A parking control system includes a cloud server, a sensor coupled to a parking spot, and a mobile robot device. The sensor detects a vehicle entering the parking spot, and transmits a first signal to the cloud server. The cloud server, upon reception of the first signal, records an entry time of the vehicle, and dispatches the mobile robot device to the parking spot. The mobile robot device captures identification information of the vehicle by a camera, and transmits a second signal including the identification information to the cloud server. The sensor detects the vehicle exiting the parking spot, and transmits a third signal to the cloud server. The cloud server, upon reception of the third signal, records an exit time of the vehicle. The cloud server calculates a parking duration between the entry time and the exit time, and determines whether the parking duration has exceeded a predetermined duration.