CN111833647B - Stereo garage management robot system and control method - Google Patents
Stereo garage management robot system and control method Download PDFInfo
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- CN111833647B CN111833647B CN202010724587.6A CN202010724587A CN111833647B CN 111833647 B CN111833647 B CN 111833647B CN 202010724587 A CN202010724587 A CN 202010724587A CN 111833647 B CN111833647 B CN 111833647B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/142—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
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07F—COIN-FREED OR LIKE APPARATUS
- G07F17/00—Coin-freed apparatus for hiring articles; Coin-freed facilities or services
- G07F17/24—Coin-freed apparatus for hiring articles; Coin-freed facilities or services for parking meters
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B3/00—Audible signalling systems; Audible personal calling systems
- G08B3/10—Audible signalling systems; Audible personal calling systems using electric transmission; using electromagnetic transmission
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/76—Television signal recording
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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Abstract
The invention discloses a stereo garage management robot system and a control method, which relate to the technical field of stereo garages, and have the technical scheme that: comprises a machine body and a control system; the machine main body comprises a sound positioner, a walking driving mechanism, a first camera, a second camera, a projector and a display screen; the control system comprises a vehicle positioning module, a robot navigation module, a payment management module, a stop line projection module, an image acquisition module and a command control module. The parking space is automatically searched through the positioning navigation of the vehicle unit and the robot, so that the vehicle parking time of a driver is reduced; after the code is scanned, the parking operation and the charging are started, and the parking position of the vehicle is automatically guided after the intelligent terminal finishes the payment, so that the payment is fast, and the vehicle is convenient to take; in addition, put in the fluorescence car position line, can clearly show the parking stall position, make things convenient for navigating mate's safety to drive into corresponding parking stall.
Description
Technical Field
The invention relates to the technical field of stereo garages, in particular to a stereo garage management robot system and a control method.
Background
A stereo garage, also called mechanical parking equipment, is composed of mechanical and electrical systems and is used for storing and taking vehicles. The earliest stereo garages appeared in western europe and america. Along with the rapid development of Chinese economy and the pace of getting cars into families accelerating, the stereo garage becomes the best solution for solving the problem of urban parking in China.
At present, a three-dimensional garage mainly comprises a double-layer lifting three-dimensional parking garage and a multi-layer linkage three-dimensional parking garage, parking spaces are mainly searched by a driver when a car body is parked or released, the time spent on searching vacant parking spaces in a strange environment is long, and the vehicle parking positions are inconvenient to search when the car is taken; in addition, the parking fee payment operation is troublesome, most drivers pay by scanning codes when the vehicle drives to the garage exit, and the exit channel is easy to be blocked; in addition, the existing parking garage has no corresponding safety measures during operation, and vehicle management disputes easily exist, such as: the vehicle is scratched and damaged.
Therefore, how to research and design a stereo garage management robot system and a control method is a problem which is urgently needed to be solved at present.
Disclosure of Invention
The invention aims to provide a stereo garage management robot system and a control method, aiming at solving the problems that the existing stereo garage is difficult to find parking spaces, inconvenient in payment operation and easy to have vehicle management disputes.
The technical purpose of the invention is realized by the following technical scheme:
in a first aspect, a stereo garage management robot system is provided, which comprises a machine main body and a control system;
the machine main body comprises a sound positioner, a walking driving mechanism, a first camera, a second camera, a projector and a display screen;
the control system comprises a vehicle positioning module, a robot navigation module, a payment management module, a stop line projection module, an image acquisition module and a command control module;
the vehicle positioning module is used for identifying and positioning the parking vehicle through the sound positioner and sending first feedback information after the parking vehicle is identified and positioned successfully;
the robot navigation module is used for driving the robot to one side of a parking vehicle through the cooperation of the walking driving mechanism and the first camera after receiving the first feedback information, driving the robot to a preset position of a parking stall according to the second feedback information, sending out third feedback information, and enabling the robot to travel along the fluorescent stall wire loop for one circle according to the fourth feedback information;
the payment management module is used for displaying payment information through a display screen and sending out second feedback information after payment is finished;
the parking line projection module is used for projecting a fluorescent parking line on the parking space through a projector after receiving the third feedback information, and sending fourth feedback information after the vehicle to be parked is parked in the fluorescent parking line;
the image acquisition module is used for acquiring images of vehicle conditions around the parking vehicle through the second camera under the cooperation of the robot navigation module after receiving the fourth feedback information;
and the command control module is used for controlling the corresponding instrument equipment to complete corresponding operation according to the feedback information.
Preferably, the control system further comprises a time registration module and a vehicle planning module;
the time registration module is used for acquiring the information of the pre-parking time input by the user on the display screen;
and the vehicle planning module is used for planning a vehicle parking path according to the pre-parking time information and the low energy consumption standard of the garage.
Preferably, the control system further comprises a parking guidance module and a voice player;
the parking guide module is used for carrying out image processing on the image of the fluorescent parking line of the parked vehicle, and sending fifth feedback information according to standard parking information;
and the command control module controls the voice player to send out voice guide information according to the fifth feedback information.
Preferably, the control system further comprises an intelligent parking module and a Bluetooth module;
the Bluetooth module is used for connecting an automatic parking module of a parked vehicle with the intelligent parking module;
and the intelligent parking module is used for controlling the automatic parking module to finish automatic parking of the parked vehicle.
Preferably, the control system further comprises a license plate recognition module and a vehicle management module;
the license plate recognition module is used for recognizing the license plate of the parking vehicle, judging whether the parking vehicle is a member vehicle or not, and sending sixth feedback information if the parking vehicle is the member vehicle;
and the vehicle management module is used for automatically finishing operations of fee deduction and parking space selection according to the sixth feedback information.
In a second aspect, a stereo garage management robot control method includes the following steps:
the method comprises the steps that a parking vehicle is identified and positioned through a sound positioner, and first feedback information is sent out after the parking vehicle is identified and positioned successfully;
after the first feedback information is received, the robot is driven to one side of the parking vehicle through the cooperation of the traveling driving mechanism and the first camera, the robot is driven to a preset position of a parking space according to the second feedback information, third feedback information is sent out, and the robot is driven to move around along the fluorescent parking space according to the fourth feedback information;
displaying payment information through a display screen, and sending second feedback information after payment is finished;
after receiving the third feedback information, projecting a fluorescent car position line on the parking space through a projector, and sending fourth feedback information after the car to be parked is parked in the fluorescent car position line;
after receiving the fourth feedback information, acquiring images of vehicle conditions around the parking vehicle through a second camera under the cooperation of the robot navigation module;
and controlling the corresponding instrument equipment to complete corresponding operation according to the feedback information.
Preferably, the method further comprises:
collecting pre-parking time information input by a user on a display screen;
and planning the vehicle parking path according to the pre-parking time information and the low energy consumption standard of the garage.
Preferably, the method further comprises:
carrying out image processing on the image of the fluorescent parking space line of the parked vehicle, and sending out fifth feedback information according to the standard parking information;
and controlling the voice player to send out voice guide information according to the fifth feedback information.
Preferably, the method further comprises:
connecting an automatic parking module of a parking vehicle with an intelligent parking module;
and controlling the automatic parking module to finish automatic parking of the parked vehicle.
Preferably, the method further comprises:
identifying the license plate of the parking vehicle, judging whether the parking vehicle is a member vehicle or not, and sending sixth feedback information if the parking vehicle is the member vehicle;
and automatically finishing fee deduction and parking space selection operation according to the sixth feedback information.
Compared with the prior art, the invention has the following beneficial effects:
1. the parking space is automatically searched through the positioning navigation of the vehicle unit and the robot, so that the vehicle parking time of a driver is reduced; meanwhile, the operation of fee deduction and parking space selection is automatically completed for the parking vehicles with long renting spaces and private parking spaces;
2. according to the invention, the parking operation and the charging are started after the code scanning is paid, and the parking position of the vehicle is automatically guided after the intelligent terminal finishes the payment, so that the payment is fast, and the vehicle is convenient to take; meanwhile, the safety condition existing in parking and warehousing is subjected to language guidance through an image recognition technology, so that the user experience is enhanced; in addition, data communication is carried out through the Bluetooth module, and automatic parking of the vehicle is realized;
3. according to the invention, by putting the fluorescent parking space line, the position of the parking space can be clearly displayed, and a driver can conveniently and safely drive into the corresponding parking space; meanwhile, vehicle images when the parked vehicles are parked are collected and stored, so that the problem of vehicle management disputes is solved;
4. according to the invention, through carrying out statistical analysis on the pre-parking time of the parked vehicle, the parking path is selected for the parked vehicle, so that the parking and taking operation of the vehicle is convenient, the operation energy consumption of the stereo garage is reduced, and the operation cost is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic view showing the overall structure of a machine body in an embodiment of the invention;
FIG. 2 is a functional block diagram of a control system in an embodiment of the present invention;
fig. 3 is a flow chart in an embodiment of the invention.
In the figure: 101. a travel drive mechanism; 102. a traveling mechanism; 103. a rotating mechanism; 104. a telescoping mechanism; 105. a protective cover; 106. a first camera; 107. a second camera; 108. a projector; 109. a sound locator; 110. a display screen; 111. a voice player; 112. a Bluetooth adapter; 201. a vehicle positioning module; 202. a robot navigation module; 203. a payment management module; 204. a stop line projection module; 205. an image acquisition module; 206. a command control module; 207. a time registration module; 208. a vehicle planning module; 209. a parking guide module; 210. an intelligent parking module; 211. a Bluetooth module; 212. a license plate recognition module; 213. a vehicle management module.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to fig. 1 to 3 and embodiments 1 to 2.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element.
It will be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like, as used herein, refer to an orientation or positional relationship indicated in the drawings that is solely for the purpose of facilitating the description and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and is therefore not to be construed as limiting the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Example 1: a stereo garage management robot system, as shown in fig. 1 and 2, includes a machine body and a control system.
As shown in fig. 1, the machine body includes a sound locator 109, a travel drive mechanism 101, a first camera 106, a second camera 107, a projector 108, and a display screen 110. The traveling driving mechanism 101 includes a traveling mechanism 102, a rotating mechanism 103, and a telescoping mechanism 104, which are sequentially disposed from bottom to top, and an end of the telescoping mechanism 104 far from the rotating mechanism 103 is connected to the display screen 110.
In this embodiment, four sound locators 109 are used and are evenly distributed along the circumference of the telescopic mechanism 104. In the present embodiment, a first camera 106 is mounted on the surface of the traveling mechanism 102, and a second camera 107 and a projector 108 are mounted on the surface of the telescopic mechanism 104. In this embodiment, the bottom end of the display screen 110 is provided with a protective cover 105, and when the telescopic mechanism 104 retracts, the protective cover 105 covers the second camera 107, the projector 108, and the sound locator 109, so as to prevent the precision instrument from being damaged.
As shown in fig. 1 and 2, the control system includes a vehicle positioning module 201, a robot navigation module 202, a payment management module 203, a stop line projection module 204, an image acquisition module 205, and a command control module 206.
And the vehicle positioning module 201 is configured to identify and position the parked vehicle through the sound locator 109, and send out the first feedback information after the identification and the positioning are successful.
And the robot navigation module 202 is used for driving the robot to one side of the parking vehicle through the cooperation of the walking driving mechanism 101 and the first camera 106 after receiving the first feedback information, and at the moment, a driver can directly scan the payment information displayed by the display screen 110 to complete payment without getting off the vehicle. The robot navigation module 202 further drives the robot to a preset parking space position according to the second feedback information, and sends out third feedback information. And the robot navigation module 202 makes the robot line around the fluorescent parking space line according to the fourth feedback information. Wherein. The robot may travel including, but not limited to, straight travel, steering, lifting, etc.
And the payment management module 203 is configured to display the payment information through the display screen 110, and send out second feedback information after the payment is completed. The user starts parking operation and charging after scanning the sign indicating number through payment to automatic guide vehicle parking position after intelligent terminal accomplishes expense payment, reached expense payment promptly swift, make the car of getting simultaneously convenient.
And the parking line projection module 204 is configured to project the fluorescent parking space line on the parking space through the projector 108 after receiving the third feedback information, and send out fourth feedback information after the vehicle to be parked is parked in the fluorescent parking space line.
And the image acquisition module 205 is configured to perform image acquisition on the vehicle conditions around the parked vehicle through the second camera 107 under the cooperation of the robot navigation module 202 after receiving the fourth feedback information. Through twice image acquisition of parking and vehicle taking, direct evidence can be provided for vehicle management disputes.
And the command control module 206 is used for controlling the corresponding instrument equipment to complete corresponding operations according to the feedback information.
The control system further includes a time registration module 207, a vehicle planning module 208. The time registration module 207 is used to collect pre-parking time information input by the user on the display screen 110. The vehicle planning module 208 is configured to plan a vehicle parking path according to the pre-parking time information and the low energy consumption standard of the garage.
The control system also includes a parking guidance module 209, a voice player 111. In the present embodiment, the voice player 111 is mounted on the outer wall of the display screen 110. And the parking guidance module 209 is configured to perform image processing on the image of the fluorescent parking space line where the parked vehicle enters the garage, and send fifth feedback information according to the standard parking information. The command control module 206 controls the voice player 111 to issue voice guidance information according to the fifth feedback information.
The control system also comprises an intelligent parking module 210 and a Bluetooth module 211. And the bluetooth module 211 is configured to connect an automatic parking module of the parked vehicle with the intelligent parking module 210. And the intelligent parking module 210 is used for controlling the automatic parking module to finish automatic parking of the parked vehicle. In this embodiment, the bluetooth module 211 employs a bluetooth adapter 112 mounted on a sidewall of the display screen 110.
The control system further comprises a license plate recognition module 212 and a vehicle management module 213. And the license plate recognition module 212 is configured to recognize a license plate of the parking vehicle, determine whether the parking vehicle is a member vehicle, and send sixth feedback information if the parking vehicle is a member vehicle. The vehicle management module 213 is configured to automatically complete the fee deduction and parking space selection operations according to the sixth feedback information.
Example 2: a control method for a stereo garage management robot, as shown in fig. 1-3, includes the following steps:
step one, the parking vehicle is identified and positioned through the sound positioner 109, and first feedback information is sent out after the identification and positioning are successful.
And step two, after the first feedback information is received, the robot is driven to one side of the parking vehicle through the cooperation of the walking driving mechanism 101 and the first camera 106, the robot is driven to a preset position of the parking space according to the second feedback information, third feedback information is sent out, and the robot is driven to move for a circle along the fluorescent parking space wire loop according to the fourth feedback information.
And step three, displaying the payment information through the display screen 110, and sending second feedback information after the payment is finished.
And step four, after the third feedback information is received, projecting the fluorescent car position line on the parking space through the projector 108, and sending fourth feedback information after the car to be parked is parked in the fluorescent car position line.
And step five, after the fourth feedback information is received, the robot navigation module 202 is matched with the second camera 107 to acquire images of the vehicle conditions around the parking vehicle.
And step six, controlling the corresponding instrument equipment to complete corresponding operation according to the feedback information.
The method also includes collecting pre-parking time information entered by the user at the display screen 110. And planning the vehicle parking path according to the pre-parking time information and the low energy consumption standard of the garage.
The method further comprises the steps of carrying out image processing on the images of the fluorescent parking space lines of the parked vehicles, and sending out fifth feedback information according to the standard parking information. And controlling the voice player 111 to emit voice guide information according to the fifth feedback information.
The method further includes connecting an automatic parking module of the parked vehicle with the intelligent parking module 210. And controlling the automatic parking module to finish automatic parking of the parked vehicle.
The method further comprises the steps of identifying the license plate of the parking vehicle, judging whether the parking vehicle is a member vehicle or not, and sending sixth feedback information if the parking vehicle is the member vehicle. And automatically finishing fee deduction and parking space selection operation according to the sixth feedback information.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (8)
1. A robot system for managing a stereo garage is characterized by comprising a machine main body and a control system;
the machine body comprises a sound positioner (109), a walking driving mechanism (101), a first camera (106), a second camera (107), a projector (108) and a display screen (110);
the control system comprises a vehicle positioning module (201), a robot navigation module (202), a payment management module (203), a stop line projection module (204), an image acquisition module (205) and a command control module (206);
the vehicle positioning module (201) is used for identifying and positioning the parking vehicle through the sound positioner (109), and sending out first feedback information after the identification and positioning are successful;
the robot navigation module (202) is used for driving the robot to one side of a parking vehicle through the cooperation of the walking driving mechanism (101) and the first camera (106) after receiving the first feedback information, driving the robot to a preset position of a parking space according to the second feedback information, sending out third feedback information, and enabling the robot to travel for one circle along the fluorescent parking space wire loop according to the fourth feedback information;
the payment management module (203) is used for displaying payment information through the display screen (110) and sending out second feedback information after payment is completed;
the parking line projection module (204) is used for projecting a fluorescent parking line on a parking space through a projector (108) after receiving the third feedback information, and sending out fourth feedback information after a vehicle to be parked is parked in the fluorescent parking line;
the image acquisition module (205) is used for acquiring images of vehicle conditions around the parked vehicle through the second camera (107) under the cooperation of the robot navigation module (202) after receiving the fourth feedback information;
the command control module (206) is used for controlling the corresponding instrument equipment to complete corresponding operation according to the feedback information;
the control system further comprises a time registration module (207), a vehicle planning module (208);
the time registration module (207) is used for collecting the information of the pre-parking time input by the user on the display screen (110);
and the vehicle planning module (208) is used for planning a vehicle parking path according to the pre-parking time information and the garage low-energy consumption standard.
2. The stereo garage management robot system of claim 1, wherein the control system further comprises a parking guidance module (209), a voice player (111);
the parking guide module (209) is used for carrying out image processing on the image of the fluorescent parking space line of the parked vehicle, and sending out fifth feedback information according to standard parking information;
and the command control module (206) controls the voice player (111) to send out voice guide information according to the fifth feedback information.
3. The stereo garage management robot system of claim 1, wherein the control system further comprises an intelligent parking module (210), a bluetooth module (211);
the Bluetooth module (211) is used for connecting an automatic parking module of a parked vehicle with the intelligent parking module (210);
and the intelligent parking module (210) is used for controlling the automatic parking module to finish automatic parking of the parked vehicle.
4. The stereo garage management robot system of claim 1, wherein the control system further comprises a license plate recognition module (212), a vehicle management module (213);
the license plate recognition module (212) is used for recognizing the license plate of the parking vehicle, judging whether the parking vehicle is a member vehicle or not, and sending sixth feedback information if the parking vehicle is the member vehicle;
and the vehicle management module (213) is used for automatically completing fee deduction and parking space selection operation according to the sixth feedback information.
5. A control method for a management robot of a stereo garage is characterized by comprising the following steps:
the method comprises the steps that a parking vehicle is identified and positioned through a sound positioner (109), and first feedback information is sent out after the identification and the positioning are successful;
after the first feedback information is received, the robot is driven to one side of the parking vehicle through the cooperation of the traveling driving mechanism (101) and the first camera (106), the robot is driven to a preset position of the parking space according to the second feedback information, third feedback information is sent out, and the robot is driven to move for a circle along the fluorescent parking space wire loop according to the fourth feedback information;
the payment information is displayed through the display screen (110), and second feedback information is sent out after the payment is finished;
after the third feedback information is received, a fluorescent car position line is projected on the parking space through a projector (108), and a vehicle to be parked is sent out fourth feedback information after being parked in the fluorescent car position line;
after receiving the fourth feedback information, the robot navigation module (202) is matched with a second camera (107) to acquire images of vehicle conditions around the parking vehicle;
controlling corresponding instrument equipment to complete corresponding operation according to the feedback information;
the method further comprises the following steps:
collecting pre-parking time information input by a user on a display screen (110);
and planning the vehicle parking path according to the pre-parking time information and the low energy consumption standard of the garage.
6. The method of claim 5, further comprising:
carrying out image processing on the image of the fluorescent parking space line of the parked vehicle, and sending out fifth feedback information according to the standard parking information;
and controlling the voice player (111) to send out voice guide information according to the fifth feedback information.
7. The method of claim 5, further comprising:
connecting an automatic parking module of a parked vehicle with an intelligent parking module (210);
and controlling the automatic parking module to finish automatic parking of the parked vehicle.
8. The method of claim 5, further comprising:
identifying the license plate of the parking vehicle, judging whether the parking vehicle is a member vehicle or not, and sending sixth feedback information if the parking vehicle is the member vehicle;
and automatically finishing fee deduction and parking space selection operation according to the sixth feedback information.
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| KR20190103089A (en) * | 2019-08-15 | 2019-09-04 | 엘지전자 주식회사 | Method and apparatus for moving a parking vehicle for an emegency vehicle in autonomous driving system |
| CN111091718A (en) * | 2019-12-31 | 2020-05-01 | 广东华车智库智能科技有限公司 | Parking monitoring early warning method and parking monitoring early warning system |
| CN111192469A (en) * | 2020-01-06 | 2020-05-22 | 珠海丽亭智能科技有限公司 | Robot parking lot task scheduling strategy method |
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