CN110842935A - Suspension rail type parking lot security intelligent robot - Google Patents

Suspension rail type parking lot security intelligent robot Download PDF

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Publication number
CN110842935A
CN110842935A CN201911089713.9A CN201911089713A CN110842935A CN 110842935 A CN110842935 A CN 110842935A CN 201911089713 A CN201911089713 A CN 201911089713A CN 110842935 A CN110842935 A CN 110842935A
Authority
CN
China
Prior art keywords
processor
track
parking lot
image
management server
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.)
Pending
Application number
CN201911089713.9A
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Chinese (zh)
Inventor
刘瑜
龚小斌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hangzhou Jingyi Intelligent Science and Technology Co Ltd
Original Assignee
Hangzhou Jingyi Intelligent Science and Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hangzhou Jingyi Intelligent Science and Technology Co Ltd filed Critical Hangzhou Jingyi Intelligent Science and Technology Co Ltd
Priority to CN201911089713.9A priority Critical patent/CN110842935A/en
Publication of CN110842935A publication Critical patent/CN110842935A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02Sensing devices
    • B25J19/021Optical sensing devices
    • B25J19/023Optical sensing devices including video camera means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00Manipulators mounted on wheels or on carriages
    • B25J5/02Manipulators mounted on wheels or on carriages travelling along a guideway

Abstract

The invention relates to a suspension rail type parking lot security protection intelligent robot, which comprises a rail arranged above a passage of a parking lot, the track is provided with a track moving device, an image acquisition device is arranged below the track moving device, and a remote management server, wherein the image acquisition device is provided with a graphic processor and an omnidirectional pan-tilt camera, the omnidirectional pan-tilt camera has the functions of rotating horizontally by 360 degrees and rotating vertically by 120 degrees, the track moving device is provided with a centralized control processor, and a driving module, a second wireless communication module, a camera interface and an illumination module which are connected with the processor, the second wireless communication module is in communication connection with the management server, the processor is connected with the image acquisition device through the camera interface, and the processor is provided with an intelligent security algorithm.

Description

Suspension rail type parking lot security intelligent robot
Technical Field
The invention relates to a suspension rail type parking lot security intelligent robot, and belongs to the field of mobile robot control.
Background
The parking lot is used as a place for storing automobiles, so that parking space management is needed, and the safety of personnel and vehicles must be ensured. The main potential safety hazards in parking lots are classified into three categories:
firstly, the safety of people when getting in and out. Because the parking lot generally has rare people and is still underground, people are easy to be damaged when parking or taking a vehicle.
And secondly, vehicle robbery and scraping. Vehicles belong to valuable assets of people and are also easy to become the target of crime. Vehicle scraping is often a single accident caused by other vehicles unintentionally when entering or leaving a parking space.
And thirdly, a natural fire. The traditional automobile is loaded with gasoline, while the new energy automobile is loaded with a battery, which are main factors for generating automobile spontaneous combustion. If the fire is allowed to spread, multiple cars may be burned.
The security of the existing parking lot is mainly completed by security and fixing a camera. Security patrol has two main disadvantages: firstly, personnel mobility is big to parking area operational environment is poor, and the people who are willing to do this work will be less and less from now on. Secondly, night patrol work at night violates the human biological clock law, and the execution of each patrol work cannot be guaranteed. The biggest drawback of using a fixed camera solution is the inability to cover every corner.
Along with the development of robots and image processing technologies, the unattended parking lot will become the future direction.
Disclosure of Invention
The invention aims to overcome the technical defects and provides a suspended rail type parking lot security intelligent robot, which adopts the technical scheme that:
a suspended rail type parking lot security protection intelligent robot comprises a rail arranged above a passage of a parking lot, the track is provided with a track moving device, an image acquisition device is arranged below the track moving device, and a remote management server, wherein the management server is provided with a first wireless communication module, the track moving device is provided with a centralized control processor, and a driving module, a second wireless communication module, a camera interface and an illumination module which are connected with the processor, the second wireless communication module is in communication connection with the first communication module, the driving module can drive the track moving device to move on the track under the control of the processor, the processor is connected with the image acquisition device through the camera interface, and the processor is provided with an intelligent security algorithm.
2. The intelligent robot for security of the suspended rail type parking lot as claimed in claim 1, wherein: the image acquisition device is provided with a graphic processor and an omnidirectional pan-tilt camera, the omnidirectional pan-tilt camera has the functions of rotating horizontally by 360 degrees and rotating vertically by 120 degrees, and the graphic processor is provided with an image acquisition and intelligent monitoring algorithm.
The image acquisition and intelligent monitoring algorithm comprises the following steps:
3-1, the image processor collects images of the parking lot through the omnidirectional pan-tilt camera;
3-2, the image processor detects whether a pedestrian exists through a pedestrian detection algorithm, and if the pedestrian exists, the image processor outputs the position of the pedestrian to the processor through the camera interface;
3-3, the image processor detects whether a vehicle exists in the channel through a vehicle detection algorithm, and if the vehicle exists, the image processor outputs the position of the vehicle to the processor through the camera interface;
3-4, the image processor detects whether flame exists through a flame detection algorithm, and if the flame exists, the position of the flame is output to the processor through the camera interface.
The intelligent security algorithm comprises the following steps:
4-1, the processor controls the track moving device to stay at one end of the track, and the omnidirectional pan-tilt camera points to the other end of the track;
4-2, if the processor receives pedestrian information sent from the graphic processor, the processor controls the track moving device to track pedestrians, turns on the lighting module and transmits images and prompt information to the management server;
4-3, if the processor receives the vehicle information sent from the graphic processor, the processor controls the track moving device to track the vehicle, updates the parking space state, simultaneously turns on the lighting module, and transmits images and prompt information to the management server;
4-4, if the processor receives the flame information sent from the graphic processor, the processor controls the track moving device to reach the position near the flame, and transmits image and alarm information to the management server.
The implementation of the invention has the positive effects that: 1. the suspended track type mobile robot avoids the difficult problem of a complex mobile robot; 2. the maximum security protection range is realized by the minimum number of robots; 3. the detection of pedestrians, vehicles and fire disasters is realized.
Drawings
FIG. 1 is an external view of a suspended rail type parking lot security intelligent robot;
fig. 2 is a control schematic block diagram of the track-moving device.
Detailed Description
The invention will now be further described with reference to the accompanying drawings in which:
referring to fig. 1-2, hang rail mounted parking area security protection intelligent robot, including installing the track 1 in the passageway top in parking area, track 1 on set up track mobile device 2, track mobile device 2 below set up image acquisition device 3 to and set up at long-range management server, management server set up first wireless communication module.
The track 1 provides a fixed motion track for the intelligent robot, and the self-positioning, path planning and obstacle avoidance problems are not considered. The management server is arranged in a remote monitoring room and used for storing and displaying on-site video images and alarm information. The image acquisition device 3 is provided with a graphic processor and an omnidirectional pan-tilt camera, the omnidirectional pan-tilt camera has the functions of rotating horizontally by 360 degrees and rotating vertically by 120 degrees, and the graphic processor is provided with an image acquisition and intelligent monitoring algorithm.
The track moving device 2 is provided with a processor 4 for centralized control, and a driving module 5, a second wireless communication module 6, a camera interface 7 and a lighting module 8 which are connected with the processor 4. The second wireless communication module 6 establishes communication connection with the first communication module to realize the communication connection between the processor 4 and the management server; the driving module 5 can drive the track moving device 2 to move on the track 1 under the control of the processor 4; the camera interface 7 realizes the connection between the processor 4 and the image acquisition device 3; the lighting module 8 can provide additional lighting for pedestrians; and the processor 4 is provided with an intelligent security algorithm.
The image acquisition and intelligent monitoring algorithm comprises the following steps:
3-1, the image processor collects images of the parking lot through the omnidirectional pan-tilt camera;
3-2, the image processor detects whether a pedestrian exists through a pedestrian detection algorithm, and if the pedestrian exists, the image processor outputs the position of the pedestrian to the processor 4 through the camera interface 7;
3-3, the image processor detects whether a vehicle exists in the channel through a vehicle detection algorithm, and if the vehicle exists, the image processor outputs the position of the vehicle to the processor 4 through the camera interface 7;
3-4, the image processor detects whether there is flame by flame detection algorithm, if there is flame, the position of flame is output to the processor 4 by the camera interface 7.
The intelligent security algorithm comprises the following steps:
4-1, the processor 4 controls the track 1 moving device 2 to stay at one end of the track 1, and the omnidirectional pan-tilt camera points to the other end of the track 1;
4-2, if the processor 4 receives the pedestrian information sent from the graphic processor, the processor 4 controls the track moving device 2 to track the pedestrian, turns on the lighting module 8, and transmits the image and the prompt information to the management server;
4-3, if the processor 4 receives the vehicle information sent from the graphic processor, the processor 4 controls the track moving device 2 to track the vehicle, updates the parking space state, simultaneously turns on the lighting module 8, and transmits images and prompt information to the management server;
4-4, if the processor 4 receives the flame information sent from the image processor, the processor 4 controls the track moving device 2 to reach the position near the flame, and transmits image and alarm information to the management server.

Claims (4)

1. Hang rail mounted parking area security protection intelligent robot, including installing the track in the passageway top in parking area, the track on set up track mobile device, track mobile device below set up image acquisition device to and set up at long-range management server, management server set up first wireless communication module, its characterized in that: the track mobile device set up centralized control's treater, and with drive module, second wireless communication module, camera interface and the lighting module that the treater is connected, second wireless communication module with first communication module establish the communication and connect, drive module be in the control of treater under can drive the track mobile device be in the track on remove, the treater pass through the camera interface with image acquisition device connect, the treater set up intelligent security algorithm.
2. The intelligent robot for security of the suspended rail type parking lot as claimed in claim 1, wherein: the image acquisition device is provided with a graphic processor and an omnidirectional pan-tilt camera, the omnidirectional pan-tilt camera has the functions of rotating horizontally by 360 degrees and rotating vertically by 120 degrees, and the graphic processor is provided with an image acquisition and intelligent monitoring algorithm.
3. The intelligent robot for security of the suspended rail type parking lot as claimed in claims 1 and 2, which is characterized in that: the image acquisition and intelligent monitoring algorithm comprises the following steps:
3-1, the image processor collects images of the parking lot through the omnidirectional pan-tilt camera;
3-2, the image processor detects whether a pedestrian exists through a pedestrian detection algorithm, and if the pedestrian exists, the image processor outputs the position of the pedestrian to the processor through the camera interface;
3-3, the image processor detects whether a vehicle exists in the channel through a vehicle detection algorithm, and if the vehicle exists, the image processor outputs the position of the vehicle to the processor through the camera interface;
3-4, the image processor detects whether flame exists through a flame detection algorithm, and if the flame exists, the position of the flame is output to the processor through the camera interface.
4. The intelligent robot for security of the suspended rail type parking lot as claimed in claims 1, 2 and 3, which is characterized in that: the intelligent security algorithm comprises the following steps:
4-1, the processor controls the track moving device to stay at one end of the track, and the omnidirectional pan-tilt camera points to the other end of the track;
4-2, if the processor receives pedestrian information sent from the graphic processor, the processor controls the track moving device to track pedestrians, turns on the lighting module and transmits images and prompt information to the management server;
4-3, if the processor receives the vehicle information sent from the graphic processor, the processor controls the track moving device to track the vehicle, updates the parking space state, simultaneously turns on the lighting module, and transmits images and prompt information to the management server;
4-4, if the processor receives the flame information sent from the graphic processor, the processor controls the track moving device to reach the position near the flame, and transmits image and alarm information to the management server.
CN201911089713.9A 2019-11-08 2019-11-08 Suspension rail type parking lot security intelligent robot Pending CN110842935A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911089713.9A CN110842935A (en) 2019-11-08 2019-11-08 Suspension rail type parking lot security intelligent robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911089713.9A CN110842935A (en) 2019-11-08 2019-11-08 Suspension rail type parking lot security intelligent robot

Publications (1)

Publication Number Publication Date
CN110842935A true CN110842935A (en) 2020-02-28

Family

ID=69600159

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911089713.9A Pending CN110842935A (en) 2019-11-08 2019-11-08 Suspension rail type parking lot security intelligent robot

Country Status (1)

Country Link
CN (1) CN110842935A (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111526335A (en) * 2020-05-03 2020-08-11 杭州晶一智能科技有限公司 Target tracking algorithm for suspended track type omnidirectional pan-tilt camera
CN113334405A (en) * 2021-06-12 2021-09-03 四川德鑫源机器人有限公司 Garage security protection patrols and examines robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111526335A (en) * 2020-05-03 2020-08-11 杭州晶一智能科技有限公司 Target tracking algorithm for suspended track type omnidirectional pan-tilt camera
CN111526335B (en) * 2020-05-03 2021-08-27 金华精研机电股份有限公司 Target tracking method for suspended track type omnidirectional pan-tilt camera
CN113334405A (en) * 2021-06-12 2021-09-03 四川德鑫源机器人有限公司 Garage security protection patrols and examines robot

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