CN108022448A - Reverse vehicle searching system and managing system of car parking - Google Patents
Reverse vehicle searching system and managing system of car parking Download PDFInfo
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- CN108022448A CN108022448A CN201810093502.1A CN201810093502A CN108022448A CN 108022448 A CN108022448 A CN 108022448A CN 201810093502 A CN201810093502 A CN 201810093502A CN 108022448 A CN108022448 A CN 108022448A
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- 230000003993 interaction Effects 0.000 claims description 27
- 238000012544 monitoring process Methods 0.000 claims description 23
- 230000004888 barrier function Effects 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 14
- 238000012423 maintenance Methods 0.000 abstract description 9
- 238000001514 detection method Methods 0.000 abstract 1
- 238000004891 communication Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 12
- 239000000203 mixture Substances 0.000 description 9
- 238000000034 method Methods 0.000 description 6
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000007726 management method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000000465 moulding Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 241001544487 Macromiidae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
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Classifications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of reverse vehicle searching system and managing system of car parking, is related to intelligent car-searching field.The system includes Xun Che robots, background server and vehicle query terminal, Xun Che robots include vehicle assembly and control acquisition component, control acquisition component includes control module, information acquisition module and location and obstacle avoidance module, positional information of the control module based on location and obstacle avoidance module detection Xun Che robots controls vehicle assembly to control Xun Che robots to go on patrol, the information of vehicles of information acquisition module collection vehicle, control module is sent this information to when information acquisition module collects information of vehicles, the positional information that control module is obtained based on information of vehicles and from location and obstacle avoidance module generates vehicle location information, and send to background server and stored, vehicle query terminal is used to respond user's operation from the corresponding vehicle location information of background server target vehicle.Its installation maintenance cost is low, flexible for installation, vdiverse in function, can complete actively to seek car.
Description
Technical field
The present invention relates to intelligent car-searching field, in particular to reverse vehicle searching system and managing system of car parking.
Background technology
As the improvement of people's living standards, car is more and more, and parking lot is also increasing, especially in market, purchase
In the large parking lots such as thing center, car owner when returning to parking lot often due to parking lot space is big, environment and marker it is similar,
Direction such as is not easy to distinguish at the reason, easily gets lost in parking lot, finds the vehicle less than oneself, in addition, the key of automobile
Although the flicker of passable channel radio courier car light or car alarming, it is shorter that it seeks car distance, more so that car owner is difficult to
It is quickly found out the car of oneself.
It is directed to the problem of looking for car difficult, existing to rely primarily on swipe the card positioning and Car license recognition camera location technology etc. complete
Identify and position into vehicle parking.It is the location information that vehicle is received using background server, by analysis, after storage, incites somebody to action
Information of vehicles is published on vehicle query terminating machine, realizes the function of parking reverse car seeking.The former is limited to the operating habit of user,
Operability is not strong, IC card usually occurs and loses or forget situation about swiping the card, and needs to set swiping card equipment, peace in many places
It is high to fill maintenance cost.The latter needs to install multiple cameras in parking lot by the way of positive location, installs maintenance cost
Height, energy consumption is big, is not easy to promote, in addition, existing driving skills art of seeking has the problem of installation is dumb, and function is single.
In view of this, it is low to design and manufacture a kind of installation maintenance cost, it is flexible for installation, it is multi-functional, it can actively seek car
Car system of seeking be particularly important.
The content of the invention
It is an object of the invention to provide a kind of reverse vehicle searching system, system installation maintenance cost is low, flexible for installation, work(
Can be various, it can complete actively to seek car.
Another object of the present invention is to provide a kind of managing system of car parking, managing system of car parking uses reverse car seeking
System completes vehicle location inquiry work, and reverse vehicle searching system installation maintenance cost is low, flexible for installation, vdiverse in function, can
Car is actively sought in completion.
The present invention provides a kind of technical solution：
In a first aspect, an embodiment of the present invention provides a kind of reverse vehicle searching system, including Xun Che robots, background server
And vehicle query terminal, the Xun Che robots include vehicle assembly and control acquisition component, the control acquisition component includes
Control module, information acquisition module and location and obstacle avoidance module；Described information acquisition module, the location and obstacle avoidance module and the car
Component is electrically connected with the control module, described information acquisition module, the location and obstacle avoidance module and the control module
Be mounted on the vehicle assembly, the background server respectively with the control module and the vehicle query terminal communication link
Connect；The location and obstacle avoidance module is used for the positional information for detecting the Xun Che robots, and the control module is used for based on described
Positional information controls the working status of the vehicle assembly, to control the Xun Che robots to be gone on patrol, described information collection
Module is used for the information of vehicles of collection vehicle, and when described information acquisition module collects the information of vehicles, described in transmission
To the control module, the control module is additionally operable to based on the information of vehicles and from the location and obstacle avoidance mould information of vehicles
Block obtain the positional information generation vehicle location information, and send the vehicle location information to the background server into
Row storage, the vehicle query terminal are used to respond user's operation from background server institute corresponding with target vehicle
State vehicle location information.
With reference to first aspect, in the first implementation of first aspect, the vehicle query terminal includes query station
With mobile enquiry end, the query station and the mobile enquiry end are communicated to connect with the background server.
With reference to first aspect and its above-mentioned implementation, in second of implementation of first aspect, the control is adopted
Collection component further includes path planning module, and the path planning module is electrically connected with the control module, the path planning mould
Block seeks car path profile for the designated position based on the user and vehicle location information generation.
With reference to first aspect and its above-mentioned implementation, in the third implementation of first aspect, the positioning is kept away
Barrier module includes distance measuring sensor and depth camera, the distance measuring sensor and the depth camera with the control mould
Block is electrically connected, and the distance measuring sensor is used for the complaint message for gathering the barrier around the Xun Che robots, the depth
Camera is used to gather the environment deep image information around the Xun Che robots, and the control module is additionally operable to based on described
Complaint message and the environment deep image information generate the positional information.
With reference to first aspect and its above-mentioned implementation, in the 4th kind of implementation of first aspect, the control is adopted
Collection component further includes graphical interaction module, and the graphical interaction module is electrically connected with the control module, the graphical interaction mould
Block is used to respond user's operation from the background server vehicle location information corresponding with target vehicle.
With reference to first aspect and its above-mentioned implementation, in the 5th kind of implementation of first aspect, the control is adopted
Collection component further includes voice interaction module, and the voice interaction module is electrically connected with the control module, the interactive voice mould
Block is used to respond user speech from the background server vehicle location information corresponding with target vehicle.
With reference to first aspect and its above-mentioned implementation, in the 6th kind of implementation of first aspect, the vehicle group
Part includes remote terminal, and the remote terminal is communicated to connect with the control module, and the remote terminal is used to be remotely controlled described seek
Car robot moves.
With reference to first aspect and its above-mentioned implementation, in the 7th kind of implementation of first aspect, the vehicle group
Part further includes rotating monitoring camera, and the rotating monitoring camera is installed on Xun Che robots top, the rotation prison
Control camera is electrically connected with the control module, and the rotating monitoring camera is for seeking car described in monitoring during the patrol
Environment around robot.
With reference to first aspect and its above-mentioned implementation, in the 8th kind of implementation of first aspect, the vehicle group
Part further includes indicator light, and the indicator light is electrically connected with the control module.
Second aspect, an embodiment of the present invention provides a kind of managing system of car parking, including reverse vehicle searching system, reversely seeks
Car system includes Xun Che robots, background server and vehicle query terminal, and the Xun Che robots include vehicle assembly and control
Acquisition component processed, the control acquisition component include control module, information acquisition module and location and obstacle avoidance module；Described information is adopted
Collection module, the location and obstacle avoidance module and the vehicle assembly are electrically connected with the control module, described information acquisition module,
The location and obstacle avoidance module and the control module are mounted on the vehicle assembly, the background server respectively with the control
Molding block and vehicle query terminal communication connection；The location and obstacle avoidance module detects the position letter of the Xun Che robots
Breath, the control module controls the working status of the vehicle assembly based on the positional information, to seek vehicle device device described in control
People is gone on patrol, and described information acquisition module is used for the information of vehicles of collection vehicle, and institute is collected in described information acquisition module
When stating information of vehicles, send the information of vehicles to the control module, the control module be based on the information of vehicles and
The positional information obtained from the location and obstacle avoidance module generates vehicle location information, and sends the vehicle location information extremely
The background server is stored, and the vehicle query terminal is used to respond user's operation from the background server mesh
Mark the corresponding vehicle location information of vehicle.
Compared with prior art, the beneficial effect of reverse vehicle searching system and managing system of car parking provided by the invention is：
Xun Che robots collect information of vehicles in patrol by information acquisition module, and send information of vehicles to control
Module, the positional information that control module is obtained based on information of vehicles and from location and obstacle avoidance module generate vehicle location information, use
Family operates vehicle query terminal to complete vehicle query from the corresponding vehicle location information of background server target vehicle, should
System installation maintenance cost is low, flexible for installation, vdiverse in function, can complete actively to seek car.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended attached drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described.It should be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore it is not construed as pair
The restriction of scope.For those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the composition schematic block diagram of reverse vehicle searching system provided in an embodiment of the present invention；
Fig. 2 is the structure diagram of the Xun Che robots of reverse vehicle searching system provided in an embodiment of the present invention；
Fig. 3 is that the composition of the control acquisition component of the Xun Che robots of reverse vehicle searching system provided in an embodiment of the present invention shows
Meaning block diagram；
Fig. 4 is that the positioning of the control acquisition component of the Xun Che robots of reverse vehicle searching system provided in an embodiment of the present invention is kept away
The composition schematic block diagram of barrier module；
Fig. 5 is the composition schematic block diagram of the graphical interaction module of reverse vehicle searching system provided in an embodiment of the present invention；
Fig. 6 is the composition schematic block diagram of the voice interaction module of reverse vehicle searching system provided in an embodiment of the present invention.
Icon：900- reverse vehicle searching systems；100- Xun Che robots；121- vehicle frames；122- drives wheel；123- anticollisions are delayed
Rush bar；124- indicator lights；125- headlamps；127- rotating monitoring cameras；110- controls acquisition component；111- path planning moulds
Block；112- control modules；113- information acquisition modules；116- graphical interaction modules；118- location and obstacle avoidance modules；119- voices are handed over
Mutual module；115- robot communication modules；1131- acquisition cameras；1161- display screens；1162- input modules；1181- rangings
Sensor；1182- depth cameras；1191- microphones；1192- loudspeakers；1151- communication antennas；300- vehicle queries are whole
End；500- background servers.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.The present invention implementation being usually described and illustrated herein in the accompanying drawings
The component of example can be arranged and designed with a variety of configurations.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this area is common
Technical staff's all other embodiments obtained without creative efforts, belong to the model that the present invention protects
Enclose.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it is to be understood that the instruction such as term " on ", " under ", " interior ", " outer ", "left", "right"
Orientation or position relationship be based on orientation shown in the drawings or position relationship, or the invention product using when usually put
Orientation or position relationship, or the orientation that usually understands of those skilled in the art or position relationship, be for only for ease of and retouch
State the present invention and simplify description, rather than indicate or imply that signified equipment or element there must be specific orientation, with specific
Azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " etc. are only used for distinguishing description, and it is not intended that indicating or implying relatively important
Property.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant are intended to
Non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those
Element, but also including other elements that are not explicitly listed, or further include as this process, method, article or equipment
Intrinsic key element.In the absence of more restrictions, the key element limited by sentence "including a ...", it is not excluded that
Also there are other identical element in process, method, article or equipment including the key element.
In the description of the present invention, it is also necessary to explanation, unless otherwise clearly defined and limited, " setting ", " even
Connect " etc. term should be interpreted broadly, for example, " connection " can be fixedly connected or be detachably connected, or integratedly connect
Connect；Can mechanically connect or be electrically connected；Can be directly connected to, can also be indirectly connected with by intermediary, can
To be the connection inside two elements.For the ordinary skill in the art, can understand as the case may be above-mentioned
The concrete meaning of term in the present invention.
Below in conjunction with the accompanying drawings, the embodiment of the present invention is described in detail.In the case where there is no conflict, it is following
Embodiment and embodiment in feature can be mutually combined.
The embodiment of the present invention provides one kind and seeks car system, which records car in parking lot using a Ge Xun cars robot
The information such as position, user can be by inquiring about terminal or Xun Che robots input the information such as car plate of target vehicle, to look into
The corresponding positional information of target vehicle is ask, and the position of target vehicle, the system can be gone in the case where Xun Che robots are led
It is low that maintenance cost is installed, it is flexible for installation, it is vdiverse in function, it can actively seek car.This is sought car system and can be used for parking lot, storehouse etc.,
The scenes such as articles seeking are can also be used for, can be also used cooperatively with shutdown system etc., certainly, this, which seeks car system, independently to make
With.
Below will be to seek car system applied to parking lot as embodiment, to be specifically introduced to seeking car system.
Embodiment：
Fig. 1 is refer to, Fig. 1 is the composition schematic block diagram of reverse vehicle searching system 900 provided in an embodiment of the present invention；
The reverse vehicle searching system 900 includes Xun Che robots 100, background server 500 and vehicle query terminal 300, after
Platform server 500 is communicated to connect with Xun Che robots 100 and vehicle query terminal 300 respectively, and Xun Che robots 100 are used to go on patrol
Parking lot, and in typing parking lot vehicle vehicle location information, and vehicle location information is sent to background server
500, user can inquire about the vehicle that background server 500 is recorded by Xun Che robots 100 or the grade of vehicle query terminal 300
Relevant vehicle location information, in addition, Xun Che robots 100 can also lead user toward the corresponding position of vehicle location information.
Reverse vehicle searching system 900 can be applied to parking lot, and with managing system of car parking (not shown) cooperating, reversely
The work such as the information sharing of vehicle cooperation can be carried out by seeking car system 900 and managing system of car parking.
The part each by the reverse vehicle searching system 900 is specifically introduced below, and each part are how to work
With cooperation, and its advantage.
Fig. 2 is refer to, Fig. 2 is the structure of the Xun Che robots 100 of reverse vehicle searching system 900 provided in an embodiment of the present invention
Schematic diagram；
The Xun Che robots 100 include vehicle assembly (figure is not marked) and control acquisition component 110, control acquisition component 110
Vehicle assembly is installed on, completes independently patrol, typing vehicle location information and guide to seek to complete control Xun Che robots 100
The work such as car, vehicle assembly is used to move the Xun Che robots 100, and completes monitoring work.The Xun Che robots 100 use spirit
Living, vdiverse in function, 100 background server 500 of Xun Che robots and vehicle query terminal 300 coordinate completion to guide the work for seeking car
Make, certainly, which can also be used alone.
Concrete structure, operation principle and the beneficial effect of vehicle assembly will be specifically introduced below.
Vehicle assembly includes the vehicle frame 121 being connected with each other and driving wheel 122, and driving wheel 122 is rotated to drive vehicle frame
121 movements, driving wheel 122 are electrically connected with the control acquisition component 110.Anticollision buffer bar is installed on its vehicle frame 121
123, the impact suffered in collision for mitigating Xun Che robots 100 and collision object, anticollision buffer bar 123 is installed on
121 front end of vehicle frame, it is to be understood that can also install anticollision buffer bar 123 in 121 surrounding of vehicle frame, mitigate Xun Che robots
100 and collision object suffered impact, less collision loss in collision, improve the reliability of Xun Che robots 100.
Preferably, being also equipped with indicator light 124 on vehicle frame 121, which is electrically connected with control acquisition component 110
Connect, which is used to send the information such as steering, startup and stopping to the environment of Xun Che robots 100, reduces because seeking vehicle device
Device people 100 collides caused by turning to, start or stopping suddenly being occurred, and reduces the probability that collision occurs, and vehicle device device is sought in raising
The reliability of people 100.
Further, headlamp 125 is also equipped with vehicle frame 121, which is electrically connected with control acquisition component 110
Connect, in order to which Xun Che robots 100 complete autonomous patrol, typing information of vehicles, guiding the offer illumination sought in the work such as car
Task, headlamp 125 are installed on 121 front end of vehicle frame, it is to be understood that 121 surrounding of vehicle frame can also install headlamp
125, in reversing, typing information of vehicles and patrol, to be illuminated to the surrounding environment of Xun Che robots 100, easy to seek car
Robot 100 carries out the operation such as move backward, and improves the accuracy of information of vehicles typing, also allows for carrying out comprehensive prison in patrol
Control.
Preferably, rotating monitoring camera 127 is also equipped with 121 top of vehicle frame, rotating monitoring camera 127 and control
Acquisition module processed is electrically connected, and rotating monitoring camera 127 is used in the environment during patrol around monitoring, the pipe in parking lot
Reason personnel can set the monitoring direction of either remote-control rotary monitoring camera 127 to avoid turning to or keeping away in Xun Che robots 100
When opening barrier, there is the problem of monitoring dead angle, improve the monitoring effect of Xun Che robots 100.It is understood that rotating
Headlamp 125 is also equipped with monitoring camera 127, still can be clear to ensure when monitoring longer-distance target
The monitoring effect for photographing target picture, improving Xun Che robots 100 of Chu.
Preferably, Xun Che robots 100 further include remote terminal (not shown), remote terminal and control acquisition module electricity
Connection, which, which is used to being remotely controlled Xun Che robots 100, the work such as walks and monitors, such as：Administrative staff can be by distant
Control terminal remote control Xun Che robots 100 move and the monitoring orientation of rotating camera, to complete remote control patrol mission；In addition,
When Xun Che robots 100 are packed or transported, Xun Che robots 100 can be remotely controlled by remote terminal and walked to have assisted
Either unload means of transport into loading and can also assist to load or unload packaging, reduce labor intensity, less transportation and packing are difficult
Degree.When Xun Che robots 100 run into barrier, administrative staff can also can be remotely controlled Xun Che robots 100 by remote terminal
Barrier is got around, improves the place adaptability of Xun Che robots 100.
Fig. 3 is refer to, Fig. 3 is the control of the Xun Che robots 100 of reverse vehicle searching system 900 provided in an embodiment of the present invention
The composition schematic block diagram of acquisition component 110.
Xun Che robots 100 are by controlling acquisition module to control Xun Che robots 100 to go on patrol parking lot, and typing vehicle
Location information.
Control acquisition component 110 is installed on the vehicle frame 121 of vehicle assembly, and control acquisition component 110 includes control module
112nd, information acquisition module 113, graphical interaction module 116, location and obstacle avoidance module 118, voice interaction module 119, path planning
Module 111 and robot communication module 115, control module 112 respectively with information acquisition module 113, graphical interaction module 116,
Location and obstacle avoidance module 118, voice interaction module 119, robot communication module 115, path planning module 111, driving wheel
122nd, indicator light 124, headlamp 125, rotating monitoring camera 127 are electrically connected, and control module 112 is also with passing through robot communication
Module 115 is communicated to connect with remote terminal and background server 500 respectively, and robot communication module 115 includes communication antenna
1151, communication antenna 1151 is installed on vehicle frame 121, for increasing communication stability.
It is understood that the communication connection can be internet, LAN and infrared communication etc., it is of course also possible to
It is other connection modes.Such as：It can be connected by wireless pairing, i.e., realization connection is matched by way of instructing and matching.
Below by the operation principle and beneficial effect of the specific each module introduced and control acquisition component 110.
Fig. 4 is refer to, Fig. 4 is the control of the Xun Che robots 100 of reverse vehicle searching system 900 provided in an embodiment of the present invention
The composition schematic block diagram of the location and obstacle avoidance module 118 of acquisition component 110.
Wherein, location and obstacle avoidance module 118 includes distance measuring sensor 1181 and depth camera 1182, distance measuring sensor 1181
It is electrically connected with depth camera 1182 with control module 112, distance measuring sensor 1181 is used to detect around Xun Che robots 100
Barrier with the complaint message of dyspoiesis thing, depth camera 1182 is used to gather the environment around Xun Che robots 100
Deep image information, position of the control module 112 based on environment deep image information and complaint message generation Xun Che robots 100
Information, completes the positioning of Xun Che robots 100.
It should be noted that before the positional information of generation Xun Che robots 100, user can pass through background server
500 upload the default cartographic information in parking lot, and control module 112 calls the default cartographic information to believe respectively with environment depth image
Breath and complaint message are compared, and to generate the positional information of Xun Che robots 100, which can also be to seek vehicle device device
People 100 is remotely controlled in patrol parking lot first, the barrier around Xun Che robots 100 that distance measuring sensor 1181 detects
What the environment deep image information around Xun Che robots 100 that complaint message and depth camera 1182 gather generated jointly
First default cartographic information, in addition, user can also upload patrol route by background server 500, or passes through remote control
Terminal remote control Xun Che robots 100 are gone on patrol to input patrol route, are patrolled in order to which Xun Che robots 100 follow patrol route
Patrol.
It is understood that control module 112 is except based on environment deep image information and complaint message generation position
Outside information, the moving distance information that driving wheel 122 is fed back is also based on, which, which has reacted, seeks vehicle device
The information such as the shift position of device people 100, control module 112 can be based on moving distance information and environment deep image information and
Complaint message generates the positional information of Xun Che robots 100 jointly.To improve the positioning accuracy of Xun Che robots 100 and its stabilization
Property.
It should be noted that default cartographic information includes the fixation article in parking lot, such as ground, metope, column or viscous
Mark of the fixed article such as ground, metope, column etc. is affixed on, in addition, complaint message includes the size of obstacle, corresponding position
Picture video of confidence breath and barrier etc..
It is understood that the distance measuring sensor 1181 can be ultrasonic distance-measuring sensor 1181, infrared distance measuring biography
Sensor 1181 or radar range finding sensor 1181 or laser range sensor 1181, laser range sensor 1181
It can realize contactless telemeasurement, measuring speed is fast, and precision is high, and range is big, and anti-electrical interference ability is strong, also can adapt in car
There is the environment of more electromagnetic interference around.
Fig. 3 is continued referring to, during the patrol of Xun Che robots 100, vehicle device is sought by the collection of information acquisition module 113
The information of vehicles of 100 surrounding vehicles of device people, when information acquisition module 113 collects information of vehicles, sends information of vehicles to control
Molding block 112, the life of positional information at this time that control module 112 is obtained based on information of vehicles and from location and obstacle avoidance module 118
Into vehicle location information, control module 112 sends vehicle location information to background server 500 and is stored.
It should be noted that above-mentioned information of vehicles includes at least the number-plate number and corresponding position letter of the vehicle collected
Breath, in addition, information of vehicles can also include entry time, the photo of vehicle of information of vehicles, or first typing information of vehicles
When, Xun Che robots 100 by captured video during the vehicle etc., for the administrative staff in parking lot be based on this type of information into
Row management.
It is understood that information acquisition module 113 includes acquisition camera 1131, information acquisition module 113 is by gathering
Camera 1131 shoots vehicle pictures, and generates corresponding license plate number by vehicle pictures, and information acquisition module 113 can also be
ETC (electronic charging system without parking) reader, the board units antenna that vehicle is read by ETC readers obtain vehicle letter
Breath, information acquisition module 113 can also be RFID (radio frequency identification) reader device, read the letter in the electronic tag of vehicle
Breath, to obtain information of vehicles, it is possible to understand that when, information acquisition module 113 can also use above-mentioned read means at the same time, with
Improve the information collecting capacity of Xun Che robots 100.
Xun Che robots 100 will judge whether the article is vehicle by information acquisition module 113, if the non-car of the article
, by by the complaint message of 118 dyspoiesis thing of location and obstacle avoidance module, control module 112 is according to obstacle information to default
Cartographic information is modified, such as：Certain place of the patrol route indicated on default cartographic information is the situation that blank can keep straight on,
When Xun Che robots 100 run to the place, in the place or nearby there is the barrier of non-vehicle, Xun Che robots
100 record the complaint message of the barrier in the place, and detour and break the barriers according to the complaint message, again through being somebody's turn to do in patrol
During place, the barrier in the place still exists, and control module 112 is stored in the patrol route of background server 500 by correcting
With default cartographic information, when passing through the place next time, Xun Che robots 100 are according to modified patrol route and default map
Information is gone on patrol, and need not just be carried out path and be planned again, patrol speed is improved, when again passing by the position, if hindering at this time
Thing is hindered to disappear, Xun Che robots 100 will correct patrol circuit and default cartographic information again, improve patrol speed.
It should be noted that when Xun Che robots 100 can not detour and break the barriers, cruiser will stop, and backward
Platform server 500 sends prompting or warning message, in order to parking lot management personnel's timely processing barrier so that parking lot
Recover unimpeded in time, whether parking lot management personnel can also need timely processing by complaint message disturbance in judgement thing.
In addition, the Xun Che robots 100 can also be used to go on patrol the Important Sections such as passageway for fire apparatus, to be reported in time to administrative staff
Accuse the status information of Important Sections.In addition, when the reverse vehicle searching system 900 and shutdown system are used cooperatively, the information of vehicles
It can also be contrasted with the information of vehicles of shutdown system institute typing, to improve data sharing degree, facilitate administrative staff to be based on such
Information is managed.
Fig. 5 and Fig. 6 are refer to, Fig. 5 is the graphical interaction module of reverse vehicle searching system 900 provided in an embodiment of the present invention
116 composition schematic block diagram；Fig. 6 is the group of the voice interaction module 119 of reverse vehicle searching system 900 provided in an embodiment of the present invention
Into schematic block diagram.
User can carry out operation by graphical interaction module 116 or voice interaction module 119 and Xun Che robots 100 and seek
Car robot 100.
Graphical interaction module 116 includes display screen 1161 and input module 1162, display screen 1161 and input module 1162
It is electrically connected respectively with control module 112, it is to be appreciated that the display screen 1161 can also be touch display screen 1161, and voice is handed over
Mutual module 119 includes microphone 1191 and loudspeaker 1192, and microphone 1191 and loudspeaker 1192 are electric with control module 112 respectively
Connection, user can input the license board information of vehicle by graphical interaction module 116 or voice interaction module 119, to search car
The information such as position.
In addition, user can also input designated positions by graphical interaction module 116 or voice interaction module 119,
Path planning module 111 seeks car path profile based on the vehicle location information inquired about and designated position generation, this seeks car path profile
Preferably to seek fare road, user refers to this and seeks car path profile to carry out seeking car, may also require that Xun Che robots 100 reach and refers to
Positioning is put, and leads user and the position corresponding to vehicle location information is gone to according to path planning figure, it is to be understood that the road
Footpath planning module 111 can also be the affiliated part of background server 500.
It is understood that above-mentioned designated position, can be the optional position on default cartographic information, such as：Certain electricity
The position that ladder way, certain stairs port or Xun Che robots 100 are currently located.
Fig. 1 is continued referring to, vehicle query terminal 300 is communicated to connect with background server 500, vehicle query terminal 300
For responding user's operation the corresponding vehicle location information of target vehicle, vehicle query terminal 300 are transferred from background server 500
Including query station's (not shown) and mobile enquiry terminal (not shown), query station and mobile enquiry terminal are and background server
500 communication connections, either parking attendant can be determined user by the vehicle of query station or mobile enquiry terminal inquiry vehicle
Position information, either parking attendant can also input designated position, path rule to user by query station or mobile enquiry terminal
Draw module 111 and seek car path profile according to designated position and the vehicle location information inquired about generation, it is preferable that this, which seeks car path profile,
Seek fare road, user refers to this and seeks car path profile to carry out seeking car, may also require that Xun Che robots 100 reach specific bit
Put, lead user and the position corresponding to vehicle location information is gone to according to path planning figure, it is to be understood that above-mentioned correspondence
Position can be the vehicle corresponding to vehicle location information position, or vehicle corresponding to vehicle location information
Region, in addition, the path planning module 111 can also be the affiliated part of background server 500.
It should be noted that query station is inquired about to be installed on lift port or stairs port when searching vehicle easy to user
The position of vehicle location information, mobile enquiry terminal are the mobile equipment such as mobile phone or tablet, and certainly, mobile enquiry terminal also may be used
To be apparatus such as computer, vehicle location information that mobile enquiry terminal and query station are stored by accessing background server 500
Carry out enquiring vehicle position.
It is understood that above-mentioned communication connection can be internet, LAN and infrared communication etc., certainly, also may be used
To be other connection modes.Such as：It can be connected by wireless pairing, i.e., realization connection is matched by way of instructing and matching.
Continue referring to Fig. 1, background server 500 be used to storing the default cartographic information in parking lot, patrol route and
Vehicle location information etc..
The reverse vehicle searching system 900 of first embodiment offer and the operation principle of managing system of car parking are：
When information acquisition module 113 collects information of vehicles, information of vehicles is sent to control module 112, control module
112 generate vehicle location information based on information of vehicles and Xun Che robots 100 positional information at this time, when in patrol, inspection
When measuring the barrier different from presetting map or meeting the barrier for influencing patrol, amendment is stored in by control module 112
Graphical interaction module 116, voice interaction module can be used in the patrol route of background server 500 and default cartographic information, user
119 or 300 enquiring vehicle location information of vehicle query terminal, path planning can respond user's operation and be based on finger input by user
Positioning is put and is needed the vehicle location information generation inquired about and seeks car path profile, also, Xun Che robots 100 can seek bus or train route based on this
Footpath image strip receives family and goes to the corresponding position of vehicle location letter.
In summary：
A kind of reverse vehicle searching system 900 provided in an embodiment of the present invention, system installation maintenance cost is low, flexible for installation,
It is vdiverse in function, it can complete actively to seek car.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the invention, for the skill of this area
For art personnel, in the case where there is no conflict, the feature in the above embodiments can be mutually combined, and the present invention can have various
Change and change.Within the spirit and principles of the invention, any modification, equivalent replacement, improvement and so on, should all include
Within protection scope of the present invention.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference numeral in claim should not be considered as to the involved claim of limitation.
Claims (10)
1. a kind of reverse vehicle searching system, it is characterised in that including Xun Che robots, background server and vehicle query terminal, institute
Shu Xun cars robot includes vehicle assembly and control acquisition component, and the control acquisition component includes control module, information gathering
Module and location and obstacle avoidance module；
Described information acquisition module, the location and obstacle avoidance module and the vehicle assembly are electrically connected with the control module, institute
State information acquisition module, the location and obstacle avoidance module and the control module and be mounted on the vehicle assembly, the backstage clothes
Business device is communicated to connect with the control module and the vehicle query terminal respectively；
The location and obstacle avoidance module is used for the positional information for detecting the Xun Che robots, and the control module is used for based on described
Positional information controls the working status of the vehicle assembly, to control the Xun Che robots to be gone on patrol, described information collection
Module is used for the information of vehicles of collection vehicle, and when described information acquisition module collects the information of vehicles, described in transmission
To the control module, the control module is additionally operable to based on the information of vehicles and from the location and obstacle avoidance mould information of vehicles
Block obtain the positional information generation vehicle location information, and send the vehicle location information to the background server into
Row storage, the vehicle query terminal are used to respond user's operation from background server institute corresponding with target vehicle
State vehicle location information.
2. reverse vehicle searching system according to claim 1, it is characterised in that the vehicle query terminal include query station and
Mobile enquiry end, the query station and the mobile enquiry end are communicated to connect with the background server.
3. reverse vehicle searching system according to claim 1, it is characterised in that the control acquisition component further includes path rule
Module is drawn, the path planning module is electrically connected with the control module, and the path planning module is used to be based on the user
Designated position and the vehicle location information generation seek car path profile.
4. reverse vehicle searching system according to claim 1, it is characterised in that the location and obstacle avoidance module is sensed including ranging
Device and depth camera, the distance measuring sensor and the depth camera are electrically connected with the control module, the ranging
Sensor is used for the complaint message for gathering the barrier around the Xun Che robots, and the depth camera is used to gather described
Environment deep image information around Xun Che robots, the control module are additionally operable to be based on the complaint message and the environment
Deep image information generates the positional information.
5. reverse vehicle searching system according to claim 1, it is characterised in that the control acquisition component further includes figure friendship
Mutual module, the graphical interaction module are electrically connected with the control module, and the graphical interaction module is used to respond user's operation
From the background server vehicle location information corresponding with target vehicle.
6. reverse vehicle searching system according to claim 1, it is characterised in that the control acquisition component further includes voice friendship
Mutual module, the voice interaction module are electrically connected with the control module, and the voice interaction module is used to respond user speech
From the background server vehicle location information corresponding with target vehicle.
7. reverse vehicle searching system according to claim 1, it is characterised in that the vehicle assembly includes remote terminal, institute
State remote terminal to communicate to connect with the control module, the remote terminal is used to be remotely controlled the Xun Che robots movement.
8. reverse vehicle searching system according to claim 1, it is characterised in that the vehicle assembly further includes rotating monitoring and takes the photograph
As head, the rotating monitoring camera is installed on Xun Che robots top, the rotating monitoring camera and the control
Module is electrically connected, and the rotating monitoring camera is used to monitor the environment around the Xun Che robots during patrol.
9. reverse vehicle searching system according to claim 1, it is characterised in that the vehicle assembly further includes indicator light, institute
Indicator light is stated to be electrically connected with the control module.
10. a kind of managing system of car parking, it is characterised in that including the reverse car seeking as described in claim 1-9 any one
System.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810093502.1A CN108022448A (en) | 2018-01-29 | 2018-01-29 | Reverse vehicle searching system and managing system of car parking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810093502.1A CN108022448A (en) | 2018-01-29 | 2018-01-29 | Reverse vehicle searching system and managing system of car parking |
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| CN108022448A true CN108022448A (en) | 2018-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810093502.1A Pending CN108022448A (en) | 2018-01-29 | 2018-01-29 | Reverse vehicle searching system and managing system of car parking |
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| CN109003466A (en) * | 2018-09-18 | 2018-12-14 | 常州轻工职业技术学院 | Parking lot guide robot, its working method and parking lot guidance system |
| CN109935103A (en) * | 2019-03-26 | 2019-06-25 | 浙江吉利汽车研究院有限公司 | Reverse car seeking method, device, equipment and storage medium based on unmanned plane |
| CN110047315A (en) * | 2019-03-27 | 2019-07-23 | 西安艾润物联网技术服务有限责任公司 | Car searching method and device |
| CN110060500A (en) * | 2019-03-27 | 2019-07-26 | 西安艾润物联网技术服务有限责任公司 | Parking stall management method, apparatus and system |
| CN110176149A (en) * | 2019-05-24 | 2019-08-27 | 北京嘀嘀无限科技发展有限公司 | A kind of control target vehicle executes the method and system of corresponding operating |
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| CN113467447A (en) * | 2021-06-24 | 2021-10-01 | 武汉虹信技术服务有限责任公司 | Illegal person intrusion monitoring system and method based on patrol robot |
| CN115188216A (en) * | 2022-07-12 | 2022-10-14 | 中国银行股份有限公司 | Vehicle searching control method and robot |
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