CN110264774A - Method and robot are escorted in a kind of wisdom parking stall - Google Patents
Method and robot are escorted in a kind of wisdom parking stall Download PDFInfo
- Publication number
- CN110264774A CN110264774A CN201910534756.7A CN201910534756A CN110264774A CN 110264774 A CN110264774 A CN 110264774A CN 201910534756 A CN201910534756 A CN 201910534756A CN 110264774 A CN110264774 A CN 110264774A
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- China
- Prior art keywords
- parking stall
- robot
- owner
- vehicle
- escorted
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Classifications
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- 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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/02—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems
- G07B15/04—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems comprising devices to free a barrier, turnstile, or the like
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- 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
- G08G1/14—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
- G08G1/149—Traffic control systems for road vehicles indicating individual free spaces in parking areas coupled to means for restricting the access to the parking space, e.g. authorization, access barriers, indicative lights
Abstract
The present invention provides a kind of wisdom parking stall and escorts method, comprising: A) parameter of robot (2) management parking stall (0) is set by parking stall owner；B owner parking stall (0)) is locked by robot (2), by display screen (232) real-time exhibition parking stall (0) rental information being arranged on robot (2)；C) when there is vehicle to drive into parking stall (0), the robot (2) records license board information by Car license recognition camera (235), and the car owner for driving into vehicle issues the request for renting parking stall (0) by operating on robot (2)；D when) robot (2) judges that the request is matched with the setup parameter of owner, the parking stall (0) is unlocked, car owner is allowed to stop vehicle into the parking stall (0)；And corresponding wisdom parking stall guarding robot is provided, parking stall is escorted for wisdom, and one feasible program is provided.
Description
Technical field
The present invention relates to parking stall management and technical field of robot control, are specifically to provide one kind and are guarded by robot
Method and robot are escorted in the scheme of parking stall, one such wisdom parking stall.
Background technique
Current big city parking is at a problem, and especially in big city, parking stall is nervous, and most of car owner gathers around in residence
There is private savings parking stall, come off duty the period, private car is parked on respective parking stall, but when working on daytime, these private cars are poured into one after another
The public parking position in working region, and the private savings parking stall in their residence frees out mostly, as one can imagine, public parking money
Source is in the meeting overcrowding of working period, and period idle of coming off duty, private savings parking stall are but just opposite, it is possible to which idle parking stall is broken
The time of piece brings shared to solve the problems, such as that public parking is crowded.The prior art that this respect can make reference includes: document
Wisdom residential parking space Sharing Management system based on berth lock disclosed in 208271398 U of CN, what is considered is small by establishing
Area parking stall Cloud Server manages parking stall by the method for reservation control berth lock, and private savings parking stall is leased to by section during idle time
There is the car owner of parking demand, it needs to establish Cloud Server, develops dedicated APP, parking stall is reserved by designation method, to raising parking stall
The still inadequate freedom and flexibility of utilization rate, in addition it can only be interpreted as using existing also without the specific structure of open berth lock
Berth lock；105679082 A of document CN disclose it is a kind of parking stall realization method and system is accounted for based on robot, by electronically
Scheme selected parking stall, robot passage path programming movement occupy-place realizes that robot motion is controlled in reservation, the realization of this method
The requirement of algorithm processed is very high.
To prevent parking stall occupied, some parking stalls user installs berth lock, but the user of berth lock on parking stall
Method is cumbersome, and 107687136 A of document CN discloses a kind of parking occupancy management system and parking stall management method, passes through camera
Identification license board information opens and closes automatically berth lock to authorized vehicle, this Technical comparing is easy to accomplish, the program
The specific constructive form of berth lock is not illustrated, is not illustrated to how vehicle obtains authorization, then coming in conjunction with the prior art
Understand, this method is the method being managed to own parking stall, and berth lock only joined using the method routinely locked
The function of camera identification license plate and automatic switch lock.
So, propose one kind can effectively manage own parking stall and using own parking stall free time to parking stall into
The technical solution that row is hired out, can be improved parking stall utilization rate, parking stall can be prevented by unreasonable occupancy, can also be hired out and be increased by parking stall
Owner is added to take in.
Summary of the invention
In this application, it is desirable that protection is a kind of wisdom parking stall shield in the technical solution of wisdom parking stall guarding robot
The specific technical solution for defending method and robot shows parking stall rental information by robot display screen, provides visual vehicle
Management method is hired out in position, when car owner being facilitated to enter parking lot, can search out parking stall, improve parking stall utilization rate, be convenient for simultaneously
Parking stall owner understands the parking space information of oneself in real time, can also increase owner's income by hiring out parking stall.
Concrete scheme 11 and 7 can understand according to drawings and embodiments, between embodiment 11 and 7 and other embodiments institute
The simple combination of progress is technically implementable, is to be included within the scope of protection of the presently claimed invention.
Specific technical solution is: method is escorted in a kind of wisdom parking stall, comprising: A) robot (2) pipe is set by parking stall owner
Manage the parameter of parking stall (0)；B owner parking stall (0)) is locked by robot (2), by the display screen (232) being arranged on robot (2)
Real-time exhibition parking stall (0) rental information；C) when there is vehicle to drive into parking stall (0), the robot (2) is imaged by Car license recognition
Head (235) records license board information, and the car owner for driving into vehicle issues by operating on robot (2) and rents asking for parking stall (0)
It asks；D when) robot (2) judges that the request is matched with the setup parameter of owner, unlock the parking stall (0), allow car owner by vehicle stop into
The parking stall (0)；It is unlocked and the method for locking is to walk by robot (2) to parking stall (0) tail end and front end to realize respectively
's；The walking of robot (2) is to be automatically controlled by setting trigger condition, for example receive communication module by single-chip microcontroller and connect
The owner received allow hire out information, or lease the car owner of parking stall request it is consistent with the setting condition of owner when, automatically
Unlock；Parking stall (0) use information is sent to parking stall owner by the robot (2) in real time；The car owner for driving into vehicle passes through
It is operated on robot (2), the request for issuing rental parking stall (0) refers to, car owner passes through on scanning machine people (2) or screen
The two dimensional code of upper displaying issues the request for renting parking stall (0)；After vehicle is stopped the parking stall (0) by car owner, robot (2) starts to count
Take, car owner is driven out to prompt payment before parking stall (0)；Robot (2) can print consumption strip after car owner's payment；The parking stall owner sets
The parameter for determining robot (2) management parking stall (0) includes: that time and charging standard are hired out in setting parking stall (0)；The Car license recognition is taken the photograph
After identifying as head (235) and record the license plate number of approaching parking stall, if there is the behavior for occupying parking stall or leasing parking stall in car owner,
Corresponding information is also recorded in the memory module of robot (2)；Owner is stored in memory module on the robot (2)
The license plate number of oneself, when owner oneself needs to stop, robot (2) identifies license plate by Car license recognition camera (235),
It is compareed with the license plate of storage, robot (2) automatic unlocking parking stall；The robot (2) differentiates owner identity by control license plate,
Enter or sail out of parking stall (0) by detection vehicle and differentiates car owner's behavior, loudspeaker (233) basis point on the robot (2)
The result distinguished issues different speech prompt informations；Real-time communication is established by wireless telecommunications and parking stall owner mobile phone, sends vehicle
Position (0) use information is to owner's mobile phone, including stopping the license plate number of the vehicle into parking stall (0), driving into the information such as time, channel radio
News can be realized using insertion mobile data traffic card；Wireless telecommunications can also be used for establishing connection with charge platform, realize to parking
Car owner's charge；Accordingly, it is provided as can be realized the robot that method is escorted in a kind of wisdom parking stall as described above.
The final purpose of the present invention be to provide it is a kind of based on can with the robot of shift position to parking stall carry out dynamic management,
It realizes that the real-time visual of parking space information is shown using robot setting display screen, and passes through the robot and parking stall owner hand
Machine or cloud platform carry out the Real-time Feedback of parking space information and the wisdom parking stall protecting system of record.
Robot body's composition can be divided into the mobile base at the display screen position of top, upright bar and bottom, mobile bottom first
Seat lower part, which is provided with idler wheel, crawler belt, to walk, or can also be set by positioning tooth on rack gear with rack gear moveable position
It sets and is pushed in the sliding slot of guide rail, display screen position shows parking space information, can show parking stall rental information, such as owner's working
When, the parking stall, display screen band Car license recognition camera can be temporarily hired out within the intermittent time, the license board information of parking stall is driven into identification
And record, the car owner for temporarily leasing parking stall can lease the request of parking stall by scanning the two dimensional code transmission that display screen shows.
Followed by the device for determining robot shiftable haulage line is designed on parking stall, it can be positioning magnetic stripe, photoelectricity positions
Extinction or reflectorized material, guide rail, rack gear etc. directly can also carry out movement routine setting to robot, then before parking stall
The lock of locking robot is respectively set in end and rear end, and Robot provides that route is moved to the front end of specified parking stall and then locks vehicle
Position, is moved to rear end and then unlocks parking stall.
Robot is also responsible for establishing communication connection between parking stall owner's mobile phone or cloud platform or parking lot management server,
Parking space information is sent in real time, has parking stall by oneself convenient for owner management or disbursement and sattlement and parking space information statistics are carried out between parking lot
Deng the information for temporarily leasing parking stall is sent to owner by robot in real time, convenient for the parking stall of owner management oneself.
Detailed description of the invention
The example for providing some a specific embodiment of the invention in the accompanying drawings below, is not covered by whole embodiments,
Between structure shown in attached drawing under the premise of not changing inventive principle, it can be combined variation, it is simple to combine
With the variation of deformation, it is still contained within the scope of protection of the presently claimed invention.
Fig. 1 is the schematic diagram of parking stall setting fixing limit magnetic stripe；
Fig. 2 is the schematic diagram of robot unlock parking stall；
Fig. 3 is the schematic diagram of robot locking parking stall；
Fig. 4 is magnetic stripe positioning and the structural schematic diagram of magnetic key operated lock of robot；
Fig. 5 is a kind of mobile base structural schematic diagram of robotic embodiment；
Fig. 6 is the robot anticollision design structure schematic diagram of adjacent parking stall；
Fig. 7 is the L-type mobile base and infrared acquisition anti-collision structure design diagram of robot；
Fig. 8 is the forward sight structural schematic diagram of one embodiment of robot；
Fig. 9 is the schematic diagram that wheel guard is provided on parking stall；
Figure 10 is the schematic diagram that guide rail is arranged on parking stall；
Figure 11 is the structural schematic diagram of guide rail and robot base cooperation；
Figure 12 is the schematic diagram that robot is mounted on guide rail；
Figure 13 is the structural schematic diagram of another embodiment of guide rail and robot base cooperation；
Figure 14 is that robot is mounted on the schematic diagram on guide rail in Figure 13；
Figure 15 is the setting schematic diagram of sensitive tape or reflective tape；
Figure 16 is the structural schematic diagram of the robot with optoelectronic induction and its track；
Figure 17 is the schematic diagram after the robot installation using rack gear walking；
Figure 18 is the structural schematic diagram of robot and rack gear installation；
Figure 19 is the structural schematic diagram of robot wheel and rack cooperation；
Figure 20 is the circuit inner structure schematic diagram of robot；
Figure 21 is the structural schematic diagram at the display screen position of robot；
Figure 22 is the structural schematic diagram of another embodiment at robot display screen position；
Figure 23 is the structural schematic diagram of the control circuit board of robot；
Figure 24 is a kind of structural schematic diagram of robot parking space management system that suitable outdoor or public parking lot uses；
Figure 25 is a kind of structural schematic diagram of the robot of suitable outdoor application；
Figure 26 is a kind of structural schematic diagram of robot parking space management system based on big data；
Figure 27 is a kind of anti-theft alarm system structural schematic diagram based on wisdom parking stall guarding robot.
Specific embodiment
With reference to the accompanying drawing, the present invention is further illustrated, in order to those skilled in the art understand that the present invention.
Embodiment 1: introducing a kind of design scheme of wisdom parking stall guarding robot based on magnetic stripe positioning, as shown in Figure 1,
Fixing limit magnetic stripe (1) has first been buried on parking stall (0)；Include: the limit magnetic stripe one (11) in the setting of parking stall (0) tail end, is used for
Limit the position that parking stall (0) tail end is arrived in robot (2) walking；The positioning magnetic stripe (12) being arranged near the longitudinal centre line of parking stall,
For limiting the route of robot (2) walking；The limit magnetic stripe two (13) being arranged on the position of parking stall (0) front end parking stall is used
The position of parking stall (0) front end is arrived in limitation robot (2) walking；As shown in Fig. 2, when robot (2) is located at parking stall (0) tail end,
Parking stall (0) unlock, vehicle can be parked on the parking stall (0)；As shown in figure 3, when robot is parked in parking stall (0) front end, parking stall (0) quilt
Locking, does not allow vehicle to enter；As shown in figure 4, mobile in limit magnetic stripe one (11) and limit magnetic stripe two (13) and robot (2)
The silicon steel sheet of magnetic key operated lock (211) is respectively set in the corresponding position of the front and back end of pedestal (21) and iron plate is realized and locks machine in spacing place
The specific design of the purpose of device people (2), magnetic key operated lock (211) can be according to practical adjustment, as long as locking in corresponding position robot (2)
Surely；As shown in figure 5, idler wheel (212) are arranged in mobile base (21) bottom of robot (2), idler wheel (212) is by pedestal
(21) the motor driven walking in, the design of motor uses conventional means it is achieved that details are not described herein, further to consolidate
Determine the walking path of robot (2), also settable positioning groove (213) and positioning magnetic stripe (12) cooperation in mobile base (21),
It can easily realize very much stable walking, can be realized by increasing counterweight to increase stability in mobile base (21)
Barycentre steadiness.
Embodiment 2: providing the crash structure design of above-mentioned or other ways of realization robot (2), as shown in fig. 6,
The design in the robot ambulation path between two parking stalls (0), it is spaced apart by limit magnetic stripe (11), reserve parking stall
(0) parking space of robot (2) between；As shown in FIG. 7 and 8, the mobile base (21) of robot (2) is designed as L-type, saves
To the space hold of parking stall (0), prevent automobile chassis from touching mobile base (21), the inner space that L-type reserves facilitates installation
The equipment such as motor；It further, can also be in robot (2) to prevent vehicle from bumping against the robot (2) when driving into parking stall (0)
Upright bar (22) on setting infrared detector (221) issue infrared light, sense with vehicle at a distance from, apart from it is too close when, robot
(2) it issues sound-light alarm and reminds driver, the loudspeaker (233) being arranged in robot (2) can also sail out of this detecting vehicle
When parking stall (0), suggestion voice is issued, for example forget that the car owner of payment reminds payment to parking stall is leased, or to after payment
User issues the blessing language of " thanks use, have a good trip " etc, as shown in figure 9, also wheel stopper can be arranged in parking stall (0) rear end
Plate (01) limiting wheel stops the position into parking stall (0).
Embodiment 3: the walking design scheme of wisdom parking stall guarding robot can also be by the way of guide rail, such as Figure 10 institute
Show, the guide rail (3) walked for robot (2) is set on parking stall (0), and the installation relation between guide rail (3) and robot (2) is such as
Shown in Figure 11 and 12, positioning groove (213), Bian Shangyou positioning tooth bar are provided under the mobile base (21) of robot (2)
(214), have on guide rail (3) sliding groove (31), protruding rail (3) both ends, positioning tooth bar (214) are not limited in sliding groove (31)
In sliding groove (31), to limit the motion path of robot (2) and the positioning at both ends, locking can be locked after reaching both ends
Robot (2), guide rail (3) can look for associated companies to customize, and be installed on parking stall (0) using expansion bolt, the program is applied
After work amount is small, is easy to implement, and sliding groove (31) blocks positioning tooth bar (214), robot (2) operation it is more stable, and be not easy by
It moves, may be implemented antitheft, robot (2) achieves that walking using idler wheel (212) in Figure 11 ~ 12, and structure is also relatively simple；
The structure as shown in Figure 13 ~ 14 can also be using the scheme of guide rail (3), the positioning tooth bar (214) of robot (2) is fastened on
In sliding groove (31), the concrete form of guide rail (3) can be identical as Figure 11/12, can also be different, and robot (2) can pass through
Air pressure is set on guide rail (3) or hydraulic transmission pushes robot (2) to move along sliding groove (31), it can also be in robot
(2) magnet is set in mobile base (21), electromagnet (32) are set at guide rail (3) both ends, by the electromagnet for giving both ends
(32) electric current for leading to different directions, realizes the promotion and attraction to mobile base (21), and it is real to reduce resistance by sliding groove (31)
Existing robot (2) are slided on guide rail (3) by inertia, can also increase idler wheel and robot (2) is helped preferably to move, in this way
There is no need to which motor is arranged in mobile base (21), the size of mobile base (21) can be further decreased, saves space, together
When electromagnet (32) and magnet between robot (2) can also be realized in the locking of front end and tail end when attracting each other.
Embodiment 4: the walking design scheme of wisdom parking stall guarding robot can also use photoelectric induction type, as Figure 15 ~
Shown in 16, the extinction or reflective tape (41) of straight line are set on parking stall (0), set at the head and the tail both ends of the extinction or reflective tape (41)
Latch hook (42) are set, infrared sensor (215) and elevator lock (216) are set in the bottom end of robot (2), work as infrared sensor
(215) when sensing robot ambulation to extinction or reflective tape (41) both ends, the control module of robot sends instruction control and rises
Latch hook (42) are lockked in drop lock (216) decline, and when the control module of robot receives move, elevator lock (216) unclamps
Latch hook (42), robot (2) walking, this kind of scheme robot (2) preferably crawler belt (217) robot are run more more stable；In addition
Can also be with the walking path of intelligentized control method robot (2), only extinction or reflectorized material is nearby arranged in the latch hook (42) at both ends,
After robot (2) reaches latch hook (42) nearby, infrared sensor (215) senses signal, then starts elevator lock (216) and lock lock
The control of hook (42), such robot (2) is somewhat more complex, and development cost will increase, but may be implemented by the prior art.
Embodiment 5: the walking design scheme of wisdom parking stall guarding robot can also use rack-and-pinion, such as the institute of Figure 17 ~ 19
Show, use expansion bolt stationary rack (51) on parking stall (0), the rack gear (51) is routed to front end from the tail end of parking stall (0), long
Degree is slightly different according to the length of parking stall (0), is traditionally arranged to be between 3.5 ~ 4m, the tail end of rack gear (51) is provided with magnetic key operated lock
One (53), front end are provided with magnetic key operated lock two (52), lock robot when being respectively used to robot (2) walking to tail end and front end
(2), it is equipped with gear (2111) in the mobile base (21) of robot (2), gear (2111) and rack gear (51) cooperate, so that machine
Device people (2) walks on rack gear (51), to realize the control to robot (2) travel paths；Preferably, gear (2111) exists
2 pairs of front and back installation in mobile base (21), corresponding rack gear (51) is arranged 2；Preferably, gear (2111) is by being mounted on shifting
Motor (218) driving at dynamic pedestal (21) rear portion；Preferably, the locking of robot (2) can also use mechanical lock, and mechanical lock
The centre at the both ends of two rack gears (51) can be set, each setting 1 can；Preferably, robot (2) reaches parking stall
When front end and tail end, by the way that touching switch or inductive switch is arranged at rack gear (51) both ends, corresponding position is arrived in robot (2) walking
After touch touching switch or inductive switch senses robot (2), to trigger locking.
Embodiment 6: the embodiment of a power supply plan about L-type mobile base (21) is enumerated, as shown in figure 20, in L
Position setting motor (218) of type pedestal (21) being higher by controls the rolling of idler wheel (212) or crawler belt (217), in low portion
Position setting rechargeable battery plate (219), can select the battery of small-sized electric car model, and contractile charging head is arranged in lower end
(2110), after robot (2) runs to car locking position or the solution lock-bit on parking stall (0), chargeable electricity is detected in control module
When the electric power deficiency of pond plate (219), charging head (2110) connection fixing limit magnetic stripe (1), guide rail (3) or latch hook (42) can be stretched out
Neighbouring etc. device being arranged, that electricity is taken from the circuit that subsurface is laid with, realizes to rechargeable battery plate (219) charging, passes through
From the electric wire (222) of upright bar (22) interior cabling by the control circuit board on rechargeable battery plate (219) and display screen position (23)
(231), display screen (232), loudspeaker (233), strip printer (234), Car license recognition camera (235), payment code camera shooting
The power supply of the devices such as head (236), the program can ensure the power supply of robot (2), while guarantee Electrical Safety, theoretically machine
People can also directly be powered by power supply line, or by contacting power supply with guide rail (3), but slightly worse in safety.
Embodiment 7: some concrete schemes about display screen position (23) design, as shown in figure 21, display screen portion are enumerated
The structure that position (23) can be seen from the appearance includes: display screen (232), loudspeaker (233), strip printer (234), license plate knowledge
Other camera (235), two dimensional code (237), check paper replacement port (238), display screen (232) for showing parking space information, such as
The parking stall rental information of parking stall owner setting, Car license recognition camera (235) for identification and record the license plate number of approaching parking stall
Code, loudspeaker (233) issue suggestion voice and help not bump against robot (2) when car owner's parking or prompt when leaving
It is used to be to lease the car owner of parking stall to print strip Deng, strip printer (234), the voucher of parking stall payment is leased as car owner, just
It is negotiated in the parking lot management unit where owner, this needs owner to coordinate in advance with parking lot, lives in quotient dual-purpose
It being easier to realize in building, this part is not belonging to technology contents, is not discussed herein, and two dimensional code (237) can be set two,
One sends the request for leasing parking stall for car owner, the other is payment two dimensional code can also be used for the payment after use
Other way of paying, check paper replacement port (238) be used for for strip printer (234) replace printing paper, another method be as
Shown in Figure 22, two dimensional code is arranged on display screen (232), and user leases parking stall by scanning the two-dimensional code, display screen position (23)
On be additionally provided with payment code camera (239), show that two dimensional code pays owner's expense for leasing parking stall for leasing car owner behind parking stall
With internal in display screen position (23) further includes control circuit board (231), and as shown in figure 23, control circuit board is arranged on (231)
There are control module, memory module and communication module etc., wherein control module includes the control to information of vehicles identification, robot shifting
Dynamic control, display control, sound control, print control, disbursement and sattlement control, time reminding control, vehicle detection control etc., vehicle
After board identification camera (235) identifies and records the license plate number of approaching parking stall, if there is occupancy parking stall or lease vehicle in car owner
The behavior of position, sends corresponding license board information and behavioural information to by communication module in the hand of preset parking stall owner
Machine, parking stall owner can understand the parking space information of oneself at any time, and corresponding information is also recorded in the memory module of robot (2)
Interior, the information shown on display screen (232) is that owner is previously set, and is stored in memory module, also stores in memory module
There is the license plate number of owner oneself, when owner oneself needs to stop, robot (2) is known by Car license recognition camera (235)
Other license plate, compares with the license plate of storage, robot (2) automatic unlocking parking stall, loudspeaker (233) issue " welcome owner go home " it
The welcome words of class, and when owner oneself drives to be driven out to parking stall, loudspeaker (233) issues " owner has a good trip, and work is happy "
Etc blessing language, by control license plate differentiate owner identity, by detection vehicle enter or sail out of parking stall (0) differentiate car owner's row
To issue different speech prompt informations according to the result of resolution, attracting the attention of parking stall (0) neighbouring other people, actually
Facilitate the popularization of the scheme of robot of the invention (2), vehicle detection control front had been said, for anticollision, Ke Yi
Infrared detector (211) are set in upright bar (2), corresponding information is passed on control circuit board (231) and controlled, and issues suggestion voice
Or warning message etc., time reminding is to hire out the time according to the parking stall of owner's setting, if car owner leases parking stall to the predetermined time
There are no vehicle drives away, phone number can be first left when parking stall is leased in scanning, in time will by dialing mobile phone reminding car owner
Vehicle, which is opened, concedes parking stall, other positions are just just being understood just according to the description of front.
Embodiment 8: the robot (2) is provided applied to outdoor parking space or the example of Public Parking, such as Figure 24
Shown, for outdoor or Public Parking, there are parking stalls to need the case where reserving, then can pass through cloud platform+cell phone application
Form reserves parking stall, and control robot (2) accounts for a parking stall, and records corresponding license plate number, when the vehicle drives parking stall into,
After the Car license recognition camera (235) of robot (2) judges license plate number for the license plate number of reservation, automatic unlocking parking stall permits
Perhaps vehicle is parked on the parking stall, to realize to the reservation management of parking stall, car owner can reserve before travel to parking stall, passes through
The design of the robot (2) dynamic fixed point locking parking stall, compares the document of 105679082 A of patent application publication CN, the party
The enforceability of case is high, is easy under the prior art it is achieved that the design of APP is also simpler than documents, at this
In scheme, the specific design of robot (2) can be different from the robot that interior uses, be first about power supply, some
Outdoor parking space is inconvenient to connect electric wire, then being supplied using solar panel it is contemplated that powered using solar panel
The example of electricity can be combined with the structure of the robot (2) of various concrete forms above, the setting of functional module such as Figure 25
It is shown, it is generated electricity by setting solar panel, electric power is stored in battery, avoid rainy weather not electric situation,
Display screen (232) and motor (218) are main power consumption positions, and electricity can be directly taken from solar panel, can also be from
Battery takes electricity, in original structure basis, the robot of outdoor application do not need to be arranged again check paper replacement port (238) and
Strip printer (234) is paid the bill directly on APP when car owner reserves parking stall, and robot shells are using outside waterproof sealing
Electronic component inside shell protection.
Embodiment 9: it provides one and establishes the example that big data management system carries out parking stall management to robot (2), such as scheme
Shown in 25, the robot (2) being distributed on each parking stall by establishing a big data system administration, big data system is convenient for pipe
Reason robot (2) and unified record lease the information of the car owner of parking stall, car owner can be required to fill in cell-phone number when leasing parking stall
Code after leasing parking stall convenient for car owner, before soon arriving regulation lease duration, reminds car owner on time by vehicle by sending the modes such as short message
Drive away, or needs to extend that parking stall lease duration then needs and owner negotiates；This system be include: to be mounted on owner parking stall
On robot, with robot establish communication connection owner's mobile phone, and with robot establish communication connection big data system
System, the robot receive the control of owner's mobile phone, show that parking stall rental information, the robot are fed back to owner's mobile phone in real time
Parking stall lease information, the robot by license plate number that Car license recognition camera recognizes and are leased when parking stall is leased
The phone number that the car owner of parking stall fills in uploads to big data system and stores, and the robot is according to the setting of owner's mobile phone
Record leases the time of parking stall, and before soon reaching scheduled lease duration, the robot is sent to big data system request
Short message gives the mobile phone for leasing the car owner of parking stall, reminds car owner that vehicle drives away, if car owner is more than the time vehicle not to drive away yet, greatly
Data system allows car owner's phone number being sent to owner's mobile phone, supervises car owner that vehicle drives away by owner；This process is in journey
It is all easier to realize in sequence, by big data system to store information, one is easy for robot unified management, second is that maintenance
Owner information privacy, third is that saving the memory space of robot and owner's mobile phone；Further, big data system can also and industry
Parking lot server where main parking stall establishes connection, by the parking stall lease information of owner and lease situation react give parking lot take
Business device, the parking condition in parking lot is understood convenient for parking lot management unit, is managed to parking lot；Further, car owner rents
Behind parking stall, need to pay the bill to robot before leaving, the expense of clearing is connected to owner by the disbursement and sattlement module of robot
Mobile phone specifically can be by the way that payment two dimensional code is arranged in robot, which is wechat or Alipay in owner's mobile phone
Or the gathering two dimensional code of other charges APP, it is also possible to that two dimensional code payment camera is arranged in robot, is voluntarily opened by owner
If collecting account, after being charged by the corresponding platform of two dimensional code (wechat, Alipay etc.), the gathering account that is voluntarily opened up into owner
Family is also possible to uniformly open up collecting account by big data system, settle accounts after gathering with owner.
Embodiment 10: summarizing the process that parking stall is locked by robot (2) dynamic, it includes robot (2), parking
The robot (2) that can be walked with straight line is arranged in parking stall (0) the robot locking device set on position (0) and parking stall (0)
On, robot (2) can be locked in respectively front end and the tail end of parking stall (0) on parking stall (0) by straight line walking, pass through robot
It is locked in parking stall (0) front end locking parking stall (0), parking stall (0) tail end unlock parking stall (0) is locked in by robot；Further,
Car license recognition camera (235) are had on the robot (2), identify parking stall owner's by Car license recognition camera (235)
License plate number, when matching, automatic unlocking parking stall (0)；Further, infrared detector (221) are arranged on robot (2) to issue
Infrared light senses at a distance from vehicle, and when distance is too close, robot (2) issues sound-light alarm and reminds driver, prevents vehicle from driving into
Robot (2) are bumped against when parking stall (0)；Further, in parking stall (0) rear end, setting wheel guard (01) limiting wheel stops into parking stall
(0) position；Further, the robot (2) realizes that straight line walking can be using positioning magnetic stripe, photoelectricity positioning, guide rail
Or rack gear；Further, the device of the robot (2) walking can be the idler wheel (212) being arranged on mobile base (21),
Crawler belt (217) or positioning tooth bar (214)；Further, the power resources of the robot (2) walking can be motor driven or
Air pressure, hydraulic-driven or electromagnet (32) driving；Further, robot (2) locking can be using magnetic key operated lock
(211), automatic lifting lock (216) locks the latch hook (42) on parking stall ground or is fixed on rack gear (52) and locks with rack gear (52)
Positioning is set；Further, the power supply of robot (2) walking can be the setting in the mobile base (21) of robot (2)
Rechargeable battery plate (219) power supply directly buries power supply line contact power supply under the track route of robot, or power is set
It is standby to be embedded in underground power supply；Further, the height of robot (2) is between 0.8 ~ 1.2m；It is a kind of to utilize Robotic Dynamic pipe
Robot (2) are arranged on parking stall (0) in the method for managing parking stall, and when needing to lock parking stall (0), robot (2) is moved to parking stall
(0) front end, but parking stall (0) is not removed, the parking stall (0) is locked in front end, in unlock, robot (2) is controlled
Ground is moved to the tail end of the parking stall (0), is suitably moved to the outside of parking stall (0), concedes the position that vehicle drives into；The prior art is equal
It is using static lock, i.e., in parking stall front end, fixed bit installs a lock, locking parking position when lock erects, when falling down under height
Drop, so that vehicle be allowed to drive into；Compared with the method for prior art lock parking stall, the present invention utilizes the mobile control of robot (2)
The locking and unlocking of parking stall (0) processed, thus realize that the height of berth lock can be set relatively high, it can be on robot (2)
It is arranged display screen (232), shows that parking stall owner wants the information of bulletin by display screen (232), this highly can be set 0.8
Between ~ 1.2m, preferably 0.9 ~ 1.0m.
Embodiment 11: parking stall (0) taxi that one is realized visualization and real-time feedback information by robot (2) is summarized
Method, A) by the parameter of parking stall owner setting robot (2) management parking stall (0)；B owner parking stall (0)) is locked by robot (2),
By display screen (232) real-time exhibition parking stall (0) rental information being arranged on robot (2)；C) when there is vehicle to drive into parking stall (0)
When, the robot (2) records license board information by Car license recognition camera (235), and the car owner for driving into vehicle passes through in machine
People operates on (2), issues the request for renting parking stall (0)；D) robot (2) judges that the request is matched with the setup parameter of owner
When, the parking stall (0) is unlocked, car owner is allowed to stop vehicle into the parking stall (0)；Further, parking stall (0) is used letter by robot (2)
Breath is sent to parking stall owner in real time；Further, the car owner for driving into vehicle issues and rents by operating on robot (2)
Referred to the request of parking stall (0), car owner is issued by the two dimensional code shown on scanning machine people (2) screen and rents parking stall (0)
Request；Further, after vehicle is stopped the parking stall (0) by car owner, robot (2) starts charging, and car owner is driven out to prompt before parking stall (0)
Payment；Further, robot (2) can print consumption strip after car owner's payment；Further, as shown in Fig. 22, the vehicle
The parameter that position owner sets robot (2) management parking stall (0) includes: that time and charging standard are hired out in setting parking stall (0)；It is corresponding
Robot (2) should comprise the following structure: electronic display (232), be used for real-time exhibition parking stall (0) rental information；Mobile base
(21), for robot (2) the mobile locking and unlocking for carrying out parking stall (0)；Main control module, for controlling the shifting of robot (2)
Dynamic and electronic display (232) information are shown；Memory module, for storing parking stall (0) rental information；The robot (2)
It is arranged on parking stall (0), parking stall (0) front end locking parking stall (0) is moved to by robot (2) and is moved to parking stall (0) tail end
It unlocks parking stall (0)；Further, further includes: Car license recognition camera (235) identifies license plate when driving into parking stall (0) for vehicle
Number；Memory module records identified license plate number, the license plate number of owner is recorded, when the vehicle of owner drives into parking stall (0)
When automatic unlocking parking stall (0)；Further, further includes: wireless communication module is logical in real time for establishing with parking stall owner's mobile phone
News send parking stall (0) use information and arrive owner's mobile phone, believe including stopping the license plate number of the vehicle into parking stall (0), driving into the time etc.
Breath, wireless communication module can be realized using insertion mobile data traffic card；And/or it for establishing connection with charge platform, realizes
To parking car owner's charge；It further, include generating dynamic two-dimension code to be shown in electronics to the implementation method of parking car owner's charge
On display screen (232), car owner scans payment；Or the two dimensional code on installation payment code camera (239) scanning car owner's mobile phone is real
Now charge；Further, further includes: strip print module, for printing consumption strip after car owner's payment；Further, it also wraps
Include: speaker unit rents the car owner of parking stall for voice reminder, and prompt parking duration, reminds car owner on time by vehicle when driving into
Car owner's payment is reminded when driving away, and leaving.
Embodiment 12: a kind of anti theft design of robot (2) is provided and establishes vehicle anti-theft using robot (2) and is supervised in real time
Control system guards the scheme of the vehicle on parking stall, as shown in figure 27, monitoring camera, image analysis is arranged on robot (2)
Module and communication module analyze the image that monitoring camera takes by image analysis module, it is abnormal to analyze vehicle
When contact, robot (2) sends anti-theft alarm by communication module；The monitoring camera can be exactly Car license recognition camera
(235), Car license recognition is not only carried out, but also for monitoring；The communication module can use 5G wireless data transfer module, pass through 5G
Network signaling；The anti-theft alarm can be destined to the mobile phone of the owner of parking stall (0), facilitate monitoring in owner 24 hours certainly
Oneself parking stall (0)；Robot is additionally provided with memory module on (2), analyze vehicle may be by abnormal contact when, it is described to deposit
The image that storage module record monitoring camera takes；The memory module of robot (2) is automatically deleted function, periodically deletes and reserves
Memory space；Robot further includes acoustic-optic alarm on (2), analyze vehicle may be by abnormal contact when, robot
(2) sound-light alarm is issued；Robot (2) is also equipped with the function that analysis is stolen or is destroyed itself, such as on positioning tooth (214)
Pressure inductor is set, when robot (2) is moved, positioning tooth (214) is pressed in guide rail (3), capable of emitting alarm, or
When robot (2) is knocked, also capable of emitting alarm, the alarm of sending equally may include sending anti-theft alarm to give owner's hand
Machine, recording exceptional image and sending three kinds of means of sound-light alarm；Further, for the Car license recognition camera of robot (2)
(235) in the case where vehicle has been stopped in front, it is unable to the situation of conduct monitoring at all levels parking stall (0), camera shooting is also provided on garage top
Head, garage top camera can be communicated by way of wireless connection with the image analysis module of robot (2), by what is monitored
Image is sent to image analysis module, and then same use sends anti-theft alarm to owner's mobile phone, recording exceptional image and sending
Three kinds of means monitoring parking stall (0) of sound-light alarm.
Above embodiments are merely to illustrate a specific embodiment of the invention, rather than for limiting the present invention, for this
For the those of ordinary skill of technical field, without departing from the principle of the present invention, several improvement and profit can also be made
Decorations, these modifications and embellishments are also considered to be within the scope of the present invention.
Claims (10)
1. method is escorted in a kind of wisdom parking stall, it is characterised in that:
Include: A) parameter that robot (2) manage parking stall (0) is set by parking stall owner；B) owner parking stall is locked by robot (2)
(0), display screen (232) real-time exhibition parking stall (0) rental information by being arranged on robot (2)；C) when there is vehicle to drive into vehicle
Position (0) when, the robot (2) by Car license recognition camera (235) record license board information, the car owner for driving into vehicle by
Robot operates on (2), issues the request for renting parking stall (0)；D) robot (2) judges the request and the setup parameter of owner
Timing unlocks the parking stall (0), and car owner is allowed to stop vehicle into the parking stall (0).
2. method is escorted in a kind of wisdom parking stall according to claim 1, it is characterised in that:
Parking stall (0) use information is sent to parking stall owner by the robot (2) in real time.
3. method is escorted in a kind of wisdom parking stall according to claim 1, it is characterised in that:
The car owner for driving into vehicle on robot (2) by operating, and the request for issuing rental parking stall (0) refers to, Che Zhutong
Two dimensional code in overscanning robot (2) or showing on screen issues the request for renting parking stall (0).
4. method is escorted in a kind of wisdom parking stall according to claim 3, it is characterised in that:
After vehicle is stopped the parking stall (0) by car owner, robot (2) starts charging, and car owner is driven out to prompt payment before parking stall (0).
5. method is escorted in a kind of wisdom parking stall according to claim 4, it is characterised in that:
Robot (2) can print consumption strip after car owner's payment.
6. method is escorted in a kind of wisdom parking stall according to claim 1, it is characterised in that:
The parameter that the parking stall owner sets robot (2) management parking stall (0) includes: that time and charge are hired out in setting parking stall (0)
Standard.
7. method is escorted in a kind of any wisdom parking stall according to claim 1 ~ 6, it is characterised in that:
After the Car license recognition camera (235) identifies and records the license plate number of approaching parking stall, if car owner, which exists, occupies vehicle
Position or the behavior for leasing parking stall, corresponding information are also recorded in the memory module of robot (2).
8. method is escorted in a kind of any wisdom parking stall according to claim 1 ~ 6, it is characterised in that:
The license plate number of owner oneself is stored in memory module on the robot (2), when owner oneself needs to stop,
Robot (2) identifies license plate by Car license recognition camera (235), compares with the license plate of storage, robot (2) automatic unlocking vehicle
Position.
9. method is escorted in a kind of any wisdom parking stall according to claim 1 ~ 6, it is characterised in that:
The robot (2) differentiates owner identity by control license plate, enters or sails out of parking stall (0) by detection vehicle and differentiate vehicle
Principal act, the loudspeaker (233) on the robot (2) issue different speech prompt informations according to the result of resolution.
10. a kind of wisdom parking stall guarding robot, it is characterised in that:
To can be realized the robot that method is escorted in a kind of any wisdom parking stall of claim 1 ~ 9.
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| CN110556023A (en) * | 2019-10-17 | 2019-12-10 | 广州开能智慧城市技术有限公司 | Parking space idle time information display device and parking space sharing system |
| CN110706511A (en) * | 2019-10-17 | 2020-01-17 | 广州开能智慧城市技术有限公司 | Parking space idle time information display device |
| CN110706512A (en) * | 2019-10-17 | 2020-01-17 | 广州开能智慧城市技术有限公司 | Parking space idle time information display method, computer equipment and readable storage medium |
| CN110706510A (en) * | 2019-10-17 | 2020-01-17 | 广州开能智慧城市技术有限公司 | Parking space idle time sharing method, computer equipment and storage medium |
| CN111540230A (en) * | 2020-05-06 | 2020-08-14 | 成都翔宇致远文化传播有限公司 | Management system based on block chain technology |
| CN114255589A (en) * | 2021-12-14 | 2022-03-29 | 北京筑梦园科技有限公司 | Vehicle dynamic confirmation method and device and parking management system |
| CN117593910A (en) * | 2024-01-18 | 2024-02-23 | 融科联创(天津)信息技术有限公司 | Intelligent monitoring method and system based on computer vision |
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