阅读说明：本技术 一种上下托盘式立体停车库及控制方法 (Upper and lower tray type stereo parking garage and control method ) 是由 张毓杰 刘宝军 周正山 王泽� 于 2021-09-22 设计创作，主要内容包括：本发明提供一种上下托盘式立体停车库及控制方法,立体停车库包括：多层停车层,及贯穿于各停车层出入口的垂直升降机,每一层停车层包括至少一辆自动导航小车及至少一个设置有载车托盘的存车位,垂直升降机包括：第一升降平台,第一升降平台在靠近停车层出入口一侧设置有平台出入通道；第一托盘搁架,第一托盘搁架设置在第一升降平台上,用于停放载有车辆的载车托盘；第二托盘搁架,第二托盘搁架设置在第一升降平台下方,与第一托盘搁架形成上下层结构,用于停放空载车托盘；自动导航小车设置有用于顶升载车托盘的升举机构。本发明通过在垂直升降机上设置两层均安装托盘搁架的平台存放载有车辆的载车托盘与空的载车托盘,有效提高车库的泊车效率。(The invention provides an upper and lower tray type stereo parking garage and a control method, the stereo parking garage comprises: multilayer parking layer, and run through in the vertical lift of each parking layer access & exit, each layer of parking layer includes that at least one automatic navigation dolly and at least one are provided with the parking stall of carrying a year car tray, and vertical lift includes: the first lifting platform is provided with a platform access channel at one side close to the parking layer access; the first tray shelf is arranged on the first lifting platform and used for parking a vehicle-carrying tray carrying vehicles; the second tray shelf is arranged below the first lifting platform, forms an upper-lower layer structure with the first tray shelf and is used for parking the empty vehicle carrying tray; the automatic navigation trolley is provided with a lifting mechanism for jacking the vehicle carrying tray. According to the garage, the two layers of platforms with the tray shelves mounted thereon are arranged on the vertical lift, so that the vehicle-carrying trays carrying vehicles and empty vehicle-carrying trays are stored, and the parking efficiency of the garage is effectively improved.)

1. The utility model provides an upper and lower tray formula stereo garage which characterized in that, stereo garage includes: a plurality of parking layers and at least one vertical elevator penetrating through each parking layer, wherein each parking layer comprises at least one automatic navigation trolley and at least one parking space provided with a vehicle carrying tray,

the vertical lift includes:

the first lifting platform is provided with a platform access channel at one side close to the parking layer;

the first tray shelf is arranged on the first lifting platform, corresponds to the access channel and is used for parking the vehicle-carrying tray loaded with vehicles;

the second tray shelf is arranged below the first lifting platform, forms an upper-lower layer structure with the first tray shelf and is used for parking the vehicle-carrying tray;

the automatic navigation trolley is provided with a lifting mechanism for jacking/lowering the vehicle-carrying tray below the vehicle-carrying tray.

2. The stereo parking garage of claim 1, wherein said vertical lift further comprises:

the second lifting platform is arranged below the first lifting platform and fixedly connected with the bottom of the first lifting platform to form an upper platform and a lower platform, and a second tray shelf is arranged on the second lifting platform.

3. The stereo parking garage according to claim 1, wherein a vehicle carrying tray shelf is provided on the parking space of the parking layer, and the vehicle carrying tray shelf is used for carrying the vehicle carrying tray.

4. The stereo parking garage according to claim 1, wherein a fixed frame is provided above the first lifting platform, and the fixed frame and the first lifting platform form a car structure.

5. The stereo parking garage according to claim 1, wherein said parking level is provided with at least one roadway to separate a plurality of said parking spaces.

6. The stereo parking garage of claim 1, further comprising:

and the controller is electrically connected with the vertical lift and the automatic navigation trolley.

7. A method for controlling an upper tray type and a lower tray type three-dimensional parking garage is characterized by comprising the following steps: a plurality of parking layers, at least one vertical elevator penetrating through each parking layer, wherein each parking layer comprises at least one automatic navigation trolley and at least one parking space provided with a vehicle carrying tray,

the vertical lift includes:

the first lifting platform is provided with a platform access channel at one side close to the parking layer;

the second lifting platform is arranged below the first lifting platform and is fixedly connected with the bottom of the first lifting platform to form an upper-layer platform and a lower-layer platform;

the first tray shelf is arranged on the first lifting platform, corresponds to the access channel and is used for parking the vehicle-carrying tray loaded with vehicles;

the second tray shelf is arranged on the second lifting platform and used for parking the vehicle-carrying tray, and the second tray shelf is used for being provided with the vehicle-carrying tray in advance;

the automatic navigation trolley is provided with a lifting mechanism for jacking/lowering the vehicle-carrying tray below the vehicle-carrying tray,

the control method comprises the following steps:

when the vehicles parked on the parking spaces on the first floor of the three-dimensional parking garage need to be stored to a target parking floor, controlling the vertical lift to descend to the first floor;

the automatic navigation trolley on the first layer starts a lifting mechanism to transfer the vehicle-carrying tray carrying vehicles to the first tray shelf, and takes out the vehicle-carrying tray pre-stored on the second tray shelf;

the vertical lifter is lifted to a target parking layer, the automatic navigation trolley of the target parking layer starts a lifting mechanism to transfer the vehicle carrying tray pre-stored at the entrance and the exit of the target parking layer to the second tray shelf, and the vehicle carrying tray carrying vehicles on the first tray shelf is taken out;

the automatic navigation trolley starts a lifting mechanism to transfer the vehicle carrying tray carrying vehicles to the parking spaces of the target parking layer, and the vehicle carrying tray on the parking spaces which are not parked nearby is taken out and transferred to the entrance and exit of the target parking layer.

8. The control method according to claim 7, wherein the automatic navigation cart on a first floor transfers the cart tray loaded with the vehicle to the first tray shelf and takes out the cart tray previously stored on the second tray shelf, and the method comprises:

the automatic navigation trolley on the first layer starts a lifting mechanism to transfer the vehicle-carrying tray carrying vehicles to the first tray shelf through the platform access channel;

the automatic navigation trolley exits from the first lifting platform, the vertical lifter rises to enable the second lifting platform to be aligned with the ground of the first floor, the automatic navigation trolley enters the second lifting platform, and the lifting mechanism is started to take out the pre-stored vehicle carrying tray and convey the pre-stored vehicle carrying tray to the parking space.

9. The control method according to claim 8, wherein the vertical lift is lifted to a target parking level, and the car loader on the target parking level moves the car loader tray previously stored in the entrance/exit of the target parking level to the second tray rack and takes out the car loader tray loaded with the vehicle on the first tray rack, and the method comprises:

the vertical lifter is lifted to a target parking layer and aligns the second lifting platform with the ground of the target parking layer, and the automatic navigation trolley of the target parking layer starts a lifting mechanism to transfer the vehicle carrying tray pre-stored at the entrance and the exit of the target parking layer to the second tray shelf;

and the vertical elevator descends to align the first tray shelf with the ground of the target parking layer, and the automatic navigation trolley starts a lifting mechanism to take out the vehicle-carrying tray loaded with the vehicle on the first tray shelf.

10. The control method according to claim 9, wherein the method according to claim 8 or 9 is repeatedly performed when a new vehicle is parked in the first floor of the stereo parking garage.

Technical Field

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

Background

The mechanical stereo garage integrates the functions of vehicle transportation, parking and storage, and adopts the mode of automatic navigation carriage and vertical lift to transport, park and store vehicles. Each parking space is provided with a vehicle carrying tray which can be carried. A plurality of vertical lifters can be arranged in the parking garage, and each layer can be provided with a plurality of automatic navigation trolleys.

Generally, in the parking process, a vehicle is firstly parked on a vehicle carrying tray of a parking space, then the vehicle and the vehicle carrying tray are taken away from the parking space together through the automatic navigation trolley on the layer, and are transferred into a vertical lift; and lifting to a target parking layer through the vertical lifter, and taking out the vehicle and the vehicle carrying tray together through the automatic navigation trolley of the parking layer and transferring to a parking place of the parking layer. Finally, the automatic navigation trolley takes the vehicle carrying tray on one empty parking space of the layer and descends to the first layer through the vertical lifter, then the vehicle carrying tray is taken away from the vertical lifter through the automatic navigation trolley of the first layer and is placed on the parking space of the first layer, the automatic navigation trolley of the first layer can carry out the next action only after the vehicle and the vehicle carrying tray are sent into the lifter in situ and are parked until the lifter ascends to store the vehicle and takes the other vehicle carrying tray to descend, and the empty window time of the section cannot be effectively utilized; meanwhile, the automatic guided vehicle of the target parking level must stand by at the level during the time period when the vehicle is parked and the empty tray is put into the elevator, thereby causing inefficient parking.

Disclosure of Invention

In view of the above, the invention provides an upper and lower tray type stereo parking garage and a control method thereof, which are used for solving the problem of low parking efficiency of the existing warehouse type mechanical stereo parking garage.

In order to solve the technical problems, the invention adopts the following technical scheme:

according to the embodiment of the invention, the upper and lower tray type three-dimensional parking garage comprises: a plurality of parking layers and at least one vertical elevator penetrating through each parking layer, wherein each parking layer comprises at least one automatic navigation trolley and at least one parking space provided with a vehicle carrying tray,

the vertical lift includes:

the first lifting platform is provided with a platform access channel at one side close to the parking layer;

the first tray shelf is arranged on the first lifting platform, corresponds to the access channel and is used for parking a vehicle-carrying tray loaded with vehicles;

the second tray shelf is arranged below the first lifting platform, forms an upper-lower layer structure with the first tray shelf and is used for parking the vehicle-carrying tray;

the automatic navigation trolley is provided with a lifting mechanism for jacking/lowering the lower vehicle-carrying tray below the vehicle-carrying tray.

In one embodiment of the invention, the vertical lift further comprises:

the second lifting platform is arranged below the first lifting platform and fixedly connected with the bottom of the first lifting platform to form an upper platform and a lower platform, and a second tray shelf is arranged on the second lifting platform.

In one embodiment of the invention, the parking spaces of the parking layer are provided with vehicle-carrying tray shelves for carrying vehicle-carrying trays.

In an embodiment of the present invention, a fixed frame is disposed above the first lifting platform, and the fixed frame and the first lifting platform form a car structure.

In one embodiment of the invention, the parking level is provided with at least one roadway to separate a plurality of parking spaces.

In one embodiment of the present invention, the stereo parking garage further comprises:

and the controller is electrically connected with the vertical lift and the automatic navigation trolley.

The invention also provides a control method of an upper tray type and a lower tray type three-dimensional parking garage, and the three-dimensional parking garage comprises the following steps: a plurality of parking layers, at least one vertical elevator penetrating through each parking layer, the parking layers comprise at least one automatic navigation trolley and at least one parking space provided with a vehicle carrying tray,

the vertical lift includes:

the first lifting platform is provided with a platform access channel at one side close to the parking layer;

the second lifting platform is arranged below the first lifting platform and is fixedly connected with the bottom of the first lifting platform to form an upper-layer platform and a lower-layer platform;

the first tray shelf is arranged on the first lifting platform, corresponds to the access channel and is used for parking a vehicle-carrying tray loaded with vehicles;

the second tray shelf is arranged on the second lifting platform and used for parking the vehicle-carrying tray, and the vehicle-carrying tray is arranged on the second tray shelf in advance;

the automatic navigation trolley is provided with a lifting mechanism for jacking/lowering the vehicle-carrying tray below the vehicle-carrying tray,

the control method comprises the following steps:

when a vehicle parked on a parking space at the first floor of the three-dimensional parking garage needs to be stored to a target parking floor, controlling the vertical lift to descend to the first floor;

starting a lifting mechanism by the automatic navigation trolley on the first layer to transfer the vehicle-carrying tray carrying the vehicle to the first tray shelf, and taking out the vehicle-carrying tray pre-stored on the second tray shelf;

lifting the vertical lifter to a target parking layer, starting a lifting mechanism by an automatic navigation trolley of the target parking layer to transfer a vehicle carrying tray pre-stored at an entrance and an exit of the target parking layer to a second tray shelf, and taking out the vehicle carrying tray on which a vehicle is carried on a first tray shelf;

the automatic navigation trolley starts the lifting mechanism to transfer the vehicle loading trays carrying the vehicles to the parking space of the target parking layer, and takes out the vehicle loading trays on the parking space which is not parked nearby and transfers the vehicle loading trays to the entrance and exit of the target parking layer.

In one embodiment of the present invention, an automatic guided vehicle on a first floor transfers a vehicle-carrying tray carrying a vehicle to a first tray shelf and takes out the vehicle-carrying tray previously stored on a second tray shelf, including:

the automatic navigation trolley on the first layer starts a lifting mechanism to transfer a vehicle-carrying tray carrying vehicles to a first tray shelf through a platform access channel;

the automatic navigation trolley exits from the first lifting platform, the vertical lifter rises to enable the second lifting platform to be aligned with the ground of the first floor, the automatic navigation trolley enters the second lifting platform, and the lifting mechanism is started to take out the pre-stored vehicle carrying tray and convey the vehicle carrying tray to the parking space.

In one embodiment of the present invention, the method for transferring a vehicle-carrying tray loaded with a vehicle on a first tray shelf to a second tray shelf by an automatic guided vehicle of a target parking level, which is previously stored at an entrance/exit of the target parking level, includes:

the vertical elevator is lifted to a target parking layer, the second lifting platform is aligned with the ground of the target parking layer, and the automatic navigation trolley of the target parking layer starts a lifting mechanism to transfer the vehicle carrying tray pre-stored at the entrance and the exit of the target parking layer to a second tray shelf;

and the vertical elevator descends to align the first tray shelf with the ground of the target parking layer, and the automatic navigation trolley starts the lifting mechanism to take out the vehicle-carrying tray loaded with the vehicle on the first tray shelf.

In one embodiment of the present invention, the method in the above process is repeatedly performed when a new vehicle is parked in the first floor of the stereo garage.

In one embodiment of the present invention, the method in the above process is repeatedly performed when a new vehicle is parked in the first floor of the stereo garage.

The technical scheme of the invention at least has one of the following beneficial effects:

1. according to the upper and lower tray type three-dimensional parking garage disclosed by the embodiment of the invention, the tray shelves which are formed into an upper layer structure and a lower layer structure are arranged in the vertical lifter, so that the vehicle trays loaded with vehicles and the empty vehicle trays are respectively stored, and the vehicle storing and taking efficiency of the three-dimensional parking garage can be effectively improved;

2. according to the upper-lower tray type stereo parking garage disclosed by the embodiment of the invention, the automatic navigation trolley at the first layer can convey the tray storage shelves stored in advance to a parking point and other vehicles to be parked, so that the empty window period of the vertical lift is effectively utilized, and the vehicle storing and taking efficiency of the stereo parking garage is further improved;

3. according to the upper tray type and lower tray type three-dimensional parking garage provided by the embodiment of the invention, the lifting mechanism is arranged on the automatic navigation trolley, so that the vehicle trays can be stably lifted/lowered and can be adapted to vehicle carrying trays with different heights, and the applicability is effectively improved.

Drawings

FIG. 1 is a schematic view of a middle elevation of an upper and lower tray-type stereo garage according to an embodiment of the present invention;

FIG. 2 is a schematic cross-sectional view of a vertical lift of an upper and lower tray-type stereo garage according to an embodiment of the present invention;

FIG. 3 is a schematic plan view of an upper and lower tray type stereo garage according to an embodiment of the present invention;

fig. 4 is a flowchart of a method for controlling an upper and lower tray-type stereo parking garage according to an embodiment of the present invention.

Reference numerals: 100. a vertical lift; 110. a first lifting platform; 111. a fixed mount; 120. a first tray shelf; 130. a second tray shelf; 140. a second lifting platform; 200. an automatic navigation trolley; 300. a vehicle carrying tray; 400. a vehicle carrying tray shelf; 500. a roadway; 600. a vehicle.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.

Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs. The use of "first," "second," and similar terms in the present application do not denote any order, quantity, or importance, but rather the terms are used to distinguish one element from another. Also, the use of the terms "a" or "an" and the like do not denote a limitation of quantity, but rather denote the presence of at least one. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships are changed accordingly.

The following describes an upper and lower tray type stereo garage according to an embodiment of the invention with reference to the attached drawings.

Fig. 1 is a schematic view of the vertical arrangement of an upper tray type stereo parking garage and a lower tray type stereo parking garage according to an embodiment of the present invention, wherein the stereo parking garage includes: the parking system comprises a plurality of parking layers and at least one vertical lift 100 penetrating through the entrances and exits of the parking layers, wherein each parking layer comprises at least one automatic navigation car 200 and at least one parking place provided with a car carrying tray 300.

Specifically, as shown in fig. 1 and 2, the vertical lift 100 includes: a first lifting platform 110, a second lifting platform 140, a first tray shelf 120, and a second tray shelf 130. A platform access channel is arranged on one side of the first lifting platform 110 close to the parking layer access, so that the automatic trolley can park the vehicle-carrying tray 300 into the first lifting platform 110 through the platform access channel; the first tray shelf 120 is arranged on the first lifting platform 110, is arranged corresponding to the access passage, and is used for parking the vehicle-carrying tray 300 carrying the vehicle 600; the second lifting platform 140 is disposed below the first lifting platform 110 and is fixedly connected to the bottom of the first lifting platform 110 to form an upper platform and a lower platform, and a certain distance is reserved from the bottom of the first lifting platform 110. The second tray shelf 130 is disposed on the second lifting platform 140, and is used for parking the vehicle-carrying tray 300.

More specifically, the empty vehicle trays 300 are provided in advance at the entrances and exits of the parking levels except the first level. Therefore, when the vertical lift 100 of the automatic navigation car 200 reaches the floor, the car-loading tray 300 can be quickly parked in the second tray shelf 130, so that the parking time is effectively saved, and the car storing and taking efficiency is improved. Further, the automatic guided vehicle 200 is provided with a lifting mechanism for lifting/lowering the vehicle carrying tray 300 below the vehicle carrying tray 300. Thus, the car 200 can move the car tray 300 by traveling under the car tray 300 and activating the lifting mechanism to lift/lower the car tray 300. From this, through set up lifting mechanism on automatic navigation dolly 200, can be when stabilizing jacking/descending hull, the not co-altitude of adaptation carries the car tray, has effectively improved the suitability.

As shown in fig. 2, in one embodiment of the present invention, the vertical lift 100 further comprises: a second elevating platform 140. The second lifting platform 140 is disposed below the first lifting platform 110 and is fixedly connected to the bottom of the first lifting platform 110 to form an upper platform and a lower platform, and the second tray shelf 130 is disposed on the second lifting platform 140. From this, can customize the height of second lift platform 140 as required to adjustment second tray shelf 130 and first lift platform 110 bottom distance have reduced the holistic height of vertical lift 100, and vertical lift 100 can target in place sooner, has effectively reduced the access vehicle time, simultaneously, uses double-deck platform to place the tray shelf, has also effectively improved vertical lift 100's structural strength, has promoted the load-carrying ability. In addition, in an embodiment of the present invention, a fixed frame 111 is disposed above the first lifting platform 110, and the fixed frame 111 and the first lifting platform 110 form a car structure. Therefore, the vertical lift 100 can form a stable car structure with the first lifting platform 110 through the fixing frame 111, and the structural strength of the vertical lift 100 is effectively improved.

As shown in fig. 1 and 3, in an embodiment of the present invention, a car carrying tray shelf 400 is provided on the parking space of the parking level, and the car carrying tray shelf 400 is used for carrying the car carrying tray 300. Thus, the auto-navigation car 200 may complete the parking process by transporting the cart tray 300 onto the cart tray shelf 400.

As shown in fig. 3, in one embodiment of the present invention, a parking level is provided with at least one roadway 500 to divide a plurality of parking spaces. From this, divide the parking stall through tunnel 500, when having played the planning effect, automatic navigation dolly 200 also can move along tunnel 500, has effectively promoted automatic navigation dolly 200's mobility.

In one embodiment of the present invention, the upper and lower tray type stereo garage further comprises: and a controller (not shown) electrically connected to the vertical lift 100 and the automatic guided vehicle 200. Therefore, the vertical lifters 100 can be dispatched according to the number of the vehicles 600 in real time in the three-dimensional parking garage through the controller, and the vehicle storing and taking efficiency of the upper tray type three-dimensional parking garage and the lower tray type three-dimensional parking garage is effectively improved. It should be noted that fig. 1 is a schematic diagram of the vertical arrangement of the upper and lower tray type stereo parking garage according to the embodiment of the present invention, and in practical applications, the number of the vertical elevators 100 can be increased according to the requirements of the parking garage.

The invention also provides a control method of an upper tray type and a 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 is described in detail in the above embodiment, and specific reference can be made to the double-tray type three-dimensional parking garage of the above embodiment.

The following describes a control method of a double-tray type stereo parking garage in detail with reference to the accompanying drawings.

Fig. 4 is a flowchart specifically describing a method for controlling an upper and lower tray-type stereo parking garage according to an embodiment of the present invention. The flowchart includes S410-S440, and several steps are described in detail below:

and S410, controlling the vertical lift to descend to the first floor when the vehicles parked on the parking spaces of the first floor of the three-dimensional parking garage need to be stored to the target parking floor.

Particularly, the first-layer entrance and exit of the three-dimensional parking garage is provided with at least one parking space, a vehicle-carrying tray is arranged on the parking space, and when a vehicle needs to be parked into the parking garage, the vehicle can be parked on the parking space. At the moment, the controller can control the lifting platform to descend to the first floor, so that the automatic navigation trolley on the first floor can move the vehicle carrying tray loaded with the vehicles into the vertical lifter from the parking space on the first floor.

And S420, starting the lifting mechanism by the automatic navigation trolley on the first layer to transfer the vehicle-carrying tray carrying the vehicle to the first tray shelf, and taking out the vehicle-carrying tray pre-stored on the second tray shelf.

Specifically, the automatic navigation trolley on the first floor starts a lifting mechanism to transfer a vehicle-carrying tray carrying vehicles to a first tray shelf through a platform access channel; then, the automatic navigation trolley moves backwards, exits from the first lifting platform, the vertical lifter rises to enable the second lifting platform to be aligned with the ground of the first floor, the automatic navigation trolley enters the second lifting platform, and the lifting mechanism is started to take out the vehicle carrying tray stored in advance and convey the vehicle carrying tray to the parking space. Therefore, the vertical lifter can transport the empty vehicle carrying tray required by the first floor to the first floor simultaneously when the vehicle carrying tray loaded with the vehicle is loaded in the first floor only by stopping once, and the efficiency of taking the vehicle from the three-dimensional parking garage is effectively improved.

And S430, lifting the vertical lift to a target parking layer, starting a lifting mechanism by the automatic navigation trolley of the target parking layer to transfer the vehicle carrying trays pre-stored at the entrance and exit of the target parking layer to the second tray shelf, and taking out the vehicle carrying trays carrying vehicles on the first tray shelf.

Specifically, the vertical lifter is lifted to a target parking layer, the second lifting platform is aligned with the ground of the target parking layer, and the automatic navigation trolley of the target parking layer starts the lifting mechanism to transfer the vehicle carrying tray pre-stored at the entrance and the exit of the target parking layer to the second tray shelf; and the vertical elevator descends to align the first lifting platform with the ground of the target parking layer, and the automatic navigation trolley starts the lifting mechanism to take out the vehicle-carrying tray loaded with the vehicle on the first tray shelf. Therefore, the vertical elevator can complete parking and load the empty vehicle tray only by stopping once on the target parking layer, so that the empty vehicle tray is transported to a parking point by the automatic navigation trolley on the first layer when the vertical elevator descends to the first layer, and the vehicle storing and taking efficiency is further improved.

And S440, starting the lifting mechanism by the automatic navigation trolley to transfer the vehicle-carrying trays carrying the vehicles to the parking space of the target parking layer, and taking out the vehicle-carrying trays on the parking space which is not parked nearby and transferring the vehicle-carrying trays to the entrance and exit of the target parking layer.

Specifically, when the number of automatic navigation trolleys on the target parking layer cannot meet the requirement of parking vehicles, the automatic navigation trolleys on other layers can be conveyed to the target parking layer by the vertical lifter to participate in operation. Therefore, the car storing and taking efficiency of the three-dimensional parking garage can be effectively improved.

It should be noted that the above flowchart describes a process of parking a vehicle, and the method of S410-S440 in the above flowchart is repeatedly executed when a new vehicle is parked at the first floor of the stereo garage. In addition, the above is the process when the vehicle is parked in the stereo parking garage, and when the vehicle needs to be taken out, the steps in the above flow can be executed in a reverse manner, which is not described herein again.

Therefore, according to the upper and lower tray type stereo parking garage and the control method thereof, the tray storage racks which are formed into the upper and lower layer structures are arranged in the vertical elevator, and the vehicle loading trays and the vehicle unloading trays which are loaded with vehicles are respectively stored, so that the vehicle storing and taking efficiency of the stereo parking garage can be effectively improved. Meanwhile, the automatic navigation trolley on the first floor can convey the pre-stored tray shelf to a parking point and wait for parking vehicles, so that the window empty period of the vertical lift is effectively utilized, and the vehicle storing and taking efficiency of the three-dimensional parking garage is further improved. In addition, by arranging the lifting mechanism on the automatic navigation trolley, the vehicle carrying trays with different heights can be adapted while the vehicle carrying trays are stably lifted/lowered, and the applicability is effectively improved.

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.