KR20190050451A - Parking system with intelligent vehicle transfer robot and parking system with intelligent vehicle transfer robot - Google Patents

Abstract

The present invention provides a parking system in which a parking space is formed on one plane and is formed in a multi-layered structure, which comprises: a plane parking lot having a parking space formed on one plane; a mechanical parking lot formed of a plurality of layers from the plane parking lot for a parking space to be formed; a vehicle elevating means provided at a position close to the plane parking lot to raise and lower a vehicle to be parked to the mechanical parking lot; a vehicle transfer robot moving a vehicle parked in the plane parking lot to the vehicle elevating means; and a main control unit controlling operation of the vehicle elevating means and the vehicle transfer robot.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a parking system having an intelligent vehicle transfer robot and a parking system having an intelligent vehicle transfer robot.

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking system having an intelligent vehicle transfer robot and a parking method of a parking system having an intelligent vehicle transfer robot.

Generally, a mechanical vehicle lifting means is installed beside or under a building for a lot of parking in a building where a lot of parking spaces can not be secured.

Mechanical vehicle lifting means are mainly equipped with an elevator type, a plane reciprocating type, and a multi-layer circulation type.

In addition, when the vehicle to be parked is located in the parking lot entrance where the vehicle is parked, the vehicle elevating means opens the door of the entrance of the landing entrance manually by a parking person or a driver at the entrance of the parking lot and mounts the vehicle on a landing place inside the landing And the pallet on which the vehicle is mounted is moved up and down by the moving means to move to the parking room position to be parked and parked together with the vehicle.

In the case of such a facility, when the driver is determined to be unable to board the vehicle after entering the vehicle ascending / descending means, the vehicle must be removed from the vehicle ascending / descending means and moved to another location. Since the vehicles have to travel in a complex manner in order to provide a space and a moving space, there is a problem that the time required until completion of parking becomes long due to the water being congested at the entrance.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide an intelligent vehicle transfer robot provided in a flat parking lot, which automatically loads a parked vehicle on a vehicle raising and lowering means, And an object of the present invention is to provide a parking system equipped with an intelligent vehicle transfer robot capable of preventing congestion of the intelligent vehicle and a method of parking a parking system equipped with the intelligent vehicle transfer robot.

However, the object of the present invention is not limited to the above-mentioned object, and another object which is not mentioned can be understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a parking system having a parking space formed in a multi-layer structure with a parking space formed on one plane, the parking system comprising: a flat parking lot having a parking space formed on the one plane; A vehicle elevator means for elevating or lowering the vehicle to be parked to the mechanical parking lot, which is provided at a position close to the flat parking lot, for moving the parked vehicle to the vehicle elevating and lowering means; A transfer robot, and a main controller for controlling the operation of the vehicle elevator and the vehicle transfer robot.

In addition, a parking line in which each vehicle is parked is marked on the flat parking lot and the mechanical parking lot of each floor, each parking unit separated by the parking line is given an identification code and stored in the main control unit, A vehicle detection sensor for detecting the presence or absence of a vehicle is provided.

The main control unit stores the parking presence / absence information according to the sensor signals of the respective vehicle sensors corresponding to the identification code of the parking unit.

In the multi-layered mechanical parking lot, a vehicle parked in the mechanical parking lot is mounted on the vehicle elevating means by moving the vehicle, which is elevated in the flat parking lot under the control of the main control unit, Of the vehicle.

When the vehicle is parked in the flat parking lot according to the parking presence / absence information, the main control unit may move the vehicle parked in the flat parking lot to the mechanical parking lot through the vehicle transfer robot and the vehicle lift unit provided in the flat parking lot .

The vehicle loaded in the mechanical lifting window can be parked in the parking unit previously set by the main control unit.

On the other hand, the vehicle ascending / descending means is provided with a vehicle photographing portion for photographing a vehicle mounted on the vehicle ascending / descending means and obtaining vehicle number information, and the vehicle number information photographed by the vehicle photographing portion is a mechanical type Is matched with the parking unit identification number of the parking lot and stored in the main control unit.

And the main control unit controls the operation of the vehicle lift unit and the vehicle transfer robot so that the vehicle parked in the mechanical parking lot can exit from the vehicle number information.

Meanwhile, the vehicle transfer robot includes an input unit for receiving the transfer information of the vehicle from the main control unit, a controller for analyzing the information input through the input unit and proceeding to transfer the vehicle, A driving unit for moving the vehicle transfer robot by analyzing the information input through the control unit; and a control unit for controlling the driving unit to move the vehicle transfer robot Wherein the clamping unit is provided with respective clamping units capable of holding the wheels of the vehicle.

In addition, the vehicle elevating means is provided with a lift portion provided with a vehicle while being raised and lowered by a separate moving device, wherein the lift portion is provided with a first support member capable of holding a wheel of the vehicle loaded on the vehicle transfer robot A pair of fixing bars, and a moving bar spaced apart from the fixing bars by a predetermined distance, the moving bars being moved upward and downward, and having a second support for preventing the vehicle from moving on the fixing bars.

A parking method using a parking system provided with an intelligent vehicle transfer robot includes the steps of: a) parking a vehicle in a parking unit of the flat parking lot by a driver; b) C) loading the vehicle loaded on the vehicle transfer robot provided in the flat parking lot onto the vehicle elevating means; d) photographing the vehicle through the vehicle photographing unit; and e And raising and lowering the vehicle elevating means; f) loading the elevated vehicle on a vehicle transfer robot provided in the mechanical parking lot; g) loading the vehicle loaded on the vehicle transfer robot provided in the mechanical parking lot To the parking unit previously set by the main control unit.

The features and advantages of the present invention will become more apparent from the following detailed description based on the accompanying drawings.

Prior to that, terms and words used in the present specification and claims should not be construed in a conventional and dictionary sense, and the inventor may properly define the concept of the term in order to best explain its invention It should be construed as meaning and concept consistent with the technical idea of the present invention.

As described above, according to the present invention, since the driver only needs to park the vehicle in the parking position that is vacant in the flat parking lot by the vehicle transfer robot provided in the flat parking lot, the time required until the parking completion can be saved, The convenience of the apparatus is increased.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a plan view of a flat parking lot according to a preferred embodiment of the present invention;
2 is a sectional view of a parking lot according to a preferred embodiment of the present invention,
3 is a sectional view of a parking lot according to another embodiment of the present invention,
4 is a view for explaining the operation of the main control unit according to a preferred embodiment of the present invention,
5 is a view for explaining a method of operating a vehicle transport robot by a main controller according to a preferred embodiment of the present invention.
FIG. 6 is a flowchart of a parking method of a parking system including an intelligent vehicle transfer robot according to a preferred embodiment of the present invention;
7 is a plan view of a vehicle transfer robot according to a preferred embodiment of the present invention,
8 is a side view of a vehicle transfer robot according to a preferred embodiment of the present invention,
9 is a front view showing only a lifting part according to a preferred embodiment of the present invention,
10 is a diagram illustrating an operating state in which a vehicle is lifted by a vehicle transport robot according to an exemplary embodiment of the present invention,
11 is a plan view of a lift part according to a preferred embodiment of the present invention,
12 is a side view of a lift portion according to a preferred embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation.

In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

In addition, the following embodiments are not intended to limit the scope of the present invention, but merely as exemplifications of the constituent elements set forth in the claims of the present invention, and are included in technical ideas throughout the specification of the present invention, Embodiments that include components replaceable as equivalents in the elements may be included within the scope of the present invention.

1 is a plan view of a flat parking lot according to a preferred embodiment of the present invention; FIG. 2 is a sectional view of a parking lot according to a preferred embodiment of the present invention; FIG. 3 is a perspective view of a parking lot according to another embodiment of the present invention; FIG. 4 is a view for explaining the operation of the main control unit according to a preferred embodiment of the present invention, and FIG. 5 is a view for explaining a method of operating the vehicle transfer robot by the main control unit according to a preferred embodiment of the present invention. FIG. 6 is a flow chart of a parking method of a parking system provided with an intelligent vehicle transfer robot according to a preferred embodiment of the present invention, FIG. 7 is a plan view of a vehicle transfer robot according to a preferred embodiment of the present invention, FIG. 9 is a front view showing only a lifting part according to a preferred embodiment of the present invention, FIG. 10 is a front view of a preferred embodiment of the present invention FIG. 11 is a plan view of a lift unit according to an embodiment of the present invention, and FIG. 12 is a side view of a lift unit according to a preferred embodiment of the present invention.

As shown in FIG. 1 and subsequent drawings, the parking system according to the present invention includes a parking space formed on one plane, and a parking space formed by a multi-layered structure.

A flat parking lot (1) having a parking space formed on the one plane, a mechanical parking lot (2) formed of multiple layers from the flat parking lot (1) A vehicle lift robot 30 for moving a vehicle parked in the flat parking lot 1 to the vehicle elevator 30; And a main control unit 20 for controlling the operation of the vehicle elevating unit 30 and the vehicle transfer robot 10.

At this time, the mechanical parking lot 2 can be provided as a pallet type mechanical parking lot in which a vehicle is mounted on a pallet, and the pallet is moved vertically and horizontally using rails or grooves to move to an empty pallet space .

In addition, the mechanical parking lot 2 may be formed mainly of an elevator type, a plane reciprocating type, or a multi-layer circulation type.

Therefore, the parked vehicle in the flat parking lot (1) is automatically loaded on the vehicle elevating means (30) through the intelligent vehicle transfer robot (1) and parked in the mechanical parking lot (2) Congestion at the entrance of the door 30 can be prevented.

On the other hand, in the flat parking lot (1) and the mechanical parking lot (2) of each floor, a parking line for parking each vehicle is indicated, and each parking unit divided by the parking line is given an identification code, 20, and the parking unit may be provided with a vehicle detection sensor 40 for detecting the presence or absence of a vehicle.

In other words. As shown in Fig. 1, for example, in the parking units of the respective rows, b1, b2, b3, ... , bn, a1, a2, a3,. , an, and the parking unit at the top right of the parking unit is given an identification code of (a1, b1).

In addition, parking information is stored in the main controller 20 by the sensor signals of the respective vehicle sensors 40 corresponding to the identification codes of the parking units.

That is, in the main control unit 20, the presence or absence of parking of the vehicle is separately stored according to the identification code corresponding to each parking unit.

The vehicle detection sensor 40 may be a separate ultrasonic sensor.

The mechanical parking lot 2 is also provided with a parking space in which the vehicle elevated from the flat parking lot 1 under the control of the main control unit 20 and is hostile to the vehicle ascending / 2) for loading the vehicle parked on the vehicle elevating means (30).

When the vehicle is parked on the flat parking lot (1) by the parking presence / absence information, the main control unit (20) controls the vehicle transfer robot (10, 10-1) The vehicle parked in the flat parking lot 1 can be moved to the mechanical parking lot 2 through the door 30.

The vehicle loaded on the vehicle elevating means 30 can be parked in the parking unit previously set by the main control unit 20 by the vehicle transfer robot 10-2 provided in the mechanical type window 2. [

In the meantime, the parking lines are marked in a checkerboard pattern to increase the number of parking spaces of the vehicle by eliminating a vehicle movement path through which the vehicle can move. In the parking lot, the vehicle is moved to a space above the parked vehicles, A vehicle transfer robot 10 for carrying out a work can be provided.

In addition, the marked parking line is provided with a position marker (not shown) that can recognize a moving position when the vehicle transfer robot 10 moves, and the vehicle transfer robot 10 is provided with a parking marker A detection sensor (not shown) may be attached, and may move while tracking the position marker through the detection sensor.

The position marker may be a reflective material that reflects light or a metal material that reacts with electricity. The sensing sensor may be a photosensor that senses the position marker through a light emitting portion and a light receiving portion, It is preferable that the magnetic field sensor is a magnetic field sensor.

On the other hand, the vehicle ascending / descending section 30 is provided with a vehicle photographing section 50 for photographing a vehicle mounted on the vehicle elevating / lowering device 30 and obtaining vehicle number information, The stored vehicle number information is stored in the main control unit 20 in correspondence with the parking unit identification number of the mechanical parking lot 2 where the photographed vehicle is parked.

The main control unit 20 controls the operation of the vehicle elevating unit 30 and the vehicle transfer robot 10 so that the vehicle parked in the mechanical parking lot 2 can exit from the vehicle number information.

The vehicle transfer robot 10 is provided with an input unit 11 for receiving information on the transfer of the vehicle from the main control unit 20 and a control unit for analyzing the information input through the input unit 11, A frame unit 100 for holding the outer shape of the vehicle transfer robot 10; a clamping unit 300 for loading the vehicle; And a driving unit 400 for moving the vehicle transfer robot 10 by analyzing the information inputted through the control unit 12, wherein the clamping unit 300 includes: And each of the clamp portions 311 and 312 capable of holding the wheels of the vehicle is provided.

In this case, the frame unit 100 includes four legs 110 vertically arranged on the ground and spaced apart from each other by a predetermined distance, and four legs 110 connected to each other, And an upper supporter 120 formed to form the upper supporter 120.

The upper supporter 120 includes two long side upper supporters 121 and 122 included in the seating surface and the right side, while the four legs 110 form four seating surfaces, a right side, a front side, And two short side upper supporters 125 and 126 included in the front side and the rear side.

In addition, long-side interrupted supporters 131 and 132 are provided under the two long-side upper supporters 121 and 122 forming the seating surface and the right side, respectively, at an intermediate position between the seating surface and the right side, do.

The lifting part 200 includes two seating surface guide parts 211 parallel to the leg part 110 and fixed by connecting the long side upper supporter 121 of the seating surface and the long side side supporter 131, .

The lifting unit 200 includes a long side upper supporter 122 parallel to the leg 110 and two right side guide portions 212 fixed to the long side interrupter 132; .

The lifting unit 200 includes two seating surface lifting units 221 guided by the two seating surface guiding units 211 and a left surface lifting unit 221 disposed at a predetermined position of the left surface lifting unit 221, A seating surface wire 241 connected to the seating surface lifting claw 231, a seat surface pulley 251 for winding the seat surface wire 241, and a seat surface pulley 251 for transmitting a rotational force to the seat surface pulley 251 And a seating surface motor 261.

The lifting part 200 includes two right side lifting parts 222 guided by the two right side guiding parts 212 and a right side lifting part 222 disposed at a predetermined position of the right side lifting part 222, A right side wire 242 connected to the right side lifting claw 232 and a right side pulley 252 wound around the right side wire 242 and a right side pulley 252 for transmitting a rotational force to the right side face pulley 252, And a right side motor 262.

Left and right rollers 271 and 272 for switching the advancing direction of the wire 241 to 90 degrees are provided.

The seat surface and right surface rollers 271 and 272 are disposed in parallel with the seat surface and right surface pulleys 251 and 252 and at the upper side of the seat surface and right surface lifting ring.

The clamping part 300 includes a seat clamping part 311 for holding the wheels of the vehicle at the lower end of the seat lifting part 221 and a wheel clamping part for locking the wheels of the vehicle at the lower end of the right side lifting part 222 A right side clamp part 312 is provided.

Therefore, when the seating surface and the right side lifting portions 221 and 222 are lifted or lowered, the left and right side clamp portions 311 and 312 hold the wheels of the vehicle and perform up and down.

Each of the seating surface and right side clamp portions 311 and 312 includes two jaws 320 and an actuator 330 for relatively opening and closing the two jaws 320, A mounting plate 340 for mounting the jaws 320 and the actuators 330 and a mounting plate 340 for mounting the mounting plate 340 on the left and right surface lifting portions 221 and 222 (Not shown).

The motor fixing portion 370 is formed by connecting the long side upper supporter 121 of the seating surface and the long side upper supporter 122 of the right side to the motor fixing portion 370, The seat surface motor 261, the right side pulley 252 and the right side motor 262 are fixed.

The driving unit 400 is disposed at the lower ends of the four legs 110. The driving unit 400 includes a wheel 410 and a driving unit 400 for rotating the wheel 410, A module 440 and a fixing bracket 450 for fixing the driving unit 400 to the leg 110. [

The lift unit 32 includes a lifting unit 32 that lifts up and down the lifting unit 30 by a separate moving device and is mounted on the vehicle transfer robot 10, A pair of fixed bars 33 formed on the outer side of the fixed bars 33 and having a first support for holding the wheels of the vehicle, And a movement bar 34 formed with a second support for preventing the flow of the vehicle mounted on the bar 33.

When the clamps 311 and 312 and the first and second supports are provided with two jaws respectively, the distance between the two jaws 320 provided on the clamps 311 and 312 is set to the second support Is formed to be smaller than the distance between the two jaws (34-1), and is formed to be larger than the distance between the two jaws (33-1) provided on the first support.

Accordingly, the vehicle is moved downward through the lifting unit 200 of the vehicle loaded in the vehicle transfer robot 10, the wheels of the vehicle are mounted on the first support of the fixed bar 33, and the clamps 311, (320).

After the moving bar 34 is moved upward to hold the wheels of the vehicle, the clamping unit 300 is lifted through the lifting unit 200, 10 is moved out of the vehicle elevating means 30, vehicle loading to the vehicle elevating means 30 is completed.

In addition, the vehicle transfer method according to the vehicle transfer robot 10 described above is only one embodiment, and is not limited thereto.

Therefore, the configuration of the vehicle transfer robot 10 may include a transfer robot in which a vehicle is lifted under the vehicle, as well as a transfer crane-type transfer robot in which a plurality of rails are formed on a ceiling, And the like can be easily selected and used by those skilled in the art.

The parking method using the parking system provided with the intelligent vehicle transfer robot 10 includes a step S110 of parking the vehicle to the parking unit of the flat parking lot 1, (S120) of loading a vehicle parked in the flat car park (1) on the vehicle transfer robot (10, 10-1) A step S140 of photographing a vehicle through the vehicle photographing section 50, e, a step of photographing a vehicle through the vehicle elevating means 30, (S160) of loading the elevated vehicle to the vehicle transfer robot (10, 10-2) provided in the mechanical parking lot (2); g) (S170) parking the vehicle loaded on the vehicle transfer robot (10, 10-2) provided on the main body (10, 10-2) in a parking unit preset by the main control unit (20).

After the step S110 of parking the vehicle to the parking unit of the flat parking lot 1 by the driver, the parking lot of the flat parking lot 1 is controlled by the sensor signal of the vehicle detection sensor 40, A step of confirming whether or not parking is performed in the main control unit 20, a step of checking the parking unit identification code of the flat parking lot 1 in which the vehicle is parked in the main control unit 20, Determining a vacant position among the parking units of the mechanical type parking lot 2 at a parking position, determining a vacant position among the parking units of the mechanical type parking lot 2 as a parking position, And storing the identification code of the main control unit 20 in the main control unit 20.

After the step d, the vehicle number information of the vehicle is matched with the identification code corresponding to the parking position of the mechanical parking lot 2 and stored in the main control unit 20.

In addition, the outgoing method using the parking system provided with the intelligent vehicle transfer robot 10 is an example in which the driver parked the vehicle informs his or her vehicle information (vehicle number, etc.) to a settler (not shown) And calculates the parking ratio.

At this time, if the driver's vehicle is parked in the mechanical parking lot 2, the main control unit 20 confirms the vehicle number information and the parking position identification code stored in the main control unit 20 through the vehicle information input to the adjuster, The vehicle can be driven by driving the vehicle transfer robot 10 provided in the parking lot 2. The process of advancing the vehicle through the vehicle transfer robot 10 is executed in the reverse order of the parking method described above.

If the driver's vehicle is parked on the flat parking lot 1, the display unit displays the parking information indicating that the driver's vehicle is parked in the flat parking lot 1. The driver can pay the parking fee After the calculation, the vehicle can be directly moved to the parked car parked in the flat parking lot 1, or the vehicle can be transferred to the driver through the vehicle transfer robot 10 provided in the flat parking lot 1.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the same is by way of illustration and example only and is not to be construed as limiting the present invention. It is obvious that the modification or improvement is possible.

It is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.

1: flat parking lot 2: mechanical parking lot
10: vehicle transfer robot 20: main control unit
30: Vehicle elevating means 32: Lift portion
33: fixed bar 34: movable bar
40: vehicle detecting sensor 50: vehicle photographing part
100: frame part 200: lifting part
300: clamping unit 400:

Claims (8)

A parking system in which a parking space is formed on one plane and a parking space is formed in a multi-layer structure,
A flat parking lot having a parking space formed on the one plane,
A multi-layered mechanical parking lot from the flat parking lot,
Vehicle elevating means provided at a position close to the flat parking lot to raise and lower the vehicle to be parked to the mechanical parking lot,
A vehicle transfer robot for moving a vehicle parked in the flat parking lot to the vehicle ascending / descending means,
And a main controller for controlling operations of the vehicle elevating device and the vehicle transfer robot.
The method according to claim 1,
The parking lot on which the vehicle is parked is marked on the flat parking lot and the mechanical parking lot on each floor,
Each of the parking units separated by the parking line is assigned an identification code and stored in the main control unit,
Wherein the parking unit is provided with a vehicle detection sensor for detecting the presence or absence of a vehicle,
And the parking presence / absence information is stored in the main control unit by a sensor signal of each vehicle sensor corresponding to the identification code of the parking unit.
3. The method of claim 2,
The multi-layered mechanical parking lot is provided with a separate vehicle, which is elevated in the flat parking lot under the control of the main control unit and is parked by moving the hostile vehicle to the parking position and parking the vehicle parked in the mechanical parking lot, Wherein the transportation robot is provided with the intelligent vehicle transport robot.
The method of claim 3,
When the vehicle is parked in the flat parking lot by the parking presence / absence information,
The vehicle parked in the flat parking lot is moved to the mechanical parking lot through the vehicle transfer robot and the vehicle lifting unit provided in the flat parking lot,
Wherein the vehicle parking robot provided in the mechanical spearhead is configured to park the vehicle loaded on the vehicle elevating means in a parking unit previously set by the main control unit.
5. The method of claim 4,
Wherein the vehicle elevating means is provided with a vehicle photographing section for photographing a vehicle mounted on the vehicle elevating means and obtaining vehicle number information,
Wherein the vehicle number information photographed by the vehicle photographing unit matches the parking unit identification number of the mechanical parking lot where the photographed vehicle is parked and stored in the main control unit,
Wherein the main control unit controls the operation of the vehicle elevating unit and the vehicle transfer robot so that the vehicle parked in the mechanical parking lot can exit from the vehicle number information.
6. The method of claim 5,
In the vehicle transfer robot,
An input unit for receiving vehicle transportation information from the main control unit;
A control unit for analyzing the information input through the input unit and proceeding to transfer the vehicle,
A frame part for maintaining the appearance of the vehicle transfer robot,
A clamping unit for loading the vehicle,
A lifting unit for moving the loaded vehicle upwards after being loaded by the clamping unit,
And a driving unit for moving the vehicle transfer robot by analyzing information inputted through the control unit,
Wherein the clamping unit is provided with respective clamping portions capable of holding the wheels of the vehicle.
The method according to claim 6,
Wherein the lift unit includes a lift unit that lifts and descends by a separate moving device and includes a vehicle,
A pair of fixed bars having a first support for holding the wheels of the vehicle loaded on the vehicle transfer robot,
And a movable bar which is spaced apart from the fixed bars by a predetermined distance and which is moved upward and downward and in which a second support for preventing the flow of the vehicle mounted on the fixed bar is formed, Parking system equipped with robots.
A parking method using a parking system having an intelligent vehicle transfer robot according to any one of claims 1 to 7,
a, the driver parking the vehicle in the parking unit of the flat parking lot;
b) loading the vehicle parked in the flat parking lot onto the vehicle transfer robot;
c) loading the vehicle loaded on the vehicle transfer robot provided in the flat parking lot on the vehicle elevating means;
d, photographing the vehicle through the vehicle photographing unit,
e, elevating the vehicle elevating means;
f) loading the elevated vehicle on a vehicle transfer robot provided in the mechanical parking lot,
and parking the vehicle loaded on the vehicle transfer robot provided in the mechanical parking lot in a parking unit previously set by the main control unit. .

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