CN112802365A - Parking space management and control method and mobile robot - Google Patents
Parking space management and control method and mobile robot Download PDFInfo
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- CN112802365A CN112802365A CN202110162513.2A CN202110162513A CN112802365A CN 112802365 A CN112802365 A CN 112802365A CN 202110162513 A CN202110162513 A CN 202110162513A CN 112802365 A CN112802365 A CN 112802365A
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- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/148—Management of a network of parking areas
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- G—PHYSICS
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- 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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Abstract
The invention discloses a parking space management and control method and a mobile robot. According to the invention, the identification information of the target vehicle reserved to stay in the target parking space is obtained from the management control instruction, and when one of the identification information of the at least one vehicle to be identified is matched with the identification information of the target vehicle, a first type of management operation is carried out to allow the target vehicle to drive into the target parking space, so that the situation that the parking space is occupied is avoided. When the mobile robot moves from the second area to the first area, the moving time of the mobile robot is obtained, and when the moving time exceeds a first preset time, the mobile robot is controlled to stop moving so as to avoid collision of the mobile robot with other vehicles due to the fact that the mobile robot does not find the first area to move for a long time.
Description
Technical Field
The invention relates to a computer control technology, in particular to a parking space management and control method and a mobile robot.
Background
The rapid development of domestic economy and the improvement of living standard promote the popularization and use of private cars, and public statistical data show that the quantity of urban parking spaces is far lower than that of private cars at present, and the matching speed of urban parking space resources is seriously lagged behind the growth speed of the reserved quantity of cars, so that the contradiction between supply and demand of the parking spaces is increasingly severe, the problem of parking becomes a big problem of urban development, and the urban parking space is also a main incentive for causing urban resident parking disputes.
In recent years, in order to alleviate the problem of parking difficulty, urban residents adopt various modes such as installing parking stall locks (ground locks), setting road cone obstacles, specially-assigned persons to watch and manage private parking stalls, and various internet parking service enterprises also grope and innovate a new mode of sharing parking management services such as parking and reserved parking.
However, the existing individual parking space management mode and enterprise sharing/parking reservation service mode have the following disadvantages:
(1) present individual parking stall if nobody keeps watch, only places ordinary roadblock, road cone, perhaps does not install management and control facilities such as parking stall lock, still is extremely easily taken up the use by other vehicles by force, leads to the car owner of private parking stall to park, arouses the dispute extremely easily.
(2) The mode that adopts installation parking stall lock carries out the management and control, installs in the middle of the parking stall and fixes. Not only need spend equipment purchase cost and installation cost, produce the destruction to the ground of parking stall, influence pleasing to the eye, but also the condition of scraping colored vehicle after causing the vehicle to collide with the parking stall lock because of car owner's misoperation easily takes place.
(3) The adoption is placed the way awl at the parking stall manual work or the mode that artifical occupy-place was managed, though the effect is good, but needs the special messenger to manage. If the parking lot is large, a large amount of manpower is consumed, the labor cost is high, and an operation manager cannot bear the labor cost. Moreover, the road cone placed is moved by other people to occupy without any warning and prompting, so that the road cone is not beneficial to timely finding of illegal parking conditions and communicating vehicles moving by an operation manager, and is also not beneficial to punishment measures such as fine and the like on the vehicle owner occupying the parking space.
(4) In the existing reserved parking mode of shared parking/off-peak parking, the owner of a reserved parking vehicle often stops at a parking space close to a parking lot for the convenience of a drawing and does not stop at a parking space distributed by a reservation system, so that other reserved owners are influenced to park, the normal reserved parking order is disturbed, and the difficulty is increased for operation management. Moreover, it is difficult to achieve semi-unmanned or unmanned guard of the parking lot, which increases the management cost of the operation manager.
Disclosure of Invention
The embodiment of the invention provides a parking space management and control method and a mobile robot, which effectively solve the problem that the existing parking space is often occupied by other vehicles.
According to an aspect of the present invention, there is provided a parking space managing and controlling method, which performs the following steps by a mobile robot: receiving a management control instruction via a communication link; and implementing management operation based on the management control instruction so as to allow or prohibit the vehicle to enter the target parking space.
Further, the managing operation further comprises: when the management control instruction indicates that a vehicle will use the target parking space, acquiring identification information of a target vehicle reserved for parking in the target parking space from the management control instruction, wherein the identification information is an identifier having a unique association relationship with the target vehicle; detecting whether at least one vehicle to be identified exists in the visible area; when at least one vehicle to be identified exists in the visible area, acquiring identification information of the at least one vehicle to be identified; judging whether the identification information of the at least one vehicle to be identified is matched with the identification information of the target vehicle; when one of the identification information of the at least one vehicle to be identified is matched with the identification information of the target vehicle, implementing a first type of management operation to allow the target vehicle to drive into the target parking space; and when any one of the identification information of the at least one vehicle to be identified is not matched with the identification information of the target vehicle, implementing a second type management operation to prohibit the at least one vehicle to be identified from entering the target parking space.
Further, the step of detecting whether at least one vehicle to be identified exists in the visible area further comprises the following steps: and determining whether vehicles with the distance to the mobile robot being less than a first preset value exist in the current visible area, and if so, determining all vehicles with the distance to the mobile robot being less than the first preset value as the vehicles to be identified.
Further, the second type of management operation includes: continuously detecting whether the distances between all the vehicles to be recognized and the mobile robot, which are not matched with the identification information of the target vehicle, are smaller than a second preset value or not, and when the distances between the vehicles to be recognized and the mobile robot are smaller than the second preset value, sending warning information to prohibit the vehicles to be recognized, the distances between which and the mobile robot are smaller than the second preset value, from entering the target parking space.
Further, controlling the mobile robot in performing the first type of management operation to be located in a first area, wherein the first area is outside the target parking space; controlling the mobile robot in a standby state and performing a second type of management operation to be located in a second area, wherein the second area is within the target parking space.
Further, the second type of management operation further comprises: continuously detecting whether the distances between all the vehicles to be recognized and the mobile robot, which are not matched with the identification information of the target vehicle, are smaller than a third preset value or not, and controlling the mobile robot to move from a second area to a first area when the distances between the vehicles to be recognized and the mobile robot are smaller than the third preset value so as to allow the vehicles to be recognized, which are smaller than the third preset value, to drive into the target parking space.
Further, the method further comprises: when the mobile robot moves from the second area to the first area, acquiring the moving time of the mobile robot, and when the moving time exceeds a first preset time, controlling the mobile robot to stop moving.
Further, the managing operation further comprises: starting timing when the management control instruction indicates that vehicles use the target parking space and finishing timing when the timing time exceeds a preset time delay threshold value; and after the timing is finished, controlling the mobile robot to move to the first area to wait for the vehicle indicated by the management control instruction to enter the target parking space.
Further, the managing operation further comprises: starting timing when the management control instruction indicates that a vehicle will use the target parking space; continuously detecting whether at least one vehicle to be identified exists in a visible area, and when at least one vehicle to be identified exists in the visible area, acquiring identification information of the at least one vehicle to be identified, wherein the identification information is an identifier which has a unique association relationship with the target vehicle; acquiring identification information of a target vehicle reserved to stay in the target parking space from the management control instruction; judging whether the identification information of the at least one vehicle to be identified is matched with the identification information of the target vehicle; when one of the identification information of the at least one vehicle to be identified is matched with the identification information of the target vehicle, stopping timing and implementing a first type management operation to allow the target vehicle to enter the target parking space; when any one of the identification information of the at least one vehicle to be identified is not matched with the identification information of the target vehicle, continuing timing, and ending timing when the timing time exceeds a preset time delay threshold value so as to wait for the vehicle indicated by the management control instruction to enter the target parking space.
According to another aspect of the present invention, there is provided a mobile robot for parking space management and control, the mobile robot including
The system comprises a first image acquisition device, a control device and a driving device, wherein the first image acquisition device and the driving device are electrically connected with the control device, the first image acquisition device is used for acquiring identification information of a target vehicle, the control device is used for implementing management operation based on the identification information of the target vehicle and triggering the driving device to realize displacement operation, and the driving device is used for driving the mobile robot to change the position to allow or prohibit the vehicle to drive into a target parking space in response to the triggering of the control device.
The parking space management method has the advantages that the identification information of the target vehicle reserved for staying in the target parking space is obtained from the management control instruction, and when one of the identification information of the at least one vehicle to be recognized is matched with the identification information of the target vehicle, a first type of management operation is carried out to allow the target vehicle to drive into the target parking space, so that the situation that the parking space is occupied is avoided. Meanwhile, if the distance between the vehicle to be recognized and the mobile robot is smaller than a third preset value, the mobile robot is controlled to move from the second area to the first area, and therefore collision between the mobile robot and the vehicle to be recognized, of which the identification information of the target vehicle is not matched, is avoided. When the mobile robot moves from the second area to the first area, the moving time of the mobile robot is obtained, and when the moving time exceeds a first preset time, the mobile robot is controlled to stop moving so as to avoid collision of the mobile robot with other vehicles due to the fact that the mobile robot does not find the first area to move for a long time.
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The technical solution and other advantages of the present invention will become apparent from the following detailed description of specific embodiments of the present invention, which is to be read in connection with the accompanying drawings.
Fig. 1 is a flowchart illustrating steps of a parking space management and control method according to an embodiment of the present invention.
Fig. 2 is a flowchart illustrating steps of a parking space management and control method according to a second embodiment of the present invention.
Fig. 3 is a flowchart illustrating steps of a parking space management and control method according to a third embodiment of the present invention.
Fig. 4 is a flowchart illustrating steps of a parking space management and control method according to a fourth embodiment of the present invention
Fig. 5 is a flowchart illustrating steps of a parking space management and control method according to a fifth embodiment of the present invention.
Fig. 6 is a flowchart illustrating steps of a parking space management and control method according to a sixth embodiment of the present invention.
Fig. 7 is a flowchart illustrating steps of a parking space management and control method according to a seventh embodiment of the present invention.
Fig. 8 is a schematic structural view of a mobile robot for parking space management and control according to an eighth embodiment of the present invention.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
As shown in fig. 1, a flowchart of steps of a parking space management and control method according to an embodiment of the present invention is provided. The method performs the following steps by a mobile robot:
step S110: management control instructions are received via a communication link.
In this embodiment, the management control command may be sent by a user through a terminal, which may be a remote controller, and the terminal is composed of a housing, a transmitting chip, a circuit board, a button, a built-in battery, and the like. The system is used for sending management control instructions to the mobile robot, and the management control instructions comprise leaving/entering of a target parking space.
Step S120: and implementing management operation based on the management control instruction so as to allow or prohibit the vehicle to enter the target parking space.
In the present embodiment, the management operation includes allowing or prohibiting the vehicle from entering the target parking space. And correspondingly, when the management control command is leaving the target parking space, the management operation is implemented to allow the vehicle to enter the target parking space. When the management control command is to enter the target parking space, the management operation is to prohibit the vehicle from entering the target parking space. As shown in fig. 2, a flowchart of steps of a parking space management and control method according to a second embodiment of the present invention is provided. On the basis of the first embodiment, the method comprises the following steps:
step S121: and when the management control instruction indicates that vehicles use the target parking space, acquiring identification information of the target vehicles reserved for staying in the target parking space from the management control instruction.
In the present embodiment, the identification information is an identifier having a unique association relationship with the target vehicle. The identifier is the license plate number of the target vehicle, such as "Hu A12777" and "Hu A12999".
Step S122: whether at least one vehicle to be identified exists in the visible area is detected.
In this embodiment, mobile robot is equipped with the camera module, the camera module is miniature camera for shoot video and picture. The visible area is the visible area of the miniature camera.
Step S123: when at least one vehicle to be identified exists in the visible area, the identification information of the at least one vehicle to be identified is acquired.
In this embodiment, the license plate number of the video stream or the picture shot by the micro camera can be identified to obtain the identification information of the vehicle to be identified. Certainly, under special conditions, the identification information of the vehicle to be identified cannot be acquired, so in other embodiments, a face recognition function may also be added, and when the identification information of the vehicle to be identified cannot be acquired, the face recognition is performed on the owner of the vehicle to be identified, so as to increase the reliability of the step.
Step S124: and judging whether the identification information of the at least one vehicle to be identified is matched with the identification information of the target vehicle.
In the present embodiment, when the determination result in step S124 is step S125, that is, when one of the identification information of the at least one vehicle to be recognized matches the identification information of the target vehicle, a first type of management operation is performed to allow the target vehicle to enter the target parking space. When any one of the identification information of the at least one vehicle to be identified does not match the identification information of the target vehicle in the step S126, the step S124 performs a second type management operation to prohibit the at least one vehicle to be identified from entering the target parking space.
The second embodiment has the advantage that, by acquiring the identification information of the target vehicle reserved for staying in the target parking space from the management control instruction, when one of the identification information of the at least one vehicle to be recognized matches the identification information of the target vehicle, the first type of management operation is performed to allow the target vehicle to enter the target parking space, so as to avoid the situation that the parking space is occupied. As shown in fig. 3, a flowchart of steps of a parking space management and control method according to a third embodiment of the present invention is provided. On the basis of the second embodiment, the method comprises the following steps:
step S310: and determining whether vehicles with the distance to the mobile robot being less than a first preset value exist in the current visible area, and if so, determining all vehicles with the distance to the mobile robot being less than the first preset value as the vehicles to be identified.
In this embodiment, in order to improve the recognition efficiency of the mobile robot, the mobile robot may automatically ignore the vehicle whose distance from the mobile robot is not less than the first preset value. The first preset value may be three meters to five meters, and the specific value may be determined according to the actual situation of the target parking space.
Step S320: and when the distance between the vehicle to be identified and the mobile robot is smaller than a second preset value, sending out warning information to prohibit the vehicle to be identified, the distance between which and the mobile robot is smaller than the second preset value, from entering the target parking space.
In this embodiment, it is continuously detected whether the distances between all the vehicles to be identified and the mobile robot, which are not matched with the identification information of the target vehicle, are less than a second preset value, where the second preset value may be one point five meters to three meters, and the specific value may be determined according to the actual situation of the target parking space. The method aims to solve the problem that when other vehicles (namely all vehicles to be identified, which are not matched with identification information of a target vehicle) attempt to forcibly occupy a target parking space, or a mobile robot is forcibly moved away from the target parking space, the mobile robot gives an audible and visual alarm and automatically moves back to the target parking space through a positioning system.
The third embodiment has the advantage that, by acquiring the identification information of the target vehicle reserved for staying in the target parking space from the management control instruction, when one of the identification information of the at least one vehicle to be recognized matches the identification information of the target vehicle, the first type management operation is performed to allow the target vehicle to enter the target parking space, so as to avoid the situation that the parking space is occupied. And when the parking space is occupied, a warning message may be issued.
In addition, the mobile robot disclosed by the invention also comprises a charger which is electrically connected with the controller and can be electrically connected with a charging station based on the triggering of the controller so as to charge the battery in the mobile robot.
As shown in fig. 4, a flowchart of steps of a parking space management and control method according to a fourth embodiment of the present invention is provided. On the basis of any one of the above embodiments, the method comprises the steps of:
step S410: and when the distance between the vehicle to be identified and the mobile robot is smaller than a third preset value, controlling the mobile robot to move from the second area to the first area so as to allow the vehicle to be identified, the distance between which and the mobile robot is smaller than the third preset value, to drive into the target parking space.
In this embodiment, the third preset value may be one meter to one and a half meters, and the specific value may be determined according to the actual situation of the target parking space. Controlling the mobile robot in performing the first type of management operation to be located in a first area, wherein the first area is outside the target parking space. Controlling the mobile robot in a standby state and performing a second type of management operation to be located in a second area, wherein the second area is within the target parking space. The mobile robot continuously detects whether the distances between all the vehicles to be identified and the mobile robot, which are not matched with the identification information of the target vehicle, are less than a third preset value. The method is characterized in that when the sensor of the mobile robot detects that the vehicle is close to and smaller than a third preset value, the mobile robot slowly quits the target parking space to send an acousto-optic alarm prompt and send an alarm signal that the target parking space is forcibly occupied to a linkage system to remind a master or a parking lot manager of the target parking space, so as to avoid the collision and scratch other vehicles (namely all vehicles to be recognized, which are unmatched with the identification information of the target vehicle). Of course, in other embodiments, when the mobile robot continuously detects that the distances between all the vehicles to be identified which do not match the identification information of the target vehicle and the mobile robot are less than the third preset value, the mobile robot remains stationary to prohibit all the vehicles to be identified which do not match the identification information of the target vehicle from entering the garage, and issue warning information. When the mobile robot collides with the target vehicle, the information of the collision is recorded and sent to the owner of the target parking space or the parking lot manager.
In addition, it should be noted that the mobile robot adopted in the present embodiment needs to move within a certain range to achieve the effect of the present embodiment. In the first to third embodiments, a fixed robot may be adopted, and the fixed robot controls a barrier with a blocking function to achieve a corresponding effect.
An advantage of a fourth embodiment is that the fourth embodiment obtains identification information of a target vehicle that has reserved to stay in the target parking space from the management control instruction, and when one of the identification information of the at least one vehicle to be recognized matches the identification information of the target vehicle, performs a first type of management operation to allow the target vehicle to enter the target parking space, thereby avoiding a situation in which the parking space is occupied. Meanwhile, if the distance between the vehicle to be recognized and the mobile robot is smaller than a third preset value, the mobile robot is controlled to move from the second area to the first area, and therefore collision between the mobile robot and the vehicle to be recognized, of which the identification information of the target vehicle is not matched, is avoided.
As shown in fig. 5, a flowchart of steps of a parking space management and control method according to a fifth embodiment of the present invention is provided. On the basis of any one of the above embodiments, the method comprises the steps of:
step S510: when the mobile robot moves from the second area to the first area, acquiring the moving time of the mobile robot.
In this embodiment, the mobile robot when performing the first type of management operation is controlled to be located in a first area, wherein the first area is outside the target parking space. Controlling the mobile robot in a standby state and performing a second type of management operation to be located in a second area, wherein the second area is within the target parking space.
Step S520: and controlling the mobile robot to stop moving when the moving time exceeds a first preset time.
In the embodiment, the mobile robot automatically moves to the first area corresponding to the target parking space through the positioning system. The positioning system can be realized by adopting an ultrasonic positioning technology, an RPS laser positioning technology or a vSLAM image displacement positioning technology. When the robot moves from the second area to the first area, the first preset time is set to be 60 seconds, and if the robot reaches the first area within the time, abnormal management is not performed. If abnormal conditions occur, the mobile robot does not return to the first area yet in the time, in order to avoid the occurrence of events such as collision, scraping and other vehicles caused by finding the first area to move around, the management program of the mobile robot stops moving operation to the first area, the camera is used for shooting scene pictures on the spot, and sending abnormal prompt information and shooting pictures to a related linkage system or a mobile phone of a vehicle owner to remind a manager or the vehicle owner to carry out manual assistance and maintenance.
In some other embodiments, the mobile robot is further provided with a face recognition function, so that when the micro camera does not successfully recognize the license plate number, the owner of the vehicle can perform the first type of management operation, the second type of management operation, the power on/off operation or the charging operation on the mobile robot through the face recognition function. The mobile robot also comprises keys, a motor set, a control panel and other functional components such as a loudspeaker, a display screen, a remote controller, a rechargeable battery and an indicator light which are necessary for the conventional functions. The keys are control keys of the mobile robot, such as a startup and shutdown key, a recharge key and a parking space control key. The control panel is a control panel of an operation keyboard. The motor set comprises a motor driving circuit and at least two stepping motors. Each stepper motor controls one drive wheel. The vehicle owner can also remotely control the mobile robot to execute the functions realized in the embodiments through the remote controller.
In addition, it should be noted that the mobile robot adopted in the present embodiment needs to move within a certain range to achieve the effect of the present embodiment. In the first to third embodiments, a fixed robot may be adopted, and the fixed robot controls a barrier with a blocking function to achieve a corresponding effect.
The fifth embodiment has the advantage that the fifth embodiment obtains the identification information of the target vehicle reserved for staying in the target parking space from the management control instruction, and when one of the identification information of the at least one vehicle to be recognized is matched with the identification information of the target vehicle, the fifth embodiment implements a first type of management operation to allow the target vehicle to enter the target parking space, so as to avoid the situation that the parking space is occupied. Meanwhile, if the distance between the vehicle to be recognized and the mobile robot is smaller than a third preset value, the mobile robot is controlled to move from the second area to the first area, and therefore collision between the mobile robot and the vehicle to be recognized, of which the identification information of the target vehicle is not matched, is avoided. When the mobile robot moves from the second area to the first area, the moving time of the mobile robot is obtained, and when the moving time exceeds a first preset time, the mobile robot is controlled to stop moving so as to avoid collision of the mobile robot with other vehicles due to the fact that the mobile robot does not find the first area to move for a long time.
As shown in fig. 6, a flowchart of steps of a parking space management and control method according to a sixth embodiment of the present invention is provided. The method comprises the following steps:
step S610: management control instructions are received via a communication link.
In the present embodiment, the management control instruction may be issued by a parking lot system that controls a plurality of parking spaces, for example, the identification information of the target vehicle is acquired at an entrance of the parking lot. The system is used for sending management control instructions to the mobile robot, and the management control instructions comprise leaving/entering a target parking space, and in some other embodiments, other instructions can be used.
Step S620: and implementing management operation based on the management control instruction so as to allow or prohibit the vehicle to enter the target parking space.
In the present embodiment, the management operation includes allowing or prohibiting the vehicle from entering the target parking space. And correspondingly, when the management control command is leaving the target parking space, the management operation is implemented to allow the vehicle to enter the target parking space. When the management control command is to enter the target parking space, the management operation is to prohibit the vehicle from entering the target parking space.
Step S630: starting timing when the management control instruction indicates that vehicles use the target parking space and finishing timing when the timing time exceeds a preset time delay threshold value.
Step S640: and after the timing is finished, controlling the mobile robot to move to the first area to wait for the vehicle indicated by the management control instruction to enter the target parking space.
In this embodiment, after the mobile robot receives the management control instruction, in order to ensure that the target parking space is not occupied by other vehicles in the period from the entrance of the parking lot to the target parking space, the mobile robot needs to perform time delay countdown, and the specific predetermined time may be determined according to the distance between the entrance of the parking lot and the target parking space.
As can be seen from the sixth embodiment, the mobile robot can only execute management operations, and does not need to set an autonomous determination function as in other embodiments, so that the cost can be effectively saved when the mobile robot is applied to a large parking lot and has a large number of parking spaces. As shown in fig. 7, a flowchart of steps of a parking space management and control method according to a seventh embodiment of the present invention is provided. The method comprises the following steps:
step S710: management control instructions are received via a communication link.
In the present embodiment, the management control instruction may be issued by a parking lot system that controls a plurality of parking spaces, for example, the identification information of the target vehicle is acquired at an entrance of the parking lot. The system is used for sending management control instructions to the mobile robot, and the management control instructions comprise leaving/entering a target parking space, and in some other embodiments, other instructions can be used.
Step S720: and implementing management operation based on the management control instruction so as to allow or prohibit the vehicle to enter the target parking space.
In the present embodiment, the management operation includes allowing or prohibiting the vehicle from entering the target parking space. And correspondingly, when the management control command is leaving the target parking space, the management operation is implemented to allow the vehicle to enter the target parking space. When the management control command is to enter the target parking space, the management operation is to prohibit the vehicle from entering the target parking space.
Step S730: starting timing when the management control instruction indicates that vehicles will use the target parking space.
Step S740: whether at least one vehicle to be identified exists in the visible area or not is continuously detected, and when at least one vehicle to be identified exists in the visible area, the identification information of the at least one vehicle to be identified is obtained.
In the present embodiment, the identification information is an identifier having a unique association relationship with the target vehicle. The identifier is the license plate number of the target vehicle, such as "Hu A12777" and "Hu A12999". The mobile robot is provided with a camera module which is a micro camera and is used for shooting videos and pictures. The visible area is the visible area of the miniature camera.
In some other embodiments, the mobile robot is further provided with a face recognition function, so that when the micro camera does not successfully recognize the license plate number, the owner of the vehicle can perform the first type of management operation, the second type of management operation, the power on/off operation or the charging operation on the mobile robot through the face recognition function. The mobile robot also comprises keys, a motor set, a control panel and other functional components such as a loudspeaker, a display screen, a remote controller, a rechargeable battery and an indicator light which are necessary for the conventional functions. The keys are control keys of the mobile robot, such as a startup and shutdown key, a recharge key and a parking space control key. The control panel is a control panel of an operation keyboard. The motor set comprises a motor driving circuit and at least two stepping motors. Each stepper motor controls one drive wheel. The vehicle owner can also remotely control the mobile robot to execute the functions realized in the embodiments through the remote controller. Step S750: and acquiring identification information of the target vehicle reserved for staying in the target parking space from the management control instruction.
Step S760: and judging whether the identification information of the at least one vehicle to be identified is matched with the identification information of the target vehicle.
In this embodiment, when the determination result in step S760 is step S770, that is, when one of the identification information of the at least one vehicle to be recognized matches the identification information of the target vehicle, the timing is stopped and a first type management operation is performed to allow the target vehicle to enter the target parking space. When the determination result in step S760 is step S780, that is, when any one of the identification information of the at least one vehicle to be identified does not match the identification information of the target vehicle, continuing the timing, and ending the timing when the timing time exceeds a predetermined time delay threshold value, so as to wait for the vehicle indicated by the management control instruction to enter the target parking space.
In an embodiment, by obtaining the identification information of the target vehicle that has reserved to stay in the target parking space from the management control instruction, when one of the identification information of the at least one vehicle to be recognized matches the identification information of the target vehicle, a first type of management operation is performed to allow the target vehicle to enter the target parking space, thereby avoiding a situation where the parking space is occupied. Fig. 8 is a schematic structural diagram of a mobile robot for a parking space according to an eighth embodiment of the present invention. The mobile robot includes a first image capturing device 20, a control device 10, a driving device 30, a housing 100, a position detecting device, an indicator lamp 50, a speaker 40, and a wireless receiver 60.
The first image acquisition device 20 and the driving device 30 are both connected to the control device 10, the first image acquisition device 20 is used for acquiring identification information of a target vehicle, the control device 10 performs a management operation based on the identification information of the target vehicle and triggers the driving device 30 to realize a displacement operation, and the driving device 30 drives the mobile robot to change the position in response to the triggering of the control device 10, wherein the management operation includes allowing or prohibiting the vehicle to enter a target parking space.
The mobile robot moves from a first area to a second area, and the mobile robot moves from the second area to the first area. Wherein the first area is outside of the target parking space and the second area is within the target parking space.
The control device 10 further includes: an image processing module 11, wherein the image processing module 11 is used for identifying the identification information of the target vehicle shot by the first image acquisition device 20.
The control device 10 and the driving device 30 are both located inside the box 100, and the first image capturing device 20 is located on the surface of the box 100.
Position detecting device, position detecting device includes a plurality of ultrasonic sensor 80, and a plurality of ultrasonic sensor 80 all are located the surface of box 100, wherein each the direction that ultrasonic sensor 80 set up is all inequality.
The driving device 30 includes: motor assembly 31, rotating assembly 32 and drive wheel 70. The motor assembly 31 is connected to the control device 10. The rotating assembly 32 is connected with the motor assembly 31. A drive wheel 70 is coupled to the rotating assembly 32. An indicator light 50 is connected to the control device 10, the indicator light 50 being used to emit an acoustic warning. A speaker 40 is connected to the control device 10, the speaker 40 being adapted to emit a light warning. And a wireless receiver 60 connected to the control device 10.
In addition, the parking space further comprises a parking area and a second image acquisition device, wherein the parking area comprises a plurality of target parking spaces and the second image acquisition device is arranged at an entrance and an exit for entering/exiting the parking area. And at least one mobile robot is distributed to each target parking space, and the second image acquisition device acquires identification information of vehicles entering the parking area.
The delayer 90 is connected to the control device 10, and the delayer 90 is configured to set a preset time when the second image capturing device obtains that the vehicle matches the identification information, and when the preset time is exceeded, the mobile robot moves from the second area to the first area.
The controller comprises a memory and a processor, the memory is used for storing instructions, and the controller is used for executing the instructions stored by the memory, and is specifically used for executing the following operations:
management control instructions are received via a communication link. In the present embodiment, the management control instruction may be issued by a parking lot system that controls a plurality of parking spaces, for example, the identification information of the target vehicle is acquired at an entrance of the parking lot. The system is used for sending management control instructions to the mobile robot, and the management control instructions comprise leaving/entering a target parking space, and in some other embodiments, other instructions can be used.
And implementing management operation based on the management control instruction. In the present embodiment, the management operation includes allowing or prohibiting the vehicle from entering the target parking space. And correspondingly, when the management control command is leaving the target parking space, the management operation is implemented to allow the vehicle to enter the target parking space. When the management control command is to enter the target parking space, the management operation is to prohibit the vehicle from entering the target parking space.
Starting timing when the management control instruction indicates that vehicles will use the target parking space.
Whether at least one vehicle to be identified exists in the visible area or not is continuously detected, and when at least one vehicle to be identified exists in the visible area, the identification information of the at least one vehicle to be identified is obtained. In the present embodiment, the identification information is an identifier having a unique association relationship with the target vehicle. The identifier is the license plate number of the target vehicle, such as "Hu A12777" and "Hu A12999". The mobile robot is provided with a camera module which is a micro camera and is used for shooting videos and pictures. The visible area is the visible area of the miniature camera.
And acquiring identification information of the target vehicle reserved for staying in the target parking space from the management control instruction.
And judging whether the identification information of the at least one vehicle to be identified is matched with the identification information of the target vehicle. In this embodiment, when one of the identification information of the at least one vehicle to be recognized matches the identification information of the target vehicle, the timing is stopped and a first type of management operation is performed to allow the target vehicle to enter the target parking space. When any one of the identification information of the at least one vehicle to be identified is not matched with the identification information of the target vehicle, continuing timing, and ending timing when the timing time exceeds a preset time delay threshold value so as to wait for the vehicle indicated by the management control instruction to enter the target parking space.
The parking space management method has the advantages that the identification information of the target vehicle reserved for staying in the target parking space is obtained from the management control instruction, and when one of the identification information of the at least one vehicle to be recognized is matched with the identification information of the target vehicle, a first type of management operation is carried out to allow the target vehicle to drive into the target parking space, so that the situation that the parking space is occupied is avoided. Meanwhile, if the distance between the vehicle to be recognized and the mobile robot is smaller than a third preset value, the mobile robot is controlled to move from the second area to the first area, and therefore collision between the mobile robot and the vehicle to be recognized, of which the identification information of the target vehicle is not matched, is avoided. When the mobile robot moves from the second area to the first area, the moving time of the mobile robot is obtained, and when the moving time exceeds a first preset time, the mobile robot is controlled to stop moving so as to avoid collision of the mobile robot with other vehicles due to the fact that the mobile robot does not find the first area to move for a long time.
Further, in all the embodiments described above, the mobile robot can be automatically moved to the charging position for charging based on the triggering of an external control instruction or at an idle time.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for those skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A parking space management and control method is characterized in that the method performs the following steps through a mobile robot:
receiving a management control instruction via a communication link;
and implementing management operation based on the management control instruction so as to allow or prohibit the vehicle to enter the target parking space.
2. The parking space management method according to claim 1, wherein the management operation further includes:
when the management control instruction indicates that a vehicle will use the target parking space, acquiring identification information of a target vehicle reserved for parking in the target parking space from the management control instruction, wherein the identification information is an identifier having a unique association relationship with the target vehicle;
detecting whether at least one vehicle to be identified exists in the visible area;
when at least one vehicle to be identified exists in the visible area, acquiring identification information of the at least one vehicle to be identified;
judging whether the identification information of the at least one vehicle to be identified is matched with the identification information of the target vehicle; and
when one of the identification information of the at least one vehicle to be identified is matched with the identification information of the target vehicle, implementing a first type of management operation to allow the target vehicle to drive into the target parking space;
and when any one of the identification information of the at least one vehicle to be identified is not matched with the identification information of the target vehicle, implementing a second type management operation to prohibit the at least one vehicle to be identified from entering the target parking space.
3. The parking space management method according to claim 2, wherein the step of detecting whether at least one vehicle to be identified exists within a visible area further comprises:
and determining whether vehicles with the distance to the mobile robot being less than a first preset value exist in the current visible area, and if so, determining all vehicles with the distance to the mobile robot being less than the first preset value as the vehicles to be identified.
4. The parking space management method according to claim 3, wherein the second type of management operation includes: continuously detecting whether the distances between all the vehicles to be recognized and the mobile robot, which are not matched with the identification information of the target vehicle, are smaller than a second preset value or not, and when the distances between the vehicles to be recognized and the mobile robot are smaller than the second preset value, sending warning information to prohibit the vehicles to be recognized, the distances between which and the mobile robot are smaller than the second preset value, from entering the target parking space.
5. The parking space management and control method according to claim 4, wherein the mobile robot that performs the first type of management operation is controlled to be located in a first area, wherein the first area is outside the target parking space;
controlling the mobile robot in a standby state and performing a second type of management operation to be located in a second area, wherein the second area is within the target parking space.
6. The parking space management method according to claim 4, wherein the second type of management operation further includes: continuously detecting whether the distances between all the vehicles to be recognized and the mobile robot, which are not matched with the identification information of the target vehicle, are smaller than a third preset value or not, and controlling the mobile robot to move from a second area to a first area when the distances between the vehicles to be recognized and the mobile robot are smaller than the third preset value so as to allow the vehicles to be recognized, which are smaller than the third preset value, to drive into the target parking space.
7. The parking space management and control method according to claim 6, further comprising:
acquiring a moving time of the mobile robot when the mobile robot moves from the second area to the first area,
and controlling the mobile robot to stop moving when the moving time exceeds a first preset time.
8. The parking space management method according to claim 1, wherein the management operation further includes:
starting timing when the management control instruction indicates that vehicles use the target parking space and finishing timing when the timing time exceeds a preset time delay threshold value;
and after the timing is finished, controlling the mobile robot to move to the first area to wait for the vehicle indicated by the management control instruction to enter the target parking space.
9. The parking space management method according to claim 8, wherein the management operation further includes:
starting timing when the management control instruction indicates that a vehicle will use the target parking space;
continuously detecting whether at least one vehicle to be identified exists in a visible area, and when at least one vehicle to be identified exists in the visible area, acquiring identification information of the at least one vehicle to be identified, wherein the identification information is an identifier which has a unique association relationship with the target vehicle;
acquiring identification information of a target vehicle reserved to stay in the target parking space from the management control instruction;
judging whether the identification information of the at least one vehicle to be identified is matched with the identification information of the target vehicle; and
when one of the identification information of the at least one vehicle to be identified is matched with the identification information of the target vehicle, stopping timing and implementing a first type of management operation to allow the target vehicle to enter the target parking space;
when any one of the identification information of the at least one vehicle to be identified is not matched with the identification information of the target vehicle, continuing timing, and ending timing when the timing time exceeds a preset time delay threshold value so as to wait for the vehicle indicated by the management control instruction to enter the target parking space.
10. The mobile robot for parking space management and control is characterized by comprising a first image acquisition device, a control device and a driving device, wherein the first image acquisition device and the driving device are electrically connected with the control device, the first image acquisition device is used for acquiring identification information of a target vehicle, the control device implements management operation based on the identification information of the target vehicle and triggers the driving device to realize displacement operation, and the driving device drives the mobile robot to change the position to allow or prohibit the vehicle to drive into a target parking space in response to the triggering of the control device.
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