CN110009914A - Suspended rail formula parking position manages intelligent robot - Google Patents
Suspended rail formula parking position manages intelligent robot Download PDFInfo
- Publication number
- CN110009914A CN110009914A CN201910247683.3A CN201910247683A CN110009914A CN 110009914 A CN110009914 A CN 110009914A CN 201910247683 A CN201910247683 A CN 201910247683A CN 110009914 A CN110009914 A CN 110009914A
- Authority
- CN
- China
- Prior art keywords
- parking stall
- parking
- track
- mobile device
- image
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
-
- 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
- G08G1/142—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces external to the vehicles
-
- 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
-
- 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
- G08G1/148—Management of a network of parking areas
Abstract
The present invention relates to a kind of suspended rail formula parking positions to manage intelligent robot, including the track being mounted on above the parking stall passageway in parking lot, track mobile device is set on the track, video camera is set below the track mobile device, and long-range management server is set；Station location marker is arranged in the track, respectively corresponds each parking stall group.The video camera setting image processor and two groups of image collecting devices, the image collecting device are respectively directed to the parking stall of parking stall passageway two sides.It is also possible that video camera setting holder, image processor and the image collecting device, the holder preset two positions, the image collecting device are made to be respectively directed to the parking stall of parking stall passageway two sides.The intelligent robot can be moved freely independently, have the intelligent robot system of the functions such as Car license recognition, parking space information collection, reverse car search and accident retrospect in groups.
Description
Technical field
The present invention relates to a kind of suspended rail formula parking positions to manage intelligent robot, belongs to mobile robot control neck
Domain.
Background technique
With the development of Chinese society, the improvement of people's living standards, automobile has been the indispensable trip tool of family.With
The increase of vehicle, the construction of parking facility will keep up with.Field public for commercial center, hospital, restaurant, office block etc.
Institute, parking lot directly affect its service and position class and business operating income as important auxiliary facility.In order to mention
High service level, intelligent management for solid garage system is essential, it plays an important role in most of garage, stops for people
While vehicle is brought convenience, it may have good social and economic benefit.
There are two kinds of mainstream solutions for existing intelligent management for solid garage system: one is ultrasonic stalls to guide system, is
The service condition of parking stall, the color change of cooperation parking stall indicator light are checked by the principle of ultrasonic distance measurement is to show parking stall
(lamp shiny red) and idle (green light) state are occupied, solves the demand for looking for parking stall.The advantages of system is detection than calibrated, is made
Valence is cheap, the disadvantage is that not having reverse car search function, can not carry out Function Extension.Mainly for only do parking stall guidance without
The demand of reverse car search.Second is video guidance system.Installation camera and parking stall refer in front of each (or two) parking stall
Show lamp, vehicle is detected the presence of by Video Detection Algorithm, advantage is accuracy in detection height, while can be realized reverse car search function
Energy.The disadvantage is that system cost is higher, system equipment quantity is more, and matched POE interchanger and pipelining project amount are big, later period dimension
It is high to protect difficulty.
Application No. is 201711299261.8 patents of invention to disclose a kind of intelligent cruise machine based on cloud wireless transmission
Device people reverse vehicle searching system and method, including intelligent cruise robotic end, parking stall identify end, cloud, and reverse car search inquires end.It should
Scheme carries out Car license recognition by carrier of ground mobile robot, in customer service the drawbacks of above-mentioned video guidance system.But it should
Huge problem has also been introduced in scheme, i.e., the navigation, positioning and avoidance problem of mobile robot under dynamic environment, causes problem multiple
Miscellaneous, technical risk is big.The system that embodiment generates, cost and failure rate are all very high.
Summary of the invention
The purpose of the invention is to overcome above-mentioned technical deficiency, a kind of suspended rail formula parking position pipe is proposed
Intelligent robot is managed, used technical solution is:
Suspended rail formula parking position manages intelligent robot, including the track being mounted on above the parking stall passageway in parking lot,
Track mobile device is set on the track, video camera is set below the track mobile device, and is arranged long-range
Management server；
Station location marker is arranged in the track, respectively corresponds each parking stall group, and the parking stall group is that parking stall passageway two sides are opposite
Two parking stalls or multiple parking stalls, the track mobile device reads the station location marker, it may be determined that parking stall numbering；
Driving wheel, central controlled processor, and the drive connecting with the processor is arranged in the track mobile device
Dynamic control device, station location marker reading device, the second wireless communication module, camera interface, the drive dynamic control device with
The driving wheel connection, the processor setting operation control algolithm；
Parking stall management software is arranged in the management server, for counting parking stall total amount and vacant parking stall quantity, parking lot vehicle
Position situation is shown, and stores license board information, parking stall numbering and down time, is traced, is also set up for reverse car search and accident
First wireless communication module carries out data transmission with second wireless communication module.
The track can be used two ways and provide power supply: mode one: the track setting track is mobile
Power supply needed for device and video camera.Mode two: charging unit is arranged in the track, and the track mobile device setting is filled
Battery and charging interface.
Two ways implementation can be used in the video camera:
Mode one:
The video camera setting image processor and two groups of image collecting devices, the image collecting device are respectively directed to vehicle
Car license recognition software is arranged in the parking stall of position passageway two sides, the image processor.
The operation control algolithm includes the following steps:
S1, the track mobile device are run on the track, and identify the station location marker, when reaching described
The position of station location marker is then suspended, and the video camera is notified to carry out Car license recognition；
S2, the video camera acquire the image of the parking stall group of current location, carry out according to the corresponding imaging region in each parking stall
Car license recognition；If there is vehicle on parking stall, license board information is extracted；If there is no vehicle on parking stall, it is labeled as vacancy information；Finally
The track mobile device is sent to according to the preset order of parking stall group；
License board information, parking space information and current time are sent to management server by S3, the track mobile device, return to step
Rapid S1.
Mode two:
Video camera setting holder, image processor and the image collecting device, the holder preset two positions, make institute
The image collecting device stated is respectively directed to the parking stall of parking stall passageway two sides, and Car license recognition software is arranged in the image processor.
The operation control algolithm includes the following steps:
SS1, the track mobile device are run on the track, and identify the station location marker, described when reaching
The position of station location marker then suspend, and the video camera is notified to carry out Car license recognition；
The image of the parking stall group of SS2, the video camera acquisition when front side, then by the holder, by the image
Using device, other side parking stall direction is rotated to, acquires the image of the parking stall group of the other side, it is then described；According to each vehicle
The corresponding imaging region in position carries out Car license recognition；If there is vehicle on parking stall, license board information is extracted；If there is no vehicle on parking stall,
Then it is labeled as vacancy information；The track mobile device is finally sent to according to the preset order of parking stall group；
License board information, parking space information and current time are sent to management server by SS3, the track mobile device；It is described
Holder, the image is rotated into origin-location, return step SS1 using device.
Implementing the positive effect of the present invention is: 1, system is integrated, is reconstructed using mature technology, has technical risk small
The advantages of；2, it is run on the track that intelligent robot is laid with above, avoids complicated mobile robot problem；3, it is low at
This, under the premise of low complex degree, realizes parking stall measure, stopping guide, the functions such as reverse car search；4, artificial intelligence and image are based on
Processing technique, there are also very big Function Extension spaces for the program.
Detailed description of the invention
Fig. 1 is the outside drawing of suspended rail formula parking position management intelligent robot；
Fig. 2 is the control principle block diagram of track mobile device.
Specific embodiment
Now in conjunction with attached drawing, the invention will be further described:
Referring to Fig.1-2,1 formula parking position of suspended rail manages intelligent robot, the parking stall passageway including being mounted on parking lot
Track mobile device 2 is arranged on the track 1, video camera is arranged below the track mobile device 2 for the track 1 of top
3, and long-range management server is set.
Wherein, station location marker is arranged in the track 1, and the station location marker corresponds to each parking stall group, the parking stall
Group is opposite two parking stalls or multiple parking stalls in parking stall passageway two sides, specifically with effective visual angle institute energy of the video camera 3
The parking stall number of covering determines.The station location marker may be configured as magnetic signal or optical signal, be also possible to the arteries and veins of rack gear offer
Rush encoded information.The track mobile device 2 reads the station location marker, it may be determined that the corresponding parking stall numbering in the position.
In order to provide required power supply to the track mobile device 2 and video camera 3, two ways can be used: mode
One: described 1 settable two metal electrode item of track, the track mobile device 2 are taken a little by the way of brush.Mode
Two: rechargeable battery is arranged in the track mobile device 2 and charging interface specially rises in the fixation position of the track 1
Charging unit is arranged, after connecting with the charging interface of the track mobile device 2, to the charging in beginning or end
Battery charges.
The track mobile device 2 is arranged driving wheel 6, central controlled processor 4, and with the processor 4
The drive dynamic control device 5 of connection, station location marker reading device 9, the second wireless communication module 7, camera interface 8, the drive
Dynamic control device 5 is connect with the driving wheel 6, the setting operation control algolithm of processor 4.The driving wheel 6 is hung
On the track 1, under the driving of the drive dynamic control device 5, can front and back walking, to drive the track
Mobile device 2 is mobile.The station location marker reading device 9 station location marker for identification, so that it is determined that current location.
Second wireless communication module 7 is for realizing the communication with the management server.The camera interface 8 is used for
The connection video camera 3, including power supply is provided and carries out data communication.
It also sets up the management server remotely to be managed, the first wireless telecommunications mould is arranged in the management server
Block carries out data transmission with second wireless communication module 7, therefore the available track mobile device
2 data information.Parking stall management software is also set up, for counting parking stall total amount and vacant parking stall quantity, parking position situation
It has been shown that, and license board information, parking stall numbering and down time are stored, it is traced for reverse car search and accident.
Two ways implementation can be used in the video camera 3:
The first:
Image processor is arranged in the video camera 3 and two groups of image collecting devices, the image collecting device are respectively directed to
The parking stall of parking stall passageway two sides can disposably acquire the image of parking stall passageway two sides in this way, and feature is that detection speed is fast, cost
It is high.The image collecting device setting optical lens and imaging sensor；The image processor setting Car license recognition is soft
Part can extract the license board information in image.
The operation control algolithm of the processor 4 includes the following steps:
S1, the track mobile device 2 are run on the track 1, and identify the station location marker, described when reaching
The position of station location marker then suspend, and the video camera 3 is notified to carry out Car license recognition；
Step S1 is the track mobile device 2 in the reciprocating motion from one end of the track 1 to the other end, and described
Station location marker where position pause, carry out Car license recognition.
S2, the video camera 3 acquire the image of the parking stall group of current location, according to the corresponding imaging region in each parking stall
Carry out Car license recognition；If there is vehicle on parking stall, license board information is extracted；If there is no vehicle on parking stall, it is labeled as vacancy information；
The track mobile device 2 is finally sent to according to the preset order of parking stall group；
Imaging position of each parking stall in the video camera 3 is that fixed, described image processor needs to identify the vehicle
Whether there is vehicle on position, if there is vehicle, obtains license plate number.Finally identification license plate number or vacancy information are sent in order
The track mobile device 2.
License board information, parking space information and current time are sent to management server by S3, the track mobile device 2,
Return step S1.
Second:
Holder, image processor and image collecting device, the holder, which is arranged, in the video camera 3 presets two positions, makes
The image collecting device is respectively directed to the parking stall of parking stall passageway two sides, needs to acquire parking stall passageway two sides so in two times
Image, feature is that detection speed is slow, at low cost.The image collecting device setting optical lens and imaging sensor；It is described
Image processor be arranged Car license recognition software, can extract image in license board information.
The operation control algolithm of the processor 4 includes the following steps:
SS1, the track mobile device 2 are run on the track 1, and identify the station location marker, when reaching
The position for the station location marker stated then is suspended, and the video camera 3 is notified to carry out Car license recognition；
The image of the parking stall group of SS2, the acquisition of video camera 3 when front side, then by the holder, by the image
Using device, other side parking stall direction is rotated to, acquires the image of the parking stall group of the other side, it is then described；According to each vehicle
The corresponding imaging region in position carries out Car license recognition；If there is vehicle on parking stall, license board information is extracted；If there is no vehicle on parking stall,
Then it is labeled as vacancy information；The track mobile device 2 is finally sent to according to the preset order of parking stall group；
The place that step SS2 is different from step S2 is that the image for acquiring parking stall passageway two sides in two times, and image processing method
Method is identical with step.
License board information, parking space information and current time are sent to management server by SS3, the track mobile device 2；
The image is rotated to origin-location, return step SS1 using device by the holder.
Finally, it should also be noted that it is listed above be only a specific embodiment of the invention.Obviously, of the invention
Above embodiments are not limited to, acceptable there are many deformations.Those skilled in the art can be straight from present disclosure
All deformations for connecing export or associating, are considered as protection scope of the present invention.
Claims (7)
1. suspended rail formula parking position manages intelligent robot, it is characterised in that: the parking stall mistake including being mounted on parking lot
Track mobile device is arranged on the track, video camera is arranged below the track mobile device for track above road, with
And long-range management server is set；
Station location marker is arranged in the track, respectively corresponds each parking stall group, and the parking stall group is that parking stall passageway two sides are opposite
Two parking stalls or multiple parking stalls, the track mobile device reads the station location marker, it may be determined that parking stall numbering；
Driving wheel, central controlled processor, and the drive connecting with the processor is arranged in the track mobile device
Dynamic control device, station location marker reading device, the second wireless communication module, camera interface, the drive dynamic control device with
The driving wheel connection, the processor setting operation control algolithm；
Parking stall management software is arranged in the management server, for counting parking stall total amount and vacant parking stall quantity, parking lot vehicle
Position situation is shown, and stores license board information, parking stall numbering and down time, is traced, is also set up for reverse car search and accident
First wireless communication module carries out data transmission with second wireless communication module.
2. suspended rail formula parking position according to claim 1 manages intelligent robot, it is characterized in that: the rail
Power supply needed for road setting the track mobile device and video camera.
3. suspended rail formula parking position according to claim 1 manages intelligent robot, it is characterized in that: the rail
Charging unit, the track mobile device setting rechargeable battery and charging interface is arranged in road.
4. suspended rail formula parking position according to claim 1 manages intelligent robot, it is characterized in that: described takes the photograph
Camera setting image processor and two groups of image collecting devices, the image collecting device are respectively directed to parking stall passageway two sides
Car license recognition software is arranged in parking stall, the image processor.
5. suspended rail formula parking position according to claim 1 manages intelligent robot, it is characterized in that: described takes the photograph
Camera setting holder, image processor and image collecting device, the holder preset two positions, make the Image Acquisition
Device is respectively directed to the parking stall of parking stall passageway two sides, and Car license recognition software is arranged in the image processor.
6. according to claim 1, suspended rail formula parking position described in 4 manages intelligent robot, it is characterized in that: described
Operation control algolithm includes the following steps:
S1, the track mobile device are run on the track, and identify the station location marker, when reaching described
The position of station location marker is then suspended, and the video camera is notified to carry out Car license recognition；
S2, the video camera acquire the image of the parking stall group of current location, carry out according to the corresponding imaging region in each parking stall
Car license recognition；If there is vehicle on parking stall, license board information is extracted；If there is no vehicle on parking stall, it is labeled as vacancy information；Finally
The track mobile device is sent to according to the preset order of parking stall group；
License board information, parking space information and current time are sent to management server by S3, the track mobile device, return to step
Rapid S1.
7. according to claim 1, suspended rail formula parking position described in 5 manages intelligent robot, it is characterized in that: described
Operation control algolithm includes the following steps:
SS1, the track mobile device are run on the track, and identify the station location marker, described when reaching
The position of station location marker then suspend, and the video camera is notified to carry out Car license recognition；
The image of the parking stall group of SS2, the video camera acquisition when front side, then by the holder, by the image
Using device, other side parking stall direction is rotated to, acquires the image of the parking stall group of the other side, it is then described；According to each vehicle
The corresponding imaging region in position carries out Car license recognition；If there is vehicle on parking stall, license board information is extracted；If there is no vehicle on parking stall,
Then it is labeled as vacancy information；The track mobile device is finally sent to according to the preset order of parking stall group；
License board information, parking space information and current time are sent to management server by SS3, the track mobile device；It is described
Holder, the image is rotated into origin-location, return step SS1 using device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910247683.3A CN110009914A (en) | 2019-03-29 | 2019-03-29 | Suspended rail formula parking position manages intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910247683.3A CN110009914A (en) | 2019-03-29 | 2019-03-29 | Suspended rail formula parking position manages intelligent robot |
Publications (1)
| Publication Number | Publication Date |
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| CN110009914A true CN110009914A (en) | 2019-07-12 |
Family
ID=67168843
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| CN201910247683.3A Withdrawn CN110009914A (en) | 2019-03-29 | 2019-03-29 | Suspended rail formula parking position manages intelligent robot |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110633612A (en) * | 2019-11-20 | 2019-12-31 | 中通服创立信息科技有限责任公司 | Monitoring method and system for inspection robot |
| CN110866988A (en) * | 2019-12-02 | 2020-03-06 | 四川高路交通信息工程有限公司 | Service area vehicle inspection positioning method |
| CN110942641A (en) * | 2019-12-17 | 2020-03-31 | 廖晓宾 | Vehicle number identification system and method for aerial camera cruising |
| CN111193861A (en) * | 2019-11-08 | 2020-05-22 | 北京筑梦园科技有限公司 | Sliding image acquisition device, server and parking management system |
| CN111508263A (en) * | 2020-04-03 | 2020-08-07 | 西安电子科技大学 | Intelligent guiding robot for parking lot and intelligent guiding method |
| CN111731130A (en) * | 2020-06-30 | 2020-10-02 | 重庆建工建筑产业技术研究院有限公司 | Suspension type intelligent mobile robot control system and method |
| CN112017474A (en) * | 2020-09-04 | 2020-12-01 | 广州致朗科技有限公司 | Video monitoring system for underground parking lot |
| CN112349134A (en) * | 2020-09-30 | 2021-02-09 | 特斯联科技集团有限公司 | Parking lot monitoring equipment |
| CN113669600A (en) * | 2021-08-19 | 2021-11-19 | 军事科学院系统工程研究院军事新能源技术研究所 | Information management auxiliary device for Beidou oil support system |
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| CN111731130A (en) * | 2020-06-30 | 2020-10-02 | 重庆建工建筑产业技术研究院有限公司 | Suspension type intelligent mobile robot control system and method |
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| CN112017474A (en) * | 2020-09-04 | 2020-12-01 | 广州致朗科技有限公司 | Video monitoring system for underground parking lot |
| CN112017474B (en) * | 2020-09-04 | 2021-07-30 | 广州致朗科技有限公司 | Video monitoring system for underground parking lot |
| CN112349134A (en) * | 2020-09-30 | 2021-02-09 | 特斯联科技集团有限公司 | Parking lot monitoring equipment |
| CN112349134B (en) * | 2020-09-30 | 2022-04-05 | 特斯联科技集团有限公司 | Parking lot monitoring equipment |
| CN113669600A (en) * | 2021-08-19 | 2021-11-19 | 军事科学院系统工程研究院军事新能源技术研究所 | Information management auxiliary device for Beidou oil support system |
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Application publication date: 20190712 |