Abstract : This paper mainly introduces the main mechanical structure of the warehouse-type robot parking equipment and the composition of its hardware and software systems. The equipment boasts advantages such as safe and reliable control system and advanced communication. Keywords : Warehouse-type intelligent robot, intelligent electrical control, feedback system, control strategy, fault coding, wireless communication, configuration. With the improvement of people's living standards, the social ownership of automobiles has increased significantly. This has not only brought great convenience to people's lives but also greatly accelerated China's economic development. However, it has also brought a serious social problem: in cities, especially large cities, parking difficulties and illegal parking are common, exacerbating traffic congestion. To address this, our company has successively developed several sets of automatic parking equipment and independently developed corresponding computer control systems. This computer control system features button operation, card reading, automatic entry and exit, automatic addressing and positioning, automatic computer scheduling, and information management. It is technologically leading in China and is particularly suitable for small and medium-sized automated parking garages. This paper takes a 20-space warehouse-type intelligent robot parking equipment as an example to provide a simple analysis of the system. I. Main Mechanical Structure The parking equipment entrance and exit are located on the ground. The 20 parking spaces are distributed in a single row of four levels and five columns. A lift platform is responsible for the vertical lifting of the trolley platform, a lateral moving trolley is responsible for lateral movement, and a trolley on the vertically lifting platform can move forward and backward in both directions, transporting cars to the corresponding parking spaces. The so-called intelligent robot control principle model is composed of these three mechanical structures, plus intelligent electrical control. II. Main Hardware System Structure The human-machine interface (HMI) of the parking equipment control system is a PC. This PC has a card reader and a ticket printer, connected to the PLC control system via a serial communication line. The control system is based on a Mitsubishi FX series PLC, plus an encoder feedback system and peripheral detection circuits. The PC collects data from the control system via an RS232 serial communication port and dynamically displays the data in text or image form on the computer screen. Simultaneously, the operator can issue commands to the control system through the HMI. The HMI is a touchscreen, allowing users to directly click on relevant positions on the screen with their fingers, achieving the same effect as a mouse. The computer is powered by an uninterruptible power supply (UPS). III. Computer Software System Structure 1. Main Control Program The core of the software system is the main control program. Safety, stability, and efficiency are the basic principles of the control program. The main control program's tasks are: to detect signals at entrances and exits, guide vehicle entry and exit, control safety doors, control one elevator platform, control the traverse trolley, and control one transport trolley. Simultaneously, it transmits various status information to the host computer monitoring system and receives instructions from the host computer monitoring system. Due to the close relationship between the equipment and the relatively high randomness of equipment startup, the safety interlocking between equipment is even more crucial. In the main control program of this system, we have adopted many advanced control strategies, which not only ensure the safety of the system and vehicles but also greatly improve the system's operating efficiency. Each time it starts, the lifting platform and the traverse trolley can operate in any combination. For example, in car 11, the transport trolley can move forward and backward; in cars 12, 13, 14, and 15, the traverse trolley and the transport trolley operate in combination; in cars 21, 31, and 41, the lifting platform and the transport trolley operate in combination; and in the remaining cars, the lifting platform, the traverse trolley, and the transport trolley operate in combination. To ensure safety, the operation of the transport trolley is interlocked with the lifting platform and the traverse trolley. The transport trolley can only operate after the lifting platform and the traverse trolley have both reached the appropriate positions. Due to the application of frequency conversion, the fastest speed for storing and retrieving vehicles can be controlled within one minute. 2. Transport Trolley Control Program The main task of the transport trolley control program is to receive instructions from the main control program, and based on the content of the instructions and the state of the transport trolley itself, determine the actions to be performed and the order in which these actions are performed. First, the transport trolley needs to determine its direction of travel based on the parking and retrieval instructions and its own position. During operation, the trolley needs to detect parking spaces in real time and decelerate promptly upon reaching the destination space to ensure accurate parking. It also determines its horizontal movement direction based on the parking space arrangement and a specific algorithm. Due to physical space limitations, some parking lots have irregular shapes. To fully utilize the available space, we made many beneficial attempts in mechanical design. In addition to conventional straight aisles, we also designed double-sided straight aisles, L-shaped aisles, and T-shaped aisles. The non-standard mechanical structure greatly increases the complexity of the control program. To accomplish these control functions, we carefully considered the detection methods, control concepts, control algorithms, and the selection of control equipment to ensure the safe and efficient operation of the transport trolley. 3. Host Computer Monitoring System For the host computer monitoring system, we typically use software from different manufacturers' configuration systems. The main task of the host computer monitoring system is to collect data from the main control program and display it on the computer screen in real time in the form of text or images; it also accepts instructions from the operator at any time and transmits these instructions to the main control program. The screen displays the following information: status information of each device, communication status of each PLC, position of each transport trolley, position of the elevator, fault information, etc. 4. Parking Fee Collection System The parking fee collection system is the interface for information transmission between the user and the parking equipment. There are several types of parking fee collection sensors: IC cards, proximity cards, card readers, etc. Each user has a proximity card containing information such as card number, parking space number, prepaid amount, remaining amount, and expiration date. When parking/retrieval is required, the cardholder places the card on the proximity card reader at the entrance. The computer automatically recognizes the information on the card, determines whether it is parking or retrieval, calculates the parking time and fee, and prints a receipt. In addition to parking/retrieval management, the parking fee collection system also has parking card management and parking information query functions. IV. Control System Features 1. Safe and Reliable System Design – Safety design includes: vehicle safety protection, safety protection of the starting equipment itself, and interlocking relationships between devices, etc. To ensure vehicle safety during parking, in addition to routine checks, we have added real-time detection and judgment to the program, achieving multiple backup protections throughout the entire process. 2. Advanced Control Method – Employing a distributed control system, the lifting and horizontal movement components are separated. Most existing intelligent robotic parking systems use centralized control. The advantage of centralized control is that all input and output signals are directly connected to the programmable controller via cables, eliminating data communication links. However, this centralized connection method requires extensive on-site wiring, making it inconvenient for the equipment to move while dragging cables, and the travel distance is limited due to cable length constraints. Furthermore, if any component fails, the entire system cannot operate. In this system, a distributed control system is used, with the lifting and horizontal movement components controlled separately. This not only saves a significant amount of on-site wiring and the associated construction and calibration work, but also reduces the possibility of many malfunctions. Most importantly, a failure in one part will not affect the operation of other equipment. 3. Advanced Data Communication Technology – Employing wireless communication with a star network topology. This design avoids the limitations of cable transmission distance in wired communication structures and greatly improves the anti-interference capability of data communication. Furthermore, the program design fully considers the real-time nature of data transmission, enhancing the system's fault tolerance and thus ensuring system reliability. 4. Accurate Parking Space Recognition – The system incorporates state-of-the-art laser scanning technology, combined with traditional detection methods. This, coupled with traditional addressing methods, provides double protection for parking space recognition. 5. Clear and Concise Fault Location – Fault coding technology is employed. To enable operators to quickly and accurately identify and resolve faults during operation, the system incorporates numerous fault detection methods and assigns fault codes. In addition to detection switches, many software judgment conditions are designed to promptly alarm and display fault code numbers for unreasonable logical conditions. Operators or system maintenance personnel can easily identify the fault by viewing the alarm code number on the screen and address it promptly. 6. Real-time Configuration Screen Design and Human-Machine Interface System – The real-time configuration screen design allows operators to promptly understand the operating status of the entire system, including: equipment status, fault status, the location of the elevator or transport trolley, the current operation being performed, etc.; the system also provides rich historical data storage, which can be accessed by management and system maintenance personnel at any time. The user-friendly human-machine interface enables operators to perform many flexible operations. V. Conclusion Our company has introduced distributed control technology, wireless communication technology, laser scanning and positioning technology into parking equipment, placing us in a leading position in the domestic industry. The adoption of these high-tech products has significantly improved the safety, reliability, and operating efficiency of our parking equipment.