TWI571839B - Automatic parking apparatus - Google Patents

Description

Automatic parking equipment

The present invention relates to an automated device, and more particularly to an automatic parking device.

With the popularity of vehicles, parking has become one of the most important facilities in modern life. In traditional parking lots, the driver needs to find a parking space and park the vehicle in the parking space, which often causes the driver to spend a lot of time looking for an empty parking space in the parking lot. The parking lot also needs to have enough space for the driver to travel or return in the parking lot, making the space in the parking lot not fully utilized. In addition, the traditional parking lot is also prone to accidents such as a collision of a vehicle or a collision with a pedestrian due to the driver's negligence.

In recent years, warehouse-type parking lots have also become popular. Different from the traditional parking lot, the driver only needs to drive the vehicle into the parking platform of the warehouse parking lot. The transport mechanism of the warehouse parking lot can automatically move the parking platform carrying the vehicle to the predetermined parking space. Although the warehouse type parking lot can solve the problem of the above traditional parking lot, the mechanical equipment of the warehouse type parking lot cannot be applied to the traditional parking lot. To convert a traditional parking lot into a warehouse-type parking lot often takes a lot of time and cost to rebuild.

The present invention provides an automatic parking device that can be applied to a conventional parking lot to solve various problems of a conventional parking lot.

The automatic parking device provided by the present invention is suitable for being installed in a parking lot with a plurality of parking spaces to park the vehicle in one of the parking spaces. The automatic parking device comprises at least one self-propelled stage and a central control device, the self-propelled stage is used for carrying the vehicle, and the central control device is adapted to communicate with the self-propelled stage to transmit the traveling signal to the self-propelled load. The self-propelled stage is adapted to automatically travel to one of the parking spaces based on the travel signal.

In an embodiment of the invention, the self-propelled stage includes a stage, a moving device, and a control device, wherein the carrier is used to carry the vehicle, the mobile device is connected to the carrier, and is adapted to drive the carrier to move, and the control device It is disposed on the stage and is adapted to communicate with the central control device and the mobile device, and controls the mobile device according to the travel signal.

In an embodiment of the present invention, the automatic parking device further includes a plurality of supporting devices and a plurality of upper platforms, wherein the plurality of supporting devices are respectively disposed in the parking space, and the self-propelled loading platform further includes a plurality of lifting devices. , configured on the stage to support one of those on the platform.

In an embodiment of the present invention, the parking lot is provided with a plurality of identification components, and the self-propelled carrier further includes a position recognition device disposed on the stage, and the position recognition device is adapted to identify the stage according to the identification component of the parking lot. Location and transfer identification data to the control unit.

In an embodiment of the invention, the identification component is an identification mark, and the position recognition device is an image recognition device.

In an embodiment of the invention, the self-propelled stage further includes a license plate recognition device disposed on the stage, and the license plate recognition device is adapted to recognize the license plate number of the vehicle and transmit the identification data to the control device.

In an embodiment of the invention, the self-propelled stage further includes an anti-collision detecting device disposed on the stage to detect an object around the stage.

In an embodiment of the invention, the central control device further includes a remote connection system.

In an embodiment of the invention, the parking lot is provided with an adjacent parking/taking area and a docking area, and the automatic parking device further includes a stopping/taking terminal, which is disposed in the parking/taking area and The central control devices communicate with each other.

In an embodiment of the present invention, the automatic parking device further includes a security detecting device disposed in the parking/taking area and communicating with the central control device, and the security detecting device is configured to detect whether the user is away from loading The docking area.

In an embodiment of the invention, the at least one self-propelled carrier is an electric drive carrier, and the number is multiple, and the automatic parking device further includes a plurality of charging devices, and is disposed in a parking space of the parking lot, and is suitable for Charge the self-propelled stage.

In an embodiment of the invention, the automatic parking device further includes a plurality of vehicle loading and unloading devices respectively disposed in the parking spaces of the parking lot, and each of the vehicle loading and unloading devices is adapted to move the vehicle carried by the self-propelled carrier to the corresponding Parking space, or move vehicles parked in the parking space to the self-propelled stage.

The automatic parking device of the present invention carries the vehicle by a self-propelled stage, and can communicate with the self-propelled stage by the central control device to transmit the traveling signal to the self-propelled stage, so that the self-propelled stage is based on The travel signal automatically travels to the designated parking space. Therefore, the automatic parking device of the present invention can be applied to a conventional parking lot to solve various problems of the conventional parking lot, such as finding a parking space, a poor space utilization rate, and a vehicle collision accident.

The above and other objects, features, and advantages of the present invention will become more apparent and understood. described as follows.

100‧‧‧Automatic parking equipment

110‧‧‧Self-propelled stage

111, 311‧‧‧

112‧‧‧Mobile devices

113‧‧‧Control device

114‧‧‧Location Identification Device

115‧‧‧ License Plate Identification Device

116‧‧‧Anti-collision detection device

120‧‧‧Central control unit

121‧‧‧Database

122‧‧‧Remote connection system

130a‧‧‧Parking terminal

130b‧‧‧Car terminal

160‧‧‧Safety detection device

170‧‧‧Charging device

200, 200a‧‧ ‧ parking lot

240a‧‧‧ stop/car area (parking area)

240b‧‧‧ stop/car area (car area)

250a, 250b‧‧‧ platform docking area

280‧‧‧Vehicle handling equipment

317‧‧‧Upper platform

318‧‧‧ lifting device

390‧‧‧Support device

S110~S150‧‧‧Parking process steps

S210~S260‧‧‧Getting process steps

C, C” ‧ ‧ vehicles

P, P’, P” ‧ ‧ parking spaces

R‧‧‧ identification component

1 is a block diagram of an automatic parking apparatus according to an embodiment of the present invention.

2 is a schematic view of a parking lot to which an automatic parking apparatus according to an embodiment of the present invention is applied.

3 is a schematic diagram of a parking lot to which an automatic parking device according to another embodiment of the present invention is applied.

4 is a schematic view of a self-propelled stage in accordance with an embodiment of the present invention.

FIG. 5 is a schematic diagram of a parking flow of an automatic parking device according to an embodiment of the present invention.

FIG. 6 is a schematic diagram of a car taking process of an automatic parking device according to an embodiment of the present invention.

7A is a top plan view showing a part of an automatic parking device according to another embodiment of the present invention.

Figure 7B is a side elevational view, partly in elevation, of an automatic parking device in accordance with another embodiment of the present invention.

1 is a block diagram of an automatic parking apparatus according to an embodiment of the present invention, and FIG. 2 is a schematic view of a parking lot to which an automatic parking apparatus according to an embodiment of the present invention is applied. Referring to FIG. 1 and FIG. 2, the automatic parking device 100 of the present embodiment is adapted to be disposed in a parking lot 200 having a plurality of parking spaces P to park the vehicle C in the parking spaces P. The automatic parking device 100 includes at least one self-propelled stage 110 and a central control unit 120, wherein the self-propelled stage 110 is used to carry the vehicle C, and the central control unit The set 120 is adapted to communicate with the self-propelled stage 110 to transmit a travel signal to the self-propelled stage 110, and the self-propelled stage 110 is adapted to automatically travel to one of the parking spaces P based on the travel signal.

In this embodiment, the central control device 120 is connected to the self-propelled carrier 110 by using a wireless local area network, but other connection methods may be used according to different usage requirements, and are not limited thereto. The central control device 120 has, for example, a database 121 that stores, for example, a plurality of parking space P data of the parking lot 200, map data of the parking lot 200, a parking position of each vehicle C, a license plate number, and entry and exit. Time data, etc., to manage the parking lot 200. In addition, the central control device 120 also calculates the travel route according to factors such as the map data of the parking lot 200 and the use status of the parking space P, and transmits the travel route data to the self-propelled stage 110, so that the self-propelled stage 110 can be The driving route is automatically driven to the designated parking space P according to the travel route calculated by the central control device 120.

In addition, in the embodiment, the central control device 120 may further include a remote connection system 122 for the user to use the external device to transmit data to the remote connection system 122. The external device is, for example, a mobile electronic device such as a mobile phone, a notebook computer, or a tablet computer, but is not limited thereto. The user can use an external device to connect to the remote connection system 122 via the Internet or other means to confirm the usage status of the parking lot 200 and make a reservation time for the pickup time, so that the user can avoid spending time waiting in line for parking. Or pick up the car.

As shown in FIG. 2, the parking lot 200 further includes parking/taking areas 240a, 240b and adjacent stage parking areas 250a, 250b, wherein the area indicated by reference numeral 240a is, for example, a parking area, and the area indicated by reference numeral 240b is, for example, It is a pick-up area, and the stage docking area 250a is adjacent to the parking area 240a, and the stage docking area 250b is adjacent to the pick-up area 240b. The automatic parking device 100 further has parking/taking terminals 130a, 130b, which are disposed in the parking/taking areas 240a, 240b and Communicate with the central control unit 120. The terminal indicated by reference numeral 130a is, for example, a parking terminal, and the terminal designated by reference numeral 130b is, for example, a pick-up terminal. The parking/receiving terminal devices 130a and 130b and the central control device 120 are connected by, for example, a local area network, but not limited thereto, and the connection mode may be wired or wireless. The parking terminal 130a is configured to process a related program when the user stops, and the pick-up terminal 130b is configured to process a related program when the user picks up the vehicle. The detailed process for parking and picking up will be explained below.

Although the present embodiment has two parking/taking areas, namely a parking area 240a and a pick-up area 240b, in another embodiment of the present invention, the parking area 240a and the pick-up area 240b may be integrated into the same area. Further, the present invention does not limit the number of parking/taking areas, and the number of parking/taking areas can be adjusted according to the number of parking spaces P of the parking lot 200. Moreover, the present invention also does not limit the number of self-propelled stages 110 that can be parked in each of the stage landing areas 250a, 250b. Each of the stage seating areas 250a, 250b can accommodate one or more self-propelled loads at the same time. Taiwan 110.

In this embodiment, the automatic parking device 100 may further include a safety detecting device 160 disposed in the parking/taking area 240a, 240b and communicating with the central control device 120. The safety detecting device 160 is, for example, an infrared human body sensor, but is not limited thereto. The safety detecting device 160 is used to sense whether there is still a person staying on the self-propelled stage 110. When the security detecting device 160 senses that someone is stuck on the self-propelled stage 110, the security detecting device 160 sends a signal to the central control unit 120, and the central control unit 120 causes the self-propelled stage 110 to be parked on the stage. The docking areas 250a, 250b are not moved to ensure personnel safety.

In the present embodiment, a self-propelled stage 110 corresponds to, for example, one parking space P. That is, the number of the self-propelled stages 110 is at least equal to the number of parking spaces P, and the self-propelled stage 110 is parked in the parking space P. The hair shown in Figure 3 In another embodiment of the invention, a self-propelled stage 110 corresponds, for example, to a plurality of parking spaces P'. That is, the number of the self-propelled stages 110 is less than the number of parking spaces P, and the self-propelled stage 110 does not stop in the parking space P, but is provided by the parking space P' provided in the parking lot 200a. The loading and unloading device 280 moves the vehicle C carried by the self-propelled stage 110 to the corresponding parking space P', or moves the vehicle C parked in the parking space P' to the self-propelled stage 110. The vehicle handling device 280 can communicate with the control device 120 of FIG. The vehicle handling device 280 can be a robotic arm.

4 is a schematic view of a self-propelled stage in accordance with an embodiment of the present invention. Referring to FIG. 2 and FIG. 4, in the present embodiment, the self-propelled stage 110 includes a stage 111, a mobile device 112, and a control device 113, wherein the stage 111 is used to carry the vehicle C, and the mobile device 112 is connected to the stage. 111, to drive the stage 111 to move. The control device 113 is disposed on the stage 111 and is adapted to communicate with the central control device 120 (shown in FIG. 1) and the mobile device 112, and controls the mobile device 112 according to the travel signal. The control device 113 and other circuits may be disposed inside or below the stage 111 to avoid pressure loss by the vehicle C.

The mobile device 112 includes, for example, a plurality of motor units (not shown) and tires to drive the stage 111 to move. The number of tires in this embodiment is, for example, four, and the number of tires or the type of the mobile device 112 can be adjusted according to different usage requirements. The mobile device 112 can use a high torque electric motor in conjunction with the gear set to achieve the advantage of a high load (e.g., 3000 kilograms). In addition, each motor unit has an independent steering system that allows the tire to reach 90 degrees of steering, which in turn saves space for return.

The self-propelled stage 110 can be an electric drive stage, but is not limited thereto. In the embodiment in which the self-propelled stage 110 is an electric drive stage, the automatic parking apparatus 100 may further include a plurality of charging devices 170 respectively disposed in the plurality of parking spaces P of the parking lot 200. Thus, when the self-propelled stage 110 is parked in the parking space P, charging The electrical device 170 can charge the self-propelled stage 110. In addition, the self-propelled stage 110 may further include a position recognition device 114 disposed on the stage 111. A plurality of identification elements R may be disposed in the parking lot P, and these identification elements R may be disposed beside each parking space P and in a route for the vehicle to travel. The self-propelled stage 110 can recognize the identification element R by the position recognition device 114 to recognize the position of the self-propelled stage 110 in the parking lot 200 and transmit the identification data to the control device 113. The identification component R is, for example, a coordinate symbol composed of numbers or symbols, and the position recognition device 114 is, for example, an image capture device and has an image recognition processing function, which can recognize a coordinate mark composed of numbers or symbols to be converted into position information, and according to the position. The information knows the relative position of the self-propelled stage 110 in the parking lot. In addition, the identification component R may further include an error correction code, which may improve the recognition rate of the identification device R by the position recognition device 114. In another embodiment of the present invention, the identification component R is, for example, a component that can emit a radio signal. The identification device 114 is, for example, a signal receiver adapted to capture the radio wave signal emitted by the identification component R and convert it into position information. In another embodiment of the present invention, the position recognition device 114 may only have an image capture function or a signal receiving function, and the central control device 120 (shown in FIG. 1) may use the data obtained by the position recognition device 114. Perform position determination. In still another embodiment of the present invention, the position recognition device 114 can also perform position recognition using a Global Positioning System (GPS), so that the identification component R need not be provided.

In the embodiment, the self-propelled stage 110 may further include a license plate recognition device 115 disposed on the stage 111 for identifying the license plate number of the vehicle C, and transmitting the identification data to the control device 113, and transmitting the identification device 113. Data storage is performed to the central control unit 120 (shown in FIG. 1). The license plate recognition device 115 is, for example, an image capture device and has a license plate recognition function, which can recognize the license plate number of the parked vehicle C and transmit the data to the central control device 120 for storage. Of course, the license plate The identification device 115 may also have only an image capture function, and the central control device 120 performs license plate recognition based on the information obtained by the license plate recognition device 115. The self-propelled stage 110 may further include an anti-collision detecting device 116 disposed on the stage 111. The number of the anti-collision detecting devices 116 in the embodiment is, for example, four, which are respectively disposed in front of and behind the stage 111. The left side and the right side are used to detect objects around the stage 111 to prevent the self-propelled stage 110 from colliding with people, animals or other objects in the parking lot 200 during traveling.

FIG. 5 is a flow chart of parking of an automatic parking device according to an embodiment of the present invention. Referring to FIG. 1 , FIG. 2 and FIG. 5 , firstly, as shown in step S110 , when a self-propelled stage 110 is parked in the stage docking area 250 a , the driver can drive the vehicle C into the self-propelled stage 110 . . The driver can use the parking terminal 130a to obtain a parking ticket card or other identifiable information (such as a password). In an embodiment, the license plate number that can be obtained by the automatic parking device 100 can also be used as the aforementioned identification data. In addition, if the driver has prepaid the parking fee (for example, the monthly fee), the driver's monthly rental card may be sensed by the parking terminal 130a or the license plate number may be recognized by the automatic parking device 100 without leaving the field. Additional fees will be paid.

Then, as shown in step S120, the security detecting device 160 detects whether a person is stuck on the self-propelled stage 110. If the person getting off the vehicle C is still at the self-propelled stage 110, the person is continuously waiting to leave, and even a warning signal is issued to ask the person to leave. After confirming that no one is left in the self-propelled stage 110, the process proceeds to step S130, and the parking demand signal is transmitted from the self-propelled stage 110 to the central control unit 120. Thereafter, as shown in step S140, the central control device 120 specifies a parking space P and calculates a travel route, and transmits the designated parking space P and the data of the travel route to the self-propelled stage 110. Thereafter, as shown in step S150, the self-propelled stage 110 automatically drives to the designated parking space P. During the automatic driving of the self-propelled stage 110, the position recognizing device 114 can be disposed on the self-propelled stage 110. The identification element R in the parking lot 200 is identified to grasp the location at any time.

In addition, when the driver drives the vehicle C into the parking area 240a but no self-propelled stage 110 is available, the central control device 120 can arrange the available self-propelled stage 110 according to the actual condition of the parking lot 200, and the driver is in the parking area. 240a waits for the self-propelled stage 110 to enter the stage docking area 250a. Furthermore, the central control unit 120 can move the self-propelled stage 110 in the parking space P at any time according to the usage status of all the parking spaces P, and optimize the use status of the parking space P. For example, the parking space P that is easier to park is adjusted to the idle parking space P to improve parking efficiency. It should be noted that, in the embodiment shown in FIG. 3, when the self-propelled stage 110 travels to the designated parking space P', the central control device 120 may further instruct the vehicle loading and unloading device 280 to take the vehicle C from the self-propelled The stage 110 is moved to the designated parking space P'.

FIG. 6 is a flow chart of picking up an automatic parking device according to an embodiment of the present invention. Referring to FIG. 1 , FIG. 2 and FIG. 6 , firstly, as shown in step S210 , the driver enters the pick-up area 240 b and inputs the pick-up demand, such as the induction parking ticket, by using the pick-up terminal 130b provided in the pick-up area 240b. Card or monthly rental card, enter your password or license plate number. Thereafter, the pickup terminal 130b confirms whether or not the driver has completed the payment. After the driver pays the fee, the vehicle pick-up terminal 130b sends the pick-up demand signal to the central control device 120 as shown in step S220. Next, as shown in step S230, the central control device 120 calculates a travel route and transmits the travel route to the corresponding self-propelled stage 110. It should be noted that, in the embodiment shown in FIG. 3, the central control device 120 further instructs the vehicle loading and unloading device 280 to move the vehicle C from the parking space P to the self-propelled stage 110.

Next, as shown in step S240, the self-propelled stage 110 is automatically driven to the stage docking area 250b next to the pickup area 240b. During the automatic driving of the self-propelled stage 110, the identification component R in the parking lot 200 can be identified by the position recognizing device 114 disposed on the self-propelled stage 110, so as to grasp at any time. s position. Next, as shown in step S250, the security detecting device 160 detects whether the driver has driven the vehicle C away from the self-propelled stage 110. If the vehicle C does not leave the self-propelled stage 110, it continues to wait for the vehicle C to leave and even issues a warning signal. When the vehicle C leaves the self-propelled stage 110, as shown in step S260, the self-propelled stage 110 transmits a travel route to drive the self-propelled stage 110 to the standby area. The standby area may be a platform docking area 250a next to the parking area 240a, a parking space P, or an otherwise planned area in the parking lot 200. In the embodiment in which the parking area and the pick-up area are integrated in the same area, step S260 may also be omitted.

It should be noted that, in FIG. 2 and FIG. 3 , the arrangement manner of the parking spaces P and P′ is only an example, and the actual configuration manner can be regarded as the most efficient planning according to the area and shape of each parking lot, and the present invention does not limit the parking space. Configuration method. Further, the present invention is not limited to the manner in which the vehicle C is moved from the self-propelled stage 110 to the parking space P', that is, the above-described vehicle loading and unloading device 280 may be replaced by other devices having similar functions. Other devices that can be used in place of the vehicle handling device 280 will be described below with reference to the drawings, but the invention is not limited thereto.

Fig. 7A is a top plan view showing a part of an automatic parking apparatus according to another embodiment of the present invention, and Fig. 7B is a side elevational view showing a part of an automatic parking apparatus according to another embodiment of the present invention. Referring to FIG. 7A and FIG. 7B simultaneously, in the embodiment, the automatic parking device further includes a plurality of supporting devices 390 and a plurality of upper platforms 317, for example. The support devices 390 are respectively disposed in the parking space P". The number of the support devices 390 in the embodiment is, for example, six, but is not limited thereto. The self-propelled carrier 310 further includes a plurality of lifting devices 318, for example, The device 318 is disposed on the carrier 311 for supporting the upper platform 317, and the lifting device 318 can be a jack-like structure, and the present invention is not limited thereto. As shown in FIG. 7A, the edge range of the stage 311 is smaller than that in the embodiment. The edge range of the upper platform 317, and the spacing between the supporting devices 390 for allowing the stage 311 to pass, so that the stage 311 is not In the embodiment, the number of lifting devices 318 is four, which is disposed between the loading platform 311 and the upper platform 317. However, the present invention does not limit the lifting device 318. As shown in FIG. 7B, after the vehicle C" enters the upper platform 317, the lifting device 318 disposed on the stage 311 will raise the upper platform 317, and the upper platform 317 is transported to the parking space P by the stage 311. The height of the upper platform 317 raised by the lifting device 318 may exceed the height of the supporting device 390 disposed at the parking space P", so that the loading platform 311 carrying the upper platform 317 can be driven into the parking space without being affected by the supporting device 390. When the stage 311 enters the parking space P", the central control device 120 (shown in FIG. 1) controls the lifting device 318 to lower the height of the upper platform 317 so that the supporting device 390 can support the upper platform 317. 311 can exit the parking space P" to carry other upper platforms 317.

Moreover, in another embodiment of the architecture, the carrier docking areas 250a, 250b (as in FIG. 3) may also be provided with the above-described support means 390 to support the upper platform 317.

In summary, the automatic parking device of the embodiment of the present invention has a self-propelled loading platform for carrying the vehicle and parking to the parking space, thereby saving space in the parking lot; the central control device can communicate with the self-propelled carrier. The parking location is specified according to the condition of the parking lot, and the traveling route is calculated according to the map of the parking lot and sent to the self-propelled stage, so that the self-propelled stage moves according to the traveling route. The automatic parking device of the invention can be applied in a traditional parking lot to solve various problems of the traditional parking lot, such as finding a parking space, a poor space utilization rate, and a vehicle collision accident.

While the present invention has been described in its preferred embodiments, the present invention is not intended to limit the invention, and the present invention may be modified and modified without departing from the spirit and scope of the invention. The scope of protection is subject to the definition of the scope of the patent application. Further the invention The full scope of the invention or the scope of the invention is not intended to be exhaustive. In addition, the abstract sections and headings are only used to assist in the search of patent documents and are not intended to limit the scope of the invention.

100‧‧‧Automatic parking equipment

110‧‧‧Self-propelled stage

120‧‧‧Central control unit

121‧‧‧Database

122‧‧‧Remote connection system

130a‧‧‧Parking terminal

130b‧‧‧Car terminal

Claims (9)

An automatic parking device is suitable for being installed in a parking lot provided with a plurality of parking spaces to park a vehicle in one of the parking spaces, the automatic parking device comprising: a plurality of upper platforms adapted to carry the vehicle; a plurality of support devices are respectively disposed in the parking spaces, and the support devices in each of the parking spaces are configured to detachably support one of the upper platforms; at least one self-propelled carrier, the self-propelled a stage for carrying the vehicle; and a central control device adapted to communicate with the self-propelled stage to transmit a travel signal to the self-propelled stage, and the self-propelled stage is adapted to be The traveling signal automatically travels to one of the parking spaces; wherein the self-propelled loading platform comprises: a loading platform; a mobile device connected to the loading platform and adapted to drive the loading platform; a control device, Disposed on the stage and adapted to communicate with the central control device and the mobile device, and control the mobile device according to the travel signal; a plurality of lifting devices disposed on the stage and adapted to support and drive the mobile device One of the upper platforms The upper platform is separated from the corresponding support devices; and a license plate recognition device is disposed on the carrier, the license plate recognition device is adapted to identify the license plate number of the vehicle and transmit the identification data to the control device, the license plate The identification device is an image capturing device with a license plate recognition function. The automatic parking device of claim 1, wherein the parking lot is provided with a plurality of identification components, and the self-propelled carrier further includes a position recognition device disposed on the carrier, the position recognition device being adapted to The identification elements of the parking lot identify the location of the stage and transmit identification data to the control device. The automatic parking device of claim 2, wherein the identification components are identification marks, and the position recognition device is an image recognition device. The automatic parking device of claim 1, wherein the self-propelled stage further comprises an anti-collision detecting device disposed on the stage to detect an object around the stage. The automatic parking device of claim 1, wherein the central control device further comprises a remote connection system. The automatic parking device of claim 1, wherein the parking lot is provided with an adjacent parking/taking area and a parking area, and the automatic parking device further comprises a parking/taking terminal. It is disposed in the parking/taking area and communicates with the central control device. The automatic parking device of claim 6, further comprising a security detecting device disposed in the parking/taking area and communicating with the central control device, the security detecting device for detecting the use Whether the person leaves the docking area of the stage. The automatic parking device according to claim 1, wherein the at least one self-propelled stage is an electric drive stage, and the number is multiple, and the automatic parking device further comprises a plurality of charging devices disposed on the The parking spaces of the parking lot are adapted to charge the self-propelled stages. The automatic parking device of claim 1, further comprising a plurality of vehicle loading and unloading devices respectively disposed in the parking spaces, each vehicle handling device being adapted to move the vehicle carried by the self-propelled carrier to Corresponding to the parking space, or moving the vehicle parked in the parking space to the self-propelled stage.