vehicle entry area, match the parking position with the shortest transportation path.

[0048] Then, the vehicle will be accurately delivered to the designated location by the car grabbing robot. During the vehicle retrieval process, the main control system of the tower-type automatic parking building will dispatch the vehicle in advance to minimize the user's waiting time.

[0049] Step S2: the vehicle grabbing robot obtains the target vehicle position and target vehicle data according to the grabbing instruction, and adjusts the grabbing parameters of the vehicle grabbing robot according to the target vehicle data.

[0050] Specifically, the tower-type automatic parking building is also provided with a sensor component, which may include various types of sensors such as laser rangefinders and pressure sensors. The combined use of these sensors can monitor the vehicle status in all directions and provide more accurate data support. The laser rangefinder can accurately measure the size of the vehicle, and the pressure sensor can detect the weight distribution of the vehicle. The main control system of the tower-type automatic parking building processes a large amount of real-time data, executes complex scheduling algorithms, and can adopt a distributed architecture to improve the system response speed.

[0051] Furthermore, the tower-type automatic parking building can introduce artificial intelligence technology, such as machine learning algorithms, to continuously optimize access strategies to adapt to parking needs at different times.

[0052] Specifically, the vehicle grabbing robot obtains the target vehicle position and target vehicle data according to the grabbing instruction, and adjusts the grabbing parameters of the vehicle grabbing robot according to the target vehicle data, including:

[0053] Obtaining the model parameters of the target vehicle, and extracting the wheel size and wheelbase data of the vehicle according to the model parameters of the target vehicle;

[0054] The gripper size of the vehicle gripping robot is adjusted according to the wheel size of the target vehicle, and the gripper position of the vehicle gripping robot is adjusted according to the wheelbase data of the target vehicle.

[0055] The main control system of the tower automatic parking building and the sensor components can be connected through wired or wireless communication. The main control system of the tower automatic parking building can periodically poll the status of each sensor component, or use event triggering. When a vehicle enters or leaves a parking space, the sensor component immediately sends a signal to the main control system of the tower automatic parking building. After receiving the signal, the main control system of the tower automatic parking building updates the vehicle storage quantity and location information.

[0056] This design interacts positively with other features of the embodiments of the present invention. For example, the main control system of the tower-type automatic parking building can more accurately control the actions of the vehicle pick-up and placement components and the lifting components based on the real-time information provided by the sensor components. When it is necessary to pick up a vehicle, the main control system of the tower-type automatic parking building can directly locate the exact location of the target vehicle without the need for additional searches, thereby greatly improving the efficiency of picking up the vehicle. At the same time, during the parking process, the main control system of the tower-type automatic parking building can select the optimal parking position based on the current vehicle distribution to achieve balanced use of parking space resources.

[0057] In order to improve the reliability of the system, multiple sensor components can be set up in each parking space, such as an infrared sensor and an ultrasonic sensor. This can reduce the probability of false alarms and missed alarms through data cross-verification. At the same time, the main control system of the tower-type automatic parking building can set up a certain fault tolerance mechanism. When a sensor component fails, the vehicle storage status can still be inferred through the data of other sensor components.

[0058] In practical applications, the detection frequency of the sensor component can be dynamically adjusted according to the usage of the parking building. For example, during periods of heavy traffic, the detection frequency can be increased to once every 5 seconds, while during periods of light traffic such as at night, the detection frequency can be reduced to once per second to balance system performance and energy consumption.

[0059] By monitoring the vehicle storage situation in real time, the main control system of the tower automatic parking building can achieve more intelligent parking management. For example, the system can predict the parking demand during peak hours and adjust the position of elevators and access equipment in advance to reduce user waiting time. In addition, the system can also optimize the layout of vehicles in the parking building according to the length of time the vehicle is stored, arranging vehicles parked for a long time on higher floors or farther away, and arranging vehicles parked for a short time in a location that is easier to pick up and place, further improving overall operating efficiency.

[0060] Step S3: Allocate a parking area for the target vehicle, and transport the target vehicle to the parking area for parking based on the vehicle grabbing robot.

[0061] The vehicle grabbing robot moves to the vehicle entry area based on the grabbing instruction, and rotates to adjust the posture state so that the grabbing direction of the vehicle grabbing robot faces the target vehicle;

[0062] The target vehicle is grabbed according to the grab parameters and driven to the assigned parking area.

[0063] The car grabbing robot is arranged on a horizontal rotating trolley, and the horizontal rotating trolley provides a rotatable and posture-adjustable platform for the car grabbing robot, so that the car grabbing robot can flexibly rotate in the horizontal direction. This design allows the vehicle picking and placing components to be adjusted according to the corresponding orientations of the vehicle entry area, the vehicle picking area and each circular parking area, so that the car grabbing robot can accurately perform the vehicle clamping or placement tasks, greatly improving the flexibility and efficiency of vehicle picking and placing.

[0064] The grabbing robot is slidably arranged on the horizontal rotating trolley, so that the grabbing robot can move telescopically on the horizontal rotating trolley to meet the needs of clamping the vehicle and shrinking on the horizontal rotating trolley to adjust the position of the vehicle. The grabbing robot can be telescopically arranged on the horizontal rotating trolley to pick up or place the vehicle to meet the needs of different vehicle models and parking positions, ensuring that the vehicle can be accurately grabbed or placed.

[0065] The horizontal rotating trolley can be realized in a variety of structures. For example, a disc structure can be used, and the diameter range can be between 2 meters and 4 meters, which can be adjusted according to the size of the parking building. The rotating mechanism can be gear-driven or hydraulically driven, and the rotation angle can reach 360 degrees, and the accuracy can be controlled within ±0.1 degrees. The surface of the horizontal rotating trolley can be designed as a smooth metal surface or with anti-slip texture to ensure the stability of the car grabber robot.

[0066] The sliding setting of the grabber robot on the horizontal rotating trolley can be achieved in many ways. A slide rail guide system can be used, and the slide rail length can be designed as needed, usually between 1.5 meters and 3 meters. The sliding mechanism can use electric or hydraulic drive, and the travel accuracy can reach ±1 mm. In order to increase stability, a locking device can be added to the sliding mechanism to fix the position of the grabber robot when picking up and placing vehicles.

[0067] The combination of the car grabbing robot and the horizontal rotating trolley not only achieves flexible pick-up and placement, but also generates positive interaction with the lifting component. When the lifting component lifts the vehicle to a specified height, the horizontal rotating trolley can accurately rotate to the corresponding angle, and the car grabbing robot can accurately slide to the appropriate position, thereby achieving accurate positioning and pick-up of the vehicle. This collaboration greatly improves the working efficiency and accuracy of the entire system.

[0068] In the specific implementation process, when a vehicle needs to be picked up and placed, the main control system of the tower-type automatic parking building first controls the lifting component to move the vehicle pick-up and placement component to the corresponding height of the target circular parking area based on the status data fed back by the sensor component. Then, the horizontal rotating trolley rotates to the appropriate angle according to the position of the target parking space. The rotation angle can be accurately controlled by the encoder, and the error is controlled within ±0.05 degrees. Next, the car grabbing robot slides on the horizontal rotating trolley and extends an appropriate distance. This distance can be adjusted according to different vehicle models, usually between 0.5 meters and 1.5 meters. The gripper on the car grabbing robot adjusts the spacing according to the specific size of the vehicle. The spacing adjustment range can be between 1.5 meters and 2.5 meters to accommodate vehicles with different wheelbases. Finally, the gripper of the car grabbing robot performs a clamping or releasing action to complete the vehicle pick-up and placement operation.

[0069] During the whole process, the sensor components continuously monitor the position and posture of the vehicle and provide feedback to the main control system of the tower automatic parking building. The main control system of the tower automatic parking building adjusts the actions of each component in real time to ensure the accuracy and safety of vehicle placement. For example, if the vehicle position deviation is detected to exceed the preset threshold (such as 5 cm), the system will automatically adjust the position of the vehicle grabbing robot to compensate.

[0070] The design of the embodiment of the present invention also has good scalability. By adjusting the size of the horizontal rotating trolley and the parameters of the car grabbing robot, it can easily adapt to tower-type automatic parking buildings of different sizes and layouts. This flexibility enables the system to be widely used in various urban environments, thereby better solving the problem of difficult parking in cities.

[0071] Step S4: Obtain the vehicle's outbound request, extract the vehicle license plate number data in the outbound request, and generate an outbound instruction based on the license plate number data.

[0072] Specifically, when a user needs to pick up a vehicle, a pick-up request is sent to the main control system of the tower-type automated parking building through a mobile device. The main control system of the tower-type automated parking building drives a grabbing robot to pick up the vehicle and remove it from the garage based on the pick-up request.

[0073] Step S5: the vehicle grabbing robot identifies and grabs the target vehicle according to the outbound instruction, and transports the target vehicle to the outbound location.

[0074] Specifically, the control method of the tower-type automatic parking building also includes a fee management method, and the fee management method includes:

[0075] After parking the target vehicle in the assigned parking area according to the parking application, record the parking time;

[0076] Transport the target vehicle to the pick-up area according to the pick-up application and record the pick-up time;

[0077] The parking fee of the target vehicle is calculated based on the parking time and the pick-up time, and the payment link of the parking fee is sent to the user's mobile terminal. The first floor area of ​​the tower-type automatic parking building is configured as the vehicle entry area, and the second floor area of ​​the tower-type automatic parking building is configured as the vehicle pick-up area. By distinguishing the vehicle entry area from the vehicle pick-up area, the convenience of parking and picking up the vehicle in the tower-type automatic parking building is improved.

[0078] The main control system of the tower-type automatic parking building of the embodiment of the present invention realizes efficient automatic storage and retrieval of vehicles through the coordinated work of various components. When the system is running, when a vehicle enters the vehicle entry area, the sensor component first detects the vehicle's posture and size data. The main control system generates control instructions based on these data, drives the pick-and-place robot to adjust the distance between the clamping arms, and accurately clamps the vehicle.

[0079] Then, the lifting component lifts the vehicle to the designated height of the circular parking area according to the instructions of the main control system. During this process, the sensor component continuously monitors the vehicle status to ensure safe operation. After reaching the designated height, the horizontal rotating trolley rotates to the appropriate angle to align the vehicle with the vacant parking space. Finally, the pick-and-place robot places the vehicle accurately in the parking space.

[0080] During the vehicle pickup process, the system operates in the reverse order. The main control system quickly locates the vehicle and plans the optimal vehicle pickup route based on the user's vehicle pickup request. The entire process is highly automated, greatly reducing manual operations and improving parking efficiency and space utilization.

[0081] The system has a higher degree of automation, which reduces human operation errors and improves safety. Secondly, the circular layout and flexible pick-and-place robot design make vehicle storage and retrieval more efficient, greatly shortening the pick-up and delivery time. Furthermore, the intelligent main control system can optimize the vehicle storage and retrieval path, further improving operational efficiency.

[0082] Embodiment 2:

[0083] Figure 2 A schematic diagram of a control system of a tower-type automatic parking building in an embodiment of the present invention is shown. The control system is used to execute the control method of the automatic parking building. The control system includes:

[0084] Parking application processing component 10: used to obtain a vehicle entry request, extract the vehicle license plate number data in the entry request, and generate a capture instruction based on the license plate number data.

[0085] The vehicle grabbing processing component 20 is used to obtain the target vehicle position and target vehicle data according to the grabbing instruction, and adjust the grabbing parameters of the vehicle grabbing robot according to the target vehicle data.

[0086] The parking processing component 30 is used to allocate a parking area to the target vehicle, and transport the target vehicle to the parking area for parking based on the vehicle grabbing robot.

[0087] The vehicle pickup application processing component 40 is used to obtain a vehicle outbound request, extract the vehicle license plate number data in the outbound request, and generate an outbound instruction according to the license plate number data.

[0088] The vehicle picking processing component 50 is used for the vehicle grabbing robot to identify and grab the target vehicle according to the outbound instruction, and transport the target vehicle to the outbound position.

[0089] A person skilled in the art may understand that all or part of the steps in the various methods of the above embodiments may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, and the storage medium may include: a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, etc.

[0090] In addition, the above provides a detailed introduction to the embodiments of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A control method for a tower-type automatic parking building, characterized in that: The control method comprises: Step S1: Obtain a vehicle entry request, extract the vehicle license plate number data in the entry request, and generate a capture instruction according to the license plate number data; Step S2: the vehicle grabbing robot obtains the position and data of the target vehicle according to the grabbing instruction, and adjusts the grabbing parameters of the vehicle grabbing robot according to the target vehicle data; Step S3: Allocate a parking area for the target vehicle, and transport the target vehicle to the parking area for parking based on the vehicle grabbing robot; Step S4: obtaining a vehicle outbound request, extracting the vehicle license plate number data in the outbound request, and generating an outbound instruction according to the license plate number data; Step S5: the vehicle grabbing robot identifies and grabs the target vehicle according to the outbound instruction, and transports the target vehicle to the outbound location.

2. The control method of the tower type automatic parking building according to claim 1, characterized in that: The obtaining of the vehicle entry request, extracting the vehicle license plate number data in the entry request, and generating a capture instruction according to the license plate number data includes: The user sends a parking application to the main control system of the tower automatic parking building through a mobile device; The main control system of the tower-type automatic parking building extracts the license plate number of the target vehicle according to the parking application; The main control system of the tower-type automatic parking building detects the position of the target vehicle according to the license plate number of the target vehicle; A grab instruction is generated in combination with the license plate number of the target vehicle and the position of the target vehicle.

3. The control method of the tower type automatic parking building according to claim 2 is characterized in that: The main control system of the tower-type automatic parking building detects the position of the target vehicle according to the license plate number of the target vehicle, including: The main control system of the tower automatic parking building searches the vehicle entry areas in each quadrant of the tower automatic parking building based on the license plate number of the target vehicle and the monitoring component to confirm the location of the target vehicle.

4. The control method of the tower type automatic parking building according to claim 1, characterized in that: The vehicle grabbing robot obtains the target vehicle position and target vehicle data according to the grabbing instruction, and adjusts the grabbing parameters of the vehicle grabbing robot according to the target vehicle data, including: Obtaining the model parameters of the target vehicle, and extracting the wheel size and wheelbase data of the vehicle according to the model parameters of the target vehicle; The gripper size of the vehicle gripping robot is adjusted according to the wheel size of the target vehicle, and the gripper position of the vehicle gripping robot is adjusted according to the wheelbase data of the target vehicle.

5. The control method of the tower type automatic parking building according to claim 1, characterized in that: The method of allocating a parking area to the target vehicle and transporting the target vehicle to the parking area for parking based on the vehicle grabbing robot includes: The vehicle grabbing robot moves to the vehicle entry area based on the grabbing instruction, and rotates to adjust the posture state so that the grabbing direction of the vehicle grabbing robot faces the target vehicle; The target vehicle is grabbed according to the grab parameters and driven to the assigned parking area.

6. The control method of the tower type automatic parking building according to claim 1, characterized in that: The control method of the tower-type automatic parking building also includes a fee management method, and the fee management method includes: After parking the target vehicle in the assigned parking area according to the parking application, record the parking time; Transport the target vehicle to the pick-up area according to the pick-up application and record the pick-up time; The parking fee of the target vehicle is calculated based on the parking time and the pick-up time, and a payment link for the parking fee is sent to the user's mobile terminal.

7. A control system for a tower-type automatic parking building, characterized in that: The control system is used to execute the control method of the automatic parking building according to any one of claims 1 to 6, and the control system includes: Parking application processing component: used to obtain vehicle entry requests, extract vehicle license plate data in the entry requests, and generate capture instructions based on the license plate data; Car grabbing processing component: used to obtain the target vehicle position and target vehicle data according to the grabbing instruction, and adjust the grabbing parameters of the car grabbing robot according to the target vehicle data; Parking processing component: used to allocate parking areas to target vehicles and transport target vehicles to parking areas based on vehicle grabbing robots; Vehicle pickup application processing component: used to obtain vehicle outbound requests, extract vehicle license plate data in the outbound requests, and generate outbound instructions based on the license plate data; Vehicle retrieval processing component: used by the vehicle grabbing robot to identify and grab the target vehicle according to the outbound instruction, and transport the target vehicle to the outbound location.

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