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 three-dimensional parking garage and a control method, the three-dimensional parking garage comprises a plurality of parking layers and a vertical elevator penetrating through entrances and exits of the parking layers, each parking layer comprises at least one automatic navigation trolley and at least one parking space provided with a vehicle carrying tray, and the vertical elevator comprises a first lifting platform, a second lifting platform and a third lifting platform, a platform access channel is arranged on the side, close to the parking layer access, of the first lifting platform. The first tray shelf is arranged on the first lifting platform and used for parking a vehicle carrying tray carrying a vehicle; the second tray shelf is arranged below the first lifting platform, the second tray shelf and the first tray shelf form an upper and lower layer structure, and the second tray shelf is used for parking a no-load vehicle tray; the automatic guided vehicle is provided with a lifting mechanism used for jacking the vehicle carrying tray. The two layers of platforms provided with the tray shelves are arranged on the vertical elevator to store the vehicle carrying trays loaded with vehicles and the empty vehicle carrying trays, and the parking efficiency of the garage is effectively improved.