CN113674549A - Method, system and device for parking space guidance and reverse vehicle finding based on AI mobile robot - Google Patents
Method, system and device for parking space guidance and reverse vehicle finding based on AI mobile robot Download PDFInfo
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- CN113674549A CN113674549A CN202110833075.8A CN202110833075A CN113674549A CN 113674549 A CN113674549 A CN 113674549A CN 202110833075 A CN202110833075 A CN 202110833075A CN 113674549 A CN113674549 A CN 113674549A
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- G08—SIGNALLING
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- G08G1/00—Traffic control systems for road vehicles
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- 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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Abstract
The invention discloses a parking space guiding and reverse vehicle searching method based on an AI mobile robot, which comprises the following steps: initializing a garage map; sequencing the mobile robot from the head end and the tail end of the guide rail route, and determining a vehicle searching area of the mobile robot; all mobile robots loiter routes from the head end to the tail end in respective car searching areas according to car searching rules, and carry out global car searching; applying an AI license plate recognition technology, detecting the motion of the mobile robot and extracting license plates and vehicle characteristic state information of all vehicles; comparing, writing and updating the information with the parking space map database, and updating the current data of the system; waiting for the task, judging whether vehicles enter or exit, and executing license plate vehicle searching action until the vehicle searching task is completed. The AI mobile robot based parking space guiding and reverse vehicle searching system and device are also disclosed. The invention integrates an AI intelligent identification technology, a path planning algorithm, a scheduling algorithm and a mobile robot, and has intelligent and accurate identification mode and less single-point faults.
Description
Technical Field
The invention relates to the technical field of AI intelligence, in particular to a parking space guiding and reverse vehicle searching method, system and device based on an AI mobile robot.
Background
With the overall entering of China into the well-being society, the living standard of people is greatly improved, the people can travel by vehicles to become the selection of people, a large number of vehicles flow into cities, and the problem that parking in the central cities is difficult is solved, so that great inconvenience is brought to the life of people, and even the bottleneck restricting the development of the cities is formed.
In recent years, due to the limitation of urban planning, land shortage and other factors, the number and area of the existing parking lots are difficult to increase on a large scale, and therefore how to effectively utilize the existing parking lots to alleviate the problem of parking difficulty is of great social interest.
At present, a parking space guiding and reverse vehicle searching system is used as a key part in an intelligent and unmanned parking lot parking space management system and becomes an important carrier for detecting and using parking space information. The parking operation gradually gets rid of the problems of high parking time consumption, low efficiency and the like caused by blindness and randomness in the prior art, so that the directivity and the scientificity of the parking operation are improved.
Most parking stall bootstrap systems are through installing real-time electronic screen display parking stall surplus information in the access & exit department in parking area, hang video surveillance camera head above each parking stall, through discerning that there is vehicle, license plate information in the region of place, adopt the double-colored lamp to show the parking stall idle or occupy the state, combine the lane limit to instruct the signpost to guide the user and find idle parking stall. The parking space guidance system relieves the parking difficulty to a certain extent, but needs a large amount of wiring and a large amount of video monitoring equipment, and has long period and high cost in the construction process. Moreover, the method can cause the fault of the whole system as long as a single camera fails.
In order to solve the problem of difficulty in parking for a client conveniently, a parking space guiding and reverse vehicle searching system can be added in the building intelligent design process. The application scheme of the reverse car searching system formed by a plurality of mainstream cameras at present has the following technical defects: firstly, the intelligent degree of the camera is low, the function is single, the identification range is small, one camera can only identify the information of 6 parking spaces at most, and the identification algorithm is single; secondly, as long as one camera fails, the failure of the whole system can be caused; moreover, the system construction needs a large number of cameras, and the engineering cost is high, the construction difficulty is large, and the maintenance is difficult.
Therefore, it is desirable to provide a novel AI mobile robot-based parking space guidance and reverse car-searching system to solve the above problems.
Disclosure of Invention
The invention aims to solve the technical problems of providing a parking space guiding and reverse vehicle searching method, system and device based on an AI mobile robot, fusing AI intelligent identification technology, path planning algorithm, scheduling algorithm, mobile robot and other technologies, constructing a mobile robot self vehicle searching system, renovating the existing parking space guiding and reverse vehicle searching system, and having accurate identification mode, lower engineering cost and less single-point faults.
In order to solve the technical problems, the invention adopts a technical scheme that: the method for guiding and reversely searching the vehicle in the parking space based on the AI mobile robot utilizes the system for guiding and reversely searching the vehicle in the parking space based on the AI mobile robot, and comprises the following steps:
s1: initializing a garage map, and calibrating the head and tail end points of a guide rail route of the mobile robot;
s2: the mobile robot sorts R from the head end and the tail end of the guide rail route1、R2、R3…..RN(N is more than or equal to 1), and determining a vehicle searching area of the mobile robot;
s3: all mobile robots loiter routes from the head end to the tail end in respective car searching areas according to car searching rules, and carry out global car searching;
s4: applying an AI license plate recognition technology, detecting the motion of the mobile robot and extracting license plates and vehicle characteristic state information of all vehicles;
s5: comparing, writing and updating the information with the parking space map database, and updating the current data of the system;
s6: when the system does not detect the entering and exiting of the vehicle, the steps S3 and S4 are executed once for the parking spaces in the area range at intervals of a plurality of minutes, and the latest state information of the parking space map is compared and updated;
s7: judging whether vehicles enter or exit, if so, removing the license plate number and the vehicles with the vehicle characteristic state information from the garage map and keeping the vehicles in an empty state, and updating the parking space occupation state of the map; if a vehicle enters the garage, executing the steps S3 to S5, searching the parking space position where the vehicle finally stops, saving the license plate number information and the characteristic state information of the vehicle, and updating the state of the map vehicle.
In a preferred embodiment of the present invention, the AI-based mobile robot parking space guidance and reverse car-searching system includes a mobile robot, an exchanger, a system server, a guidance display screen, and a reverse car-searching inquiry machine, wherein the mobile robot is connected to the exchanger through a wireless or wired network, and the exchanger is respectively connected to the system server, the guidance display screen, and the reverse car-searching inquiry machine through a wired network.
In a preferred embodiment of the present invention, when the mobile robot is a single station, the car-searching path of the mobile robot is the guide rail path of the mobile robot between the head and tail end points.
In a preferred embodiment of the present invention, when there are a plurality of mobile robots, the car-searching area of the mobile robot is determined by the following rules:
if the total number of the parking spaces of the garage is N (N is more than 1 and less than or equal to 100), the number of the mobile robots is M equal to 1, and the vehicle searching area of the mobile robot is Pm equal to 1-N;
if the total number of the parking lots of the garage is N (N is more than 100 and less than or equal to 200), the number of the mobile robots is M (1-2), the vehicle searching area of the mobile robots is Pm (M-1) N/M-M N/M, and the vehicle searching area is rounded to zero;
if the total number of the parking spaces of the garage is N (N is more than 200 and less than or equal to 500), the number of the mobile robots is M (2-3), the vehicle searching area of the mobile robots is Pm (M-1) N/M-M N/M, and the whole is rounded to zero;
if the total number of the parking spaces of the garage is N (N is more than 500 and less than or equal to 1000), the number of the mobile robots is M (2-4), the vehicle searching area of the mobile robots is Pm (M-1) N/M-M N/M, and the whole is rounded to zero;
if the total number of the parking spaces of the garage is N (N is more than or equal to 1000), the number of the mobile robots is M which is equal to N/300 and is rounded to zero by + 1; when M is more than or equal to 1 and less than M, the vehicle searching area of the mobile robot is Pm which is 300(M-1) to 300M; when M is equal to M, Pm is equal to 300(M-1) to N, and M is the actual number of mobile robots.
In a preferred embodiment of the present invention, in step S3, when there are multiple mobile robots, the car-searching rule is a multi-mobile-robot cooperative car-searching rule, which includes the following steps:
s301: all mobile robots loiter the vehicle from the head end to the tail end of the guide rail route according to respective divided areas;
s302: judging whether the mobile robot has a fault, and if so, giving an alarm to the system fault;
s303: judging whether the mobile robot with the fault is a head/tail mobile robot or not, and if the mobile robot with the fault is the head/tail mobile robot, respectively taking over the vehicle searching area of the fault mobile robot by a rear/front adjacent robot of the fault mobile robot; if the mobile robot is not the head/tail mobile robot, judging whether the mobile robot with the fault can move to the head end of the vehicle searching area of the robot, and if so, taking over the vehicle searching area by the adjacent robot behind the robot; if the robot cannot move due to the fault, the system sends out a maintenance alarm, and meanwhile, front and rear vehicle searching areas of the position where the robot is located are respectively taken over by front and rear adjacent robots;
s304: and re-defining the head and tail end vehicle searching area of each mobile robot.
Further, in step S303, if the mobile robot having the failure is the head/tail mobile robot, the following determination is performed:
s3031: if the mobile robot with the fault is the head-end mobile robot, judging whether the robot can autonomously move to the head end of the vehicle searching area of the robot, and if so, taking over the vehicle searching area by the adjacent robot behind the robot; if the system can not move due to the fault, the system sends out a maintenance alarm;
s3012: if the mobile robot with the fault is the tail end mobile robot, judging whether the robot can autonomously move to the tail end of the vehicle searching area of the robot, and if so, taking over the vehicle searching area by the adjacent robot in front of the robot; if the system can not move due to the fault, the system sends out a maintenance alarm.
In a preferred embodiment of the present invention, the vehicle characteristic status information includes a vehicle color, a vehicle face status characteristic, and a vehicle body side status characteristic.
In a preferred embodiment of the present invention, the parking space map database information includes a garage whole map, a label of each parking space, a free/occupied state of each parking space, a vehicle license plate number of the parking space in the occupied state, and unlicensed vehicle characteristic state information of the parking space in the occupied state.
In order to solve the technical problem, the invention adopts another technical scheme that: the utility model provides a parking stall is guided and reverse car device of seeking based on AI mobile robot mainly includes:
the system comprises a garage map initialization and information updating module, a parking space map updating module and a parking space map updating module, wherein the garage map initialization and information updating module is used for initializing a garage map, calibrating the head and tail end points of a guide rail route of the mobile robot and updating the latest state information of the parking space map when the mobile robot detects license plates and vehicle characteristic state information of all vehicles;
the vehicle detection and information identification module is used for applying an AI license plate identification technology, detecting vehicles entering and exiting the garage by the motion of the mobile robot and extracting license plates and vehicle characteristic state information of all the vehicles;
the vehicle searching rule making module is used for determining vehicle searching areas of the mobile robot and rules for executing loitering vehicle searching actions from the head end to the tail end of the guide rail route in the respective vehicle searching areas;
and the parking space information output module is used for outputting corresponding parking space information in the garage after the vehicle is searched according to the information output by the vehicle detection and information identification module and the rule determined by the vehicle searching rule formulation module, and updating the corresponding parking space information to the garage map initialization and information updating module.
In a preferred embodiment of the present invention, the apparatus further comprises:
and the fault judging and alarming module is used for judging whether all the mobile robots have faults in the process of loitering the car from the head end to the tail end of the guide rail route according to respective divided areas, and if the mobile robots have the faults, carrying out fault alarming and judging whether the mobile robots with the faults are head/tail end mobile robots.
The invention has the beneficial effects that:
(1) the invention constructs a guide rail-based mobile robot parking space guiding and reverse vehicle searching system from the view of simplifying the cooperative complexity and reducing the cost on the basis of the scheme of recognizing the license plate by a video, and utilizes a single or a plurality of guide rail-type mobile robots, mature AI high-definition camera shooting intelligent recognition and a vehicle searching scheduling algorithm to further realize the reverse vehicle searching scheme;
(2) the invention not only needs an AI high-definition intelligent recognition system and a mobile robot system, but also needs to be equipped with a set of perfect intelligent scheduling algorithm fusing different use scenes to jointly realize the parking space guidance and reverse vehicle searching system, when the vehicles in the underground parking lot are in and out, the parking space information and the vehicle information are changed along with the change of the parking space information, and the mobile robot can search the corresponding information of the parking space information and the license plate of the vehicles in and out through the intelligent scheduling algorithm;
(3) the intelligent scheduling algorithm can enable a single or multiple mobile robots to orderly execute the vehicle searching action, and the parking space guiding and direction vehicle searching functions of the whole underground parking lot can be realized by using a small number of mobile robots;
(4) the invention is mainly applied to underground parking scenes, is suitable for scenes such as various districts, business supermarkets, office buildings, public service places and the like, has more parking spaces in large-scale underground parking lots, realizes the vehicle searching function through the cooperative work of a plurality of mobile robots, and can replace a fault robot to execute the vehicle searching function when a single mobile robot breaks down, thereby being more intelligent.
Drawings
Fig. 1 is an architecture diagram of a preferred embodiment of a parking space guidance and reverse car-finding system based on an AI mobile robot according to the present invention;
fig. 2 is a flowchart of the AI-based mobile robot parking space guidance and reverse car finding method;
FIG. 3 is a flow chart of the multi-mobile robot collaborative vehicle finding rule;
fig. 4 is a block diagram of the AI mobile robot-based parking space guidance and reverse car-finding system.
The parts in the drawings are numbered as follows: 1. guide tracked mobile robot, 2, switch, 3, system server, 4, guide display screen, 5, reverse car inquiry machine of seeking.
Detailed Description
The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.
Referring to fig. 1 and 2, an embodiment of the present invention includes:
a stall guiding and reverse car searching method based on an AI mobile robot is characterized in that a stall guiding and reverse car searching system based on the AI mobile robot is utilized, a hanging type fixed guide rail mobile robot is adopted to carry an AI intelligent identification camera, scheduling algorithms of different use scenes are fused, and a single or multiple guide rail mobile robots with AI cameras are utilized to realize stall guiding and reverse car searching based on the AI mobile robot. Preferably, the mobile robot is provided with a mature AI high-definition camera, and can recognize basic information such as license plate information, unlicensed vehicle information and parking space vacancy information of various parking postures. In an example, as shown in fig. 1, the system includes a plurality of guideway mobile robots 1, a switch 2, a system server 3, a guidance display screen 4, and a reverse vehicle-searching query machine 5, where the plurality of guideway mobile robots 1 are connected to the switch 2 through a 4G or wired network, the switch 2 is connected to the system server 3, the guidance display screen 4, and the reverse vehicle-searching query machine 5 through wired networks, the system server 3 is internally provided with an intelligent scheduling algorithm and a parking space map database, and the mobile robots can search parking space information and license plate corresponding information of entering and exiting vehicles through the intelligent scheduling algorithm. According to the data information stored in the parking space map database, the guide display screen 4 can dynamically display the remaining number of the parking spaces in the region, meanwhile, the owner user inputs an accurate license plate in the reverse vehicle searching inquiry machine 5 to perform fuzzy search, and the position information of the specified license plate and the path navigation information from the inquiry machine to the vehicle can be found.
With reference to fig. 2, the method comprises the following steps:
s1: initializing a garage map, and calibrating the head and tail end points of a guide rail route of the mobile robot;
s2: the mobile robot sorts R1, R2 and R3 … from the head end and the tail end of the guide rail route, RN (N is more than or equal to 1), and the vehicle searching area of the mobile robot is determined;
the parking space quantity scale and the mobile robot configuration rule are as follows:
wherein, N stands for garage parking stall quantity.
Specifically, when the mobile robot is a single station, the car-searching route of the mobile robot is the guide rail route of the mobile robot between the head and tail end points.
When the mobile robot is a plurality of mobile robots, the determination rule of the car searching area of the mobile robot is as follows:
if the total number of the parking spaces of the garage is N (N is more than 1 and less than or equal to 100), the number of the mobile robots is M equal to 1, the vehicle searching area of the mobile robot is Pm equal to 1-N, and the vehicle searching rule is the same as that of the single mobile robot;
if the total number of the parking lots of the garage is N (N is more than 100 and less than or equal to 200), the number of the mobile robots is M (1-2), the vehicle searching area of the mobile robots is Pm (M-1) N/M-M N/M, and the vehicle searching area is rounded to zero;
if the total number of the parking spaces of the garage is N (N is more than 200 and less than or equal to 500), the number of the mobile robots is M (2-3), the vehicle searching area of the mobile robots is Pm (M-1) N/M-M N/M, and the whole is rounded to zero;
if the total number of the parking spaces of the garage is N (N is more than 500 and less than or equal to 1000), the number of the mobile robots is M (2-4), the vehicle searching area of the mobile robots is Pm (M-1) N/M-M N/M, and the whole is rounded to zero;
if the total number of the parking spaces of the garage is N (N is more than or equal to 1000), the number of the mobile robots is M which is equal to N/300 and is rounded to zero by + 1; when M is more than or equal to 1 and less than M, the vehicle searching area of the mobile robot is Pm which is 300(M-1) to 300M; when M is equal to M, Pm is equal to 300(M-1) to N, and M is the actual number of mobile robots.
In the scene of an underground parking garage, the movement speed of the mobile robot cannot be too fast, if the speed is too fast, the recognition rate of the license plate and the vehicle characteristic information can be reduced, so that the system can be mistakenly recognized, and in order to avoid the phenomenon, the movement speed of the mobile robot is preferably selected to be 1-2.5 m/s. The parking space types of the garage are various, in this example, the parking space is calculated by the standard size 2400 x 5300mm of the minimum parking space of the small-sized vehicle, when the number of the parking spaces is 0-100, the maximum running distance of the mobile robot is 240m, the movement speed of the mobile robot is 2m/s, then the single-pass vehicle searching is executed, 120s is consumed, and the time duration is the time range acceptable by a client.
When the number of the parking spaces in the garage is very large, the vehicle searching time limit of a single mobile robot is set to be less than or equal to 6 minutes, the time consumed for searching the vehicle in a single pass is assumed to be 360 seconds, when the minimum motion rate selected by the mobile robot is 2m/s, the vehicle searching distance is 720m, the 720/2.4m is 300, and each mobile robot searches 300 parking spaces at most. Namely, when a single mobile robot is responsible for 300 parking spaces, the slowest speed of 2m/s is adopted, 3600 seconds are needed for searching for one time, namely less than 6 minutes, and the customer experience is optimal. If the car-searching time limit is too long, the feeling of a user can be influenced.
S3: all mobile robots loiter routes from the head end to the tail end in respective car searching areas according to car searching rules, and carry out global car searching;
according to the scenes of different parking spaces in quantity and scale, a single mobile robot car searching algorithm and a multi-mobile robot cooperative car searching algorithm are constructed, and a scheduling algorithm support is provided for a parking space guiding and reverse car searching system.
When the mobile robots are multiple, the car searching rule is a multi-mobile robot collaborative car searching rule, as shown in fig. 3, the method comprises the following steps:
s301: all mobile robots loiter the vehicle from the head end to the tail end of the guide rail route according to respective divided areas;
s302: judging whether the mobile robot has a fault, and if so, giving an alarm to the system fault;
the fault of the mobile robot comprises that the mobile robot cannot move and the AI camera shooting has a fault.
S303: judging whether the mobile robot with the fault is a head/tail mobile robot or not, and if the mobile robot with the fault is the head/tail mobile robot, respectively taking over the vehicle searching area of the fault mobile robot by a rear/front adjacent robot of the fault mobile robot; if the mobile robot is not the head/tail mobile robot, judging whether the mobile robot with the fault can move to the head end of the vehicle searching area of the robot, and if so, taking over the vehicle searching area by the adjacent robot behind the robot; if the robot cannot move due to the fault, the system sends out a maintenance alarm, and meanwhile, front and rear vehicle searching areas of the position where the robot is located are respectively taken over by front and rear adjacent robots;
further, if the mobile robot having the fault is the head/tail mobile robot, the following determination is performed:
s3031: if the mobile robot with the fault is the head-end mobile robot, judging whether the robot can autonomously move to the head end of the vehicle searching area of the robot, and if so, taking over the vehicle searching area by the adjacent robot behind the robot; if the system can not move due to the fault, the system sends out a maintenance alarm;
s3012: if the mobile robot with the fault is the tail end mobile robot, judging whether the robot can autonomously move to the tail end of the vehicle searching area of the robot, and if so, taking over the vehicle searching area by the adjacent robot in front of the robot; if the system can not move due to the fault, the system sends out a maintenance alarm;
s304: and re-defining the head and tail end vehicle searching area of each mobile robot.
S4: applying an AI license plate recognition technology, detecting the motion of the mobile robot and extracting license plates and vehicle characteristic state information of all vehicles;
the vehicle characteristic state information comprises vehicle color, vehicle face state characteristics and vehicle body side state characteristics.
S5: comparing, writing and updating the information with the parking space map database, and updating the current data of the system;
the parking space map database information comprises a garage whole map, a mark number of each parking space, an idle/occupied state of each parking space, a vehicle license plate number of the parking space in an occupied state, and unlicensed vehicle characteristic state information of the parking space in an occupied state.
S6: when the system does not detect the entering and exiting of the vehicle, the steps S3 and S4 are executed once for the parking spaces in the area range at intervals of a plurality of minutes, and the latest state information of the parking space map is compared and updated; preferably, the interval time is 30 minutes.
S7: judging whether an entering vehicle or an exiting vehicle exists:
if the vehicle leaves the garage, the vehicle with the license plate number and the vehicle characteristic state information is removed from the garage map and is in an empty state, if the vehicle leaving the garage has no license plate, each mobile robot executes the steps S3 to S5, and the parking space occupation state of the map is updated after the unlicensed vehicle is confirmed according to the comparison of the characteristic state information of the unlicensed vehicle shot during the leaving of the garage, the original detected unlicensed vehicle characteristic state information and the vehicle parking space vacancy/occupation state;
if a vehicle enters the garage, executing the steps S3 to S5, searching the parking space position where the vehicle finally stops, saving the license plate number information and the characteristic state information of the vehicle, and updating the state of the map vehicle.
The underground parking lot with different parking space data scales is deeply researched, the allocation rule based on one or more guide rail type mobile robots is constructed, and the use requirements of different customers are met.
The invention relates to a parking space guiding and reverse vehicle searching system which is widely applied in the engineering at present, wherein a high-definition camera is adopted to identify a license plate.
Assuming that 500 parking spaces are provided in a middle-sized cell underground garage, license plate recognition is performed by the deployed high-definition cameras in a one-to-four identification mode, other display and guide devices are not changed, 125 high-definition cameras and comprehensive wiring are required to be arranged in the cell, and 25 ten thousand yuan is required for calculation with the engineering cost of a single high-definition camera as 2000 yuan. If the parking space guiding and reverse car searching system is realized by adopting an AI high-definition camera mode of the mobile guide rail robot, under the condition of low real-time requirement, a single device can realize an accurate identification system. The construction cost of a single mobile guide rail robot with an AI high-definition camera can be controlled within 10 ten thousand yuan, a large amount of construction cost can be saved by the method, and the mobile guide rail robot with the AI high-definition camera has fewer single-point faults and is easy to maintain. The product is high in customer acceptance degree, and the product is applied to become a mainstream application mode.
In the embodiment of the present invention, referring to fig. 4, a parking space guiding and reverse car searching device based on an AI mobile robot is further provided, which mainly includes:
the system comprises a garage map initialization and information updating module, a parking space map updating module and a parking space map updating module, wherein the garage map initialization and information updating module is used for initializing a garage map, calibrating the head and tail end points of a guide rail route of the mobile robot and updating the latest state information of the parking space map when the mobile robot detects license plates and vehicle characteristic state information of all vehicles;
the vehicle detection and information identification module is used for applying an AI license plate identification technology, detecting vehicles entering and exiting the garage by the motion of the mobile robot and extracting license plates and vehicle characteristic state information of all the vehicles;
the vehicle searching rule making module is used for determining vehicle searching areas of the mobile robot and rules for executing loitering vehicle searching actions from the head end to the tail end of the guide rail route in the respective vehicle searching areas;
and the parking space information output module is used for outputting corresponding parking space information in the garage after the vehicle is searched according to the information output by the vehicle detection and information identification module and the rule determined by the vehicle searching rule formulation module, and updating the corresponding parking space information to the garage map initialization and information updating module.
Further, the apparatus further comprises:
and the fault judging and alarming module is used for judging whether all the mobile robots have faults in the process of loitering the car from the head end to the tail end of the guide rail route according to respective divided areas, and if the mobile robots have the faults, carrying out fault alarming and judging whether the mobile robots with the faults are head/tail end mobile robots.
The AI mobile robot-based parking space guidance and reverse car-finding system can execute the AI mobile robot-based parking space guidance and reverse car-finding method provided by the invention, can execute any combination implementation steps of the method examples, and has corresponding functions and beneficial effects of the method.
The stall guiding and reverse car searching device based on the AI mobile robot further comprises a memory and a processor, wherein the memory is used for storing at least one program, and the processor is used for loading the at least one program to execute the method.
Embodiments of the present invention also provide a storage medium having stored therein processor-executable instructions, which when executed by a processor, are configured to perform the method as described in any one of the above.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that: modifications and equivalents may be made to the embodiments of the invention without departing from the spirit and scope of the invention, which is to be covered by the claims.
Claims (10)
1. A stall guiding and reverse car searching method based on an AI mobile robot utilizes a stall guiding and reverse car searching system based on the AI mobile robot, and is characterized by comprising the following steps:
s1: initializing a garage map, and calibrating the head and tail end points of a guide rail route of the mobile robot;
s2: the mobile robot sorts R from the head end and the tail end of the guide rail route1、R2、R3…..RN(N is more than or equal to 1), and determining a vehicle searching area of the mobile robot;
s3: all mobile robots loiter routes from the head end to the tail end in respective car searching areas according to car searching rules, and carry out global car searching;
s4: applying an AI license plate recognition technology, detecting the motion of the mobile robot and extracting license plates and vehicle characteristic state information of all vehicles;
s5: comparing, writing and updating the information with the parking space map database, and updating the current data of the system;
s6: when the system does not detect the entering and exiting of the vehicle, the steps S3 and S4 are executed once for the parking spaces in the area range at intervals of a plurality of minutes, and the latest state information of the parking space map is compared and updated;
s7: judging whether vehicles enter or exit, if so, removing the license plate number and the vehicles with the vehicle characteristic state information from the garage map and keeping the vehicles in an empty state, and updating the parking space occupation state of the map; if a vehicle enters the garage, executing the steps S3 to S5, searching the parking space position where the vehicle finally stops, saving the license plate number information and the characteristic state information of the vehicle, and updating the state of the map vehicle.
2. The AI mobile robot-based parking space guidance and reverse car-finding method according to claim 1, wherein the AI mobile robot-based parking space guidance and reverse car-finding system comprises a mobile robot, a switch, a system server, a guidance display screen, and a reverse car-finding inquiry machine, the mobile robot is connected with the switch through a wireless or wired network, and the switch is respectively connected with the system server, the guidance display screen, and the reverse car-finding inquiry machine through a wired network.
3. The AI mobile robot-based parking space guidance and reverse car-finding method according to claim 1, wherein when the mobile robot is a single one, the car-finding route of the mobile robot is a guide rail route of the mobile robot between the head and tail end points.
4. The AI mobile robot-based parking space guidance and reverse car-finding method according to claim 1, wherein when there are a plurality of mobile robots, the determination rule of the car-finding areas of the mobile robots is:
if the total number of the parking spaces of the garage is N (N is more than 1 and less than or equal to 100), the number of the mobile robots is M equal to 1, and the vehicle searching area of the mobile robot is Pm equal to 1-N;
if the total number of the parking lots of the garage is N (N is more than 100 and less than or equal to 200), the number of the mobile robots is M (1-2), the vehicle searching area of the mobile robots is Pm (M-1) N/M-M N/M, and the vehicle searching area is rounded to zero;
if the total number of the parking spaces of the garage is N (N is more than 200 and less than or equal to 500), the number of the mobile robots is M (2-3), the vehicle searching area of the mobile robots is Pm (M-1) N/M-M N/M, and the whole is rounded to zero;
if the total number of the parking spaces of the garage is N (N is more than 500 and less than or equal to 1000), the number of the mobile robots is M (2-4), the vehicle searching area of the mobile robots is Pm (M-1) N/M-M N/M, and the whole is rounded to zero;
if the total number of the parking spaces of the garage is N (N is more than or equal to 1000), the number of the mobile robots is M which is equal to N/300 and is rounded to zero by + 1; when M is more than or equal to 1 and less than M, the vehicle searching area of the mobile robot is Pm which is 300(M-1) to 300M; when M is equal to M, Pm is equal to 300(M-1) to N, and M is the actual number of mobile robots.
5. The AI mobile robot-based parking space guidance and reverse car-finding method according to claim 1, wherein in step S3, when the mobile robots are multiple, the car-finding rule is a multi-mobile robot collaborative car-finding rule, comprising the steps of:
s301: all mobile robots loiter the vehicle from the head end to the tail end of the guide rail route according to respective divided areas;
s302: judging whether the mobile robot has a fault, and if so, giving an alarm to the system fault;
s303: judging whether the mobile robot with the fault is a head/tail mobile robot or not, and if the mobile robot with the fault is the head/tail mobile robot, respectively taking over the vehicle searching area of the fault mobile robot by a rear/front adjacent robot of the fault mobile robot; if the mobile robot is not the head/tail mobile robot, judging whether the mobile robot with the fault can move to the head end of the vehicle searching area of the robot, and if so, taking over the vehicle searching area by the adjacent robot behind the robot; if the robot cannot move due to the fault, the system sends out a maintenance alarm, and meanwhile, front and rear vehicle searching areas of the position where the robot is located are respectively taken over by front and rear adjacent robots;
s304: and re-defining the head and tail end vehicle searching area of each mobile robot.
6. The AI mobile robot-based parking space guidance and reverse car-finding method according to claim 5, wherein in step S303, if the mobile robot with the fault is a head/tail mobile robot, the following determination is performed:
s3031: if the mobile robot with the fault is the head-end mobile robot, judging whether the robot can autonomously move to the head end of the vehicle searching area of the robot, and if so, taking over the vehicle searching area by the adjacent robot behind the robot; if the system can not move due to the fault, the system sends out a maintenance alarm;
s3012: if the mobile robot with the fault is the tail end mobile robot, judging whether the robot can autonomously move to the tail end of the vehicle searching area of the robot, and if so, taking over the vehicle searching area by the adjacent robot in front of the robot; if the system can not move due to the fault, the system sends out a maintenance alarm.
7. The AI mobile robot-based parking space guidance and reverse car finding method according to claim 1, wherein the vehicle characteristic status information includes a vehicle color, a car face status characteristic, and a car body side status characteristic.
8. The AI mobile robot-based parking space guidance and reverse vehicle finding method according to claim 1, wherein the parking space map database information includes a garage overall map, a label of each parking space, a free/occupied state of each parking space, a vehicle license plate number of the parking space in the occupied state, and the unlicensed vehicle characteristic state information of the parking space in the occupied state.
9. The utility model provides a parking stall guide and reverse car device of seeking based on AI mobile robot which characterized in that mainly includes:
the system comprises a garage map initialization and information updating module, a parking space map updating module and a parking space map updating module, wherein the garage map initialization and information updating module is used for initializing a garage map, calibrating the head and tail end points of a guide rail route of the mobile robot and updating the latest state information of the parking space map when the mobile robot detects license plates and vehicle characteristic state information of all vehicles;
the vehicle detection and information identification module is used for applying an AI license plate identification technology, detecting vehicles entering and exiting the garage by the motion of the mobile robot and extracting license plates and vehicle characteristic state information of all the vehicles;
the vehicle searching rule making module is used for determining vehicle searching areas of the mobile robot and rules for executing loitering vehicle searching actions from the head end to the tail end of the guide rail route in the respective vehicle searching areas;
and the parking space information output module is used for outputting corresponding parking space information in the garage after the vehicle is searched according to the information output by the vehicle detection and information identification module and the rule determined by the vehicle searching rule formulation module, and updating the corresponding parking space information to the garage map initialization and information updating module.
10. The AI mobile robot-based parking space guidance and reverse car-finding device according to claim 9, further comprising:
and the fault judging and alarming module is used for judging whether all the mobile robots have faults in the process of loitering the car from the head end to the tail end of the guide rail route according to respective divided areas, and if the mobile robots have the faults, carrying out fault alarming and judging whether the mobile robots with the faults are head/tail end mobile robots.
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