CN207799922U - Reverse vehicle searching system and managing system of car parking - Google Patents

Abstract

The utility model discloses a kind of reverse vehicle searching system and managing system of car parking, are related to intelligent car-searching field.The system includes Xun Che robots, background server and vehicle query terminal, Xun Che robots include vehicle assembly and control acquisition component, it includes control module to control acquisition component, information acquisition module and location and obstacle avoidance module, location information control vehicle assembly of the control module based on location and obstacle avoidance module detection Xun Che robots is to control the patrol of Xun Che robots, the information of vehicles of information acquisition module collection vehicle simultaneously sends this information to control module, the location information that control module is obtained based on information of vehicles and from location and obstacle avoidance module, which generates vehicle location information and is sent to background server, to be stored, vehicle query terminal is for responding user's operation from the corresponding vehicle location information of background server target vehicle.Its installation maintenance is at low cost, flexible for installation, vdiverse in function, can complete actively to seek vehicle.

Description

Reverse vehicle searching system and managing system of car parking

Technical field

The utility model is related to intelligent car-searching fields, in particular to reverse vehicle searching system and managing system of car parking.

Background technology

As the improvement of people's living standards, vehicle is more and more, and parking lot is also increasing, especially in market, purchase In the large parking lots such as object center, car owner when returning to parking lot often due to parking lot space is big, environment and marker it is similar, Direction such as is not easy to distinguish at the reasons, is easy to get lost in parking lot, find less than the vehicle of oneself, in addition, the key of automobile Although the flicker of passable channel radio courier car light or car alarming, it is shorter that it seeks vehicle distance, more so that car owner is difficult to It is quickly found out the vehicle of oneself.

It is directed to the problem for looking for vehicle hardly possible, existing to rely primarily on swipe the card positioning and Car license recognition camera location technology etc. complete It is identified and positioned at vehicle parking.It is the location information for receiving vehicle using background server, by analysis, after storage, incites somebody to action Information of vehicles is published on vehicle query terminating machine, realizes the function of parking reverse car seeking.The former is limited to the operating habit of user, Operability is not strong, the case where IC card loses or forgets to swipe the card usually occurs, and needs that swiping card equipment, peace is arranged in many places It is high to fill maintenance cost.The latter needs to install multiple cameras, installation maintenance cost in parking lot by the way of positive location Height, energy consumption is big, is not easy to promote, in addition, existing driving skills art of seeking is dumb in the presence of installing, the problem of having a single function.

In view of this, it is at low cost to design and manufacture a kind of installation maintenance, and it is flexible for installation, it is multi-functional, it can actively seek vehicle Vehicle system of seeking be particularly important.

Utility model content

The purpose of this utility model is to provide a kind of reverse vehicle searching systems, and the system installation maintenance is at low cost, installation spirit It is living, it is vdiverse in function, it can complete actively to seek vehicle.

The another object of the utility model is to provide a kind of managing system of car parking, and managing system of car parking uses reversed It seeks vehicle system and completes vehicle location inquiry work, the reverse vehicle searching system installation maintenance is at low cost, flexible for installation, vdiverse in function, It can complete actively to seek vehicle.

The utility model provides a kind of technical solution：

In a first aspect, the utility model embodiment provides a kind of reverse vehicle searching system, including Xun Che robots, backstage take Business device and vehicle query terminal, the Xun Che robots include vehicle assembly and control acquisition component, the control acquisition component Including control module, information acquisition module and location and obstacle avoidance module；Described information acquisition module, the location and obstacle avoidance module and institute It states vehicle assembly to be electrically connected with the control module, described information acquisition module, the location and obstacle avoidance module and the control Module is mounted on the vehicle assembly, and the background server is logical with the control module and the vehicle query terminal respectively Letter connection；The location and obstacle avoidance module is used to detect the location information of the Xun Che robots, and the control module is for being based on The location information controls the working condition of the vehicle assembly, is gone on patrol with controlling the Xun Che robots, described information Acquisition module is used for the information of vehicles of collection vehicle, and when described information acquisition module collects the information of vehicles, sends To the control module, the control module is additionally operable to keep away based on the information of vehicles and from the positioning information of vehicles The location information that barrier module obtains generates vehicle location information, and sends the vehicle location information to the background service Device is stored, and the vehicle query terminal is corresponding with target vehicle from the background server for responding user's operation The vehicle location information.

With reference to first aspect, in the first realization method of first aspect, the vehicle query terminal includes query station With mobile enquiry end, the query station and the mobile enquiry end are communicated to connect with the background server.

With reference to first aspect and its above-mentioned realization method, in second of realization method of first aspect, the control is adopted It further includes path planning module to collect component, and the path planning module is electrically connected with the control module, the path planning mould Block for based on the user designated position and the vehicle location information generation seek vehicle path profile.

With reference to first aspect and its above-mentioned realization method, in the third realization method of first aspect, the positioning is kept away Barrier module includes distance measuring sensor and depth camera, the distance measuring sensor and the depth camera with the control mould Block is electrically connected, and the distance measuring sensor is used to acquire the complaint message of the barrier around the Xun Che robots, the depth Camera is used to acquire the environment deep image information around the Xun Che robots, and the control module is additionally operable to based on described Complaint message and the environment deep image information generate the location information.

With reference to first aspect and its above-mentioned realization method, in the 4th kind of realization method of first aspect, the control is adopted It further includes graphical interaction module to collect component, and the graphical interaction module is electrically connected with the control module, the graphical interaction mould Block is for responding user's operation from the background server vehicle location information corresponding with target vehicle.

With reference to first aspect and its above-mentioned realization method, in the 5th kind of realization method of first aspect, the control is adopted It further includes voice interaction module to collect component, and the voice interaction module is electrically connected with the control module, the interactive voice mould Block is for responding user speech from the background server vehicle location information corresponding with target vehicle.

With reference to first aspect and its above-mentioned realization method, in the 6th kind of realization method of first aspect, the vehicle group Part includes remote terminal, and the remote terminal is communicated to connect with the control module, and the remote terminal is for being remotely controlled described seek Vehicle robot moves.

With reference to first aspect and its above-mentioned realization method, in the 7th kind of realization method of first aspect, the vehicle group Part further includes rotating monitoring camera, and the rotating monitoring camera is installed on Xun Che robots top, the rotation prison Control camera is electrically connected with the control module, and the rotating monitoring camera is used to seek vehicle described in monitoring during patrol Environment around robot.

With reference to first aspect and its above-mentioned realization method, in the 8th kind of realization method of first aspect, the vehicle group Part further includes indicator light, and the indicator light is electrically connected with the control module.

Second aspect, the utility model embodiment provide a kind of managing system of car parking, including reverse vehicle searching system, instead Include Xun Che robots, background server and vehicle query terminal to vehicle system is sought, the Xun Che robots include vehicle assembly And control acquisition component, the control acquisition component includes control module, information acquisition module and location and obstacle avoidance module；The letter Breath acquisition module, the location and obstacle avoidance module and the vehicle assembly are electrically connected with the control module, described information acquisition Module, the location and obstacle avoidance module and the control module are mounted on the vehicle assembly, the background server respectively with The control module and vehicle query terminal communication connection；The location and obstacle avoidance module detects the position of the Xun Che robots Confidence ceases, and the control module controls the working condition of the vehicle assembly based on the location information, to seek vehicle described in control Robot is gone on patrol, and described information acquisition module is used for the information of vehicles of collection vehicle, is acquired in described information acquisition module When to the information of vehicles, the information of vehicles is sent to the control module, the control module is based on the information of vehicles And the location information obtained from the location and obstacle avoidance module generates vehicle location information, and send the vehicle location letter Breath to the background server is stored, and the vehicle query terminal is for responding user's operation from the background server tune Take the corresponding vehicle location information of target vehicle.

Compared with prior art, the advantageous effect of reverse vehicle searching system and managing system of car parking provided by the utility model It is：

Xun Che robots collect information of vehicles in patrol by information acquisition module, and send information of vehicles to control Module, the location information that control module is obtained based on information of vehicles and from location and obstacle avoidance module generate vehicle location information, use Family operates vehicle query terminal to complete vehicle query from the corresponding vehicle location information of background server target vehicle, is somebody's turn to do System installation maintenance is at low cost, flexible for installation, vdiverse in function, can complete actively to seek vehicle.

To enable the above objects, features, and advantages of the utility model to be clearer and more comprehensible, preferred embodiment cited below particularly, and The appended attached drawing of cooperation, is described in detail below.

Description of the drawings

It, below will be to required use in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment Attached drawing be briefly described.It should be appreciated that the following drawings illustrates only some embodiments of the utility model, therefore should not be by Regard the restriction to range as.For those of ordinary skill in the art, without creative efforts, may be used also To obtain other relevant attached drawings according to these attached drawings.

Fig. 1 is the composition schematic block diagram for the reverse vehicle searching system that the utility model embodiment provides；

Fig. 2 is the structural schematic diagram of the Xun Che robots for the reverse vehicle searching system that the utility model embodiment provides；

Fig. 3 is the group of the control acquisition component of the Xun Che robots for the reverse vehicle searching system that the utility model embodiment provides At schematic block diagram；

Fig. 4 is determining for the control acquisition component of the Xun Che robots for the reverse vehicle searching system that the utility model embodiment provides The composition schematic block diagram of position obstacle avoidance module；

Fig. 5 is the composition schematic block diagram of the graphical interaction module for the reverse vehicle searching system that the utility model embodiment provides；

Fig. 6 is the composition schematic block diagram of the voice interaction module for the reverse vehicle searching system that the utility model embodiment provides.

Icon：900- reverse vehicle searching systems；100- Xun Che robots；121- vehicle frames；122- drives wheel；123- anticollisions are slow Rush item；124- indicator lights；125- headlamps；127- rotating monitoring cameras；110- controls acquisition component；111- path planning moulds Block；112- control modules；113- information acquisition modules；116- graphical interaction modules；118- location and obstacle avoidance modules；119- voices are handed over Mutual module；115- robot communication modules；1131- acquisition cameras；1161- display screens；1162- input modules；1181- rangings Sensor；1182- depth cameras；1191- microphones；1192- loudspeakers；1151- communication antennas；300- vehicle queries are whole End；500- background servers.

Specific implementation mode

It is new below in conjunction with this practicality to keep the purpose, technical scheme and advantage of the utility model embodiment clearer Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described.Obviously, it is retouched The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Usually here described in attached drawing and The component of the utility model embodiment shown can be arranged and be designed with a variety of different configurations.

Therefore, the detailed description of the embodiments of the present invention to providing in the accompanying drawings is not intended to limit requirement below The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model Embodiment, the every other embodiment that those of ordinary skill in the art are obtained without creative efforts, all Belong to the range of the utility model protection.

It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.

In the description of the present invention, it should be understood that term "upper", "lower", "inner", "outside", "left", "right" etc. The orientation or positional relationship of instruction be based on the orientation or positional relationship shown in the drawings or the utility model product use when The orientation or positional relationship that the orientation or positional relationship or those skilled in the art usually put usually understand, be only for Described convenient for description the utility model and simplifying, do not indicate or imply the indicated equipment or element must have it is specific Orientation, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention.

In addition, term " first ", " second " etc. are only used for distinguishing description, it is not understood to indicate or imply relatively important Property.

It should be noted that herein, relational terms such as first and second and the like are used merely to a reality Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that There is also other identical elements in process, method, article or equipment including the element.

In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, " setting ", Terms such as " connections " shall be understood in a broad sense, for example, " connection " may be a fixed connection, may be a detachable connection, or one Ground connects；It can be mechanical connection, can also be electrical connection；Can be directly connected to, can also by between intermediary in succession It connects, can be the connection inside two elements.For the ordinary skill in the art, can understand as the case may be The concrete meaning of above-mentioned term in the present invention.

Below in conjunction with the accompanying drawings, specific embodiment of the present utility model is described in detail.In the absence of conflict, Feature in following embodiments and embodiment can be combined with each other.

The utility model embodiment provides one kind and seeking vehicle system, which records parking lot using a Ge Xun vehicles robot The information such as the position of interior vehicle, user can input the information such as the car plate of target vehicle by inquiry terminal or Xun Che robots, To inquire the corresponding location information of target vehicle, and the position of target vehicle can be gone in the case where Xun Che robots are led, it should System installation maintenance is at low cost, flexible for installation, vdiverse in function, can actively seek vehicle.This is sought vehicle system and can be used for parking lot, storehouse Deng, it can also be used to scenes such as articles seeking, can be also used cooperatively with shutdown system etc., certainly, this seeks vehicle system can also be independent It uses.

It below will be to seek vehicle system applied to parking lot as embodiment, to be specifically introduced to seeking vehicle system.

Embodiment：

Fig. 1 is please referred to, Fig. 1 is the composition schematic block diagram for the reverse vehicle searching system 900 that the utility model embodiment provides；

The reverse vehicle searching system 900 includes Xun Che robots 100, background server 500 and vehicle query terminal 300, after Platform server 500 is communicated to connect with Xun Che robots 100 and vehicle query terminal 300 respectively, and Xun Che robots 100 are for going on patrol Parking lot, and in typing parking lot vehicle vehicle location information, and vehicle location information is sent to background server 500, user can inquire the vehicle that background server 500 is recorded by Xun Che robots 100 or vehicle query terminal 300 etc. Relevant vehicle location information, in addition, Xun Che robots 100 can also lead user toward the corresponding position of vehicle location information.

Reverse vehicle searching system 900 can be applied to parking lot, and with managing system of car parking (not shown) cooperating, reversely The work such as the information sharing of vehicle cooperation can be carried out by seeking vehicle system 900 and managing system of car parking.

It will specifically introduce each component part of the reverse vehicle searching system 900 and each component part are how to work below With cooperation and advantage.

Fig. 2 is please referred to, Fig. 2 is the Xun Che robots 100 for the reverse vehicle searching system 900 that the utility model embodiment provides Structural schematic diagram；

The Xun Che robots 100 include vehicle assembly (figure is not marked) and control acquisition component 110, control acquisition component 110 It is installed on vehicle assembly, completes independently patrol, typing vehicle location information and guide to seek to complete control Xun Che robots 100 The work such as vehicle, vehicle assembly complete monitoring work for moving the Xun Che robots 100.The Xun Che robots 100 use spirit Living, vdiverse in function, 100 background server 500 of Xun Che robots and the cooperation of vehicle query terminal 300 are completed to guide the work for seeking vehicle Make, certainly, which can also be used alone.

Concrete structure, operation principle and the advantageous effect of vehicle assembly will be specifically introduced below.

Vehicle assembly includes the vehicle frame 121 being connected with each other and driving wheel 122, and the driving rotation of wheel 122 is to drive vehicle frame 121 movements, driving wheel 122 are electrically connected with the control acquisition component 110.Anticollision buffer bar is installed on its vehicle frame 121 123, the impact force suffered in collision for mitigating Xun Che robots 100 and collision object, anticollision buffer bar 123 is installed on 121 front end of vehicle frame, it is to be understood that can also install anticollision buffer bar 123 in 121 surrounding of vehicle frame, mitigate Xun Che robots 100 and collision object suffered impact force, less collision loss in collision improve the reliability of Xun Che robots 100.

Preferably, being also equipped with indicator light 124 on vehicle frame 121, which is electrically connected with control acquisition component 110 It connects, which is used to send out the information such as steering, startup and stopping to the environment of Xun Che robots 100, reduces because seeking vehicle device Device people 100 collides caused by turning to, start or stopping suddenly being occurred, and the probability that collision occurs is reduced, and vehicle device device is sought in raising The reliability of people 100.

Further, it is also equipped with headlamp 125 on vehicle frame 121, which is electrically connected with control acquisition component 110 It connects, in order to which Xun Che robots 100 complete autonomous patrol, typing information of vehicles, guiding the offer illumination sought in the work such as vehicle Task, headlamp 125 are installed on 121 front end of vehicle frame, it is to be understood that 121 surrounding of vehicle frame can also install headlamp 125, in reversing, typing information of vehicles and patrol, to be illuminated to the ambient enviroment of Xun Che robots 100, convenient for seeking vehicle Robot 100 carries out the operation such as move backward, and improves the accuracy of information of vehicles typing, also allows for carrying out comprehensive prison in patrol Control.

Preferably, being also equipped with rotating monitoring camera 127, rotating monitoring camera 127 and control on 121 top of vehicle frame Acquisition module electrical connection processed, rotating monitoring camera 127 is for environment during patrol around monitoring, the pipe in parking lot The monitoring direction that either remote-control rotary monitoring camera 127 can be arranged in reason personnel avoids turning to or keeping away in Xun Che robots 100 When opening barrier, there is the problem of monitoring dead angle, improve the monitoring effect of Xun Che robots 100.It is understood that rotating Headlamp 125 is also equipped on monitoring camera 127, it, still can be clear to ensure when monitoring longer-distance target Chu takes target picture, improves the monitoring effect of Xun Che robots 100.

Preferably, Xun Che robots 100 further include remote terminal (not shown), remote terminal and control acquisition module electricity Connection, the remote terminal are used to be remotely controlled the work such as the walking of Xun Che robots 100 and monitoring, such as：Administrative staff can be by distant Control terminal is remotely controlled the monitoring orientation of 100 movement and rotating camera of Xun Che robots, to complete remote control patrol mission；In addition, When Xun Che robots 100 are packed or transported, Xun Che robots 100 can be remotely controlled by remote terminal and walked to have assisted It either unloads means of transport at being packed into and can also assist to be packed into or unload packaging, reduce labor intensity, less transportation and packing are difficult Degree.When Xun Che robots 100 encounter barrier, administrative staff can also can be remotely controlled Xun Che robots 100 by remote terminal Barrier is got around, the place adaptability of Xun Che robots 100 is improved.

Fig. 3 is please referred to, Fig. 3 is the Xun Che robots 100 for the reverse vehicle searching system 900 that the utility model embodiment provides Control the composition schematic block diagram of acquisition component 110.

Xun Che robots 100 control 100 patrol parking lot of Xun Che robots, and typing vehicle by controlling acquisition module Location information.

Control acquisition component 110 is installed on the vehicle frame 121 of vehicle assembly, and control acquisition component 110 includes control module 112, information acquisition module 113, graphical interaction module 116, location and obstacle avoidance module 118, voice interaction module 119, path planning Module 111 and robot communication module 115, control module 112 respectively with information acquisition module 113, graphical interaction module 116, Location and obstacle avoidance module 118, voice interaction module 119, robot communication module 115, path planning module 111, driving wheel 122, indicator light 124, headlamp 125, rotating monitoring camera 127 are electrically connected, and control module 112 is also with passing through robot communication Module 115 is communicated to connect with remote terminal and background server 500 respectively, and robot communication module 115 includes communication antenna 1151, communication antenna 1151 is installed on vehicle frame 121, for increasing communication stability.

It is understood that the communication connection can be internet, LAN and infrared communication etc., it is of course also possible to It is other connection types.Such as：It can be connected by wireless pairing, i.e., match realization connection by way of instructing and matching.

Below by the operation principle and advantageous effect of the specific each module introduced and control acquisition component 110.

Fig. 4 is please referred to, Fig. 4 is the Xun Che robots 100 for the reverse vehicle searching system 900 that the utility model embodiment provides Control the composition schematic block diagram of the location and obstacle avoidance module 118 of acquisition component 110.

Wherein, location and obstacle avoidance module 118 includes distance measuring sensor 1181 and depth camera 1182, distance measuring sensor 1181 It is electrically connected with control module 112 with depth camera 1182, distance measuring sensor 1181 is for detecting around Xun Che robots 100 Barrier with the complaint message of dyspoiesis object, depth camera 1182 is used to acquire the environment around Xun Che robots 100 Deep image information, control module 112 generate the position of Xun Che robots 100 based on environment deep image information and complaint message Information completes the positioning of Xun Che robots 100.

It should be noted that before the location information for generating Xun Che robots 100, user can pass through background server 500 upload the default cartographic information in parking lot, and control module 112 calls the default cartographic information to believe respectively with environment depth image Breath and complaint message are compared, and to generate the location information of Xun Che robots 100, which may be to seek vehicle device device People 100 is remotely controlled in patrol parking lot first, the barrier around Xun Che robots 100 that distance measuring sensor 1181 detects What the environment deep image information around Xun Che robots 100 that complaint message and depth camera 1182 acquire generated jointly First default cartographic information in addition, user can also upload patrol route by background server 500, or passes through remote control Terminal remote control Xun Che robots 100 go on patrol to input patrol route, are patrolled in order to which Xun Che robots 100 follow patrol route It patrols.

It is understood that control module 112 is generating position in addition to being based on environment deep image information and complaint message Except information, it is also based on the moving distance information that driving wheel 122 is fed back, which, which has reacted, seeks vehicle device The information such as the shift position of device people 100, control module 112 can be based on moving distance information and environment deep image information and Complaint message generates the location information of Xun Che robots 100 jointly.To improve the positioning accuracy and its stabilization of Xun Che robots 100 Property.

It should be noted that default cartographic information include the fixation article in parking lot, such as ground, metope, column or glue It is affixed on the mark etc. of the fixed article such as ground, metope, column, in addition, complaint message includes the size of obstacle, corresponding position Confidence ceases and the picture video etc. of barrier.

It is understood that the distance measuring sensor 1181 can be ultrasonic distance-measuring sensor 1181, infrared distance measuring biography Sensor 1181 or radar range finding sensor 1181 can also be laser range sensor 1181, laser range sensor 1181 It can realize contactless telemeasurement, measuring speed is fast, and precision is high, and range is big, and anti-electrical interference ability is strong, also can adapt in vehicle There is the environment of more electromagnetic interference around.

Please continue to refer to Fig. 3, during Xun Che robots 100 are gone on patrol, vehicle device is sought by the acquisition of information acquisition module 113 The information of vehicles of 100 surrounding vehicles of device people sends information of vehicles to control when information acquisition module 113 collects information of vehicles Molding block 112, the location information life at this time that control module 112 is obtained based on information of vehicles and from location and obstacle avoidance module 118 At vehicle location information, control module 112 sends vehicle location information to background server 500 and is stored.

It should be noted that above-mentioned information of vehicles includes at least the number-plate number and corresponding position letter of collected vehicle Breath, in addition, the photo of the entry time that information of vehicles can also be including information of vehicles, vehicle, or first typing information of vehicles When, Xun Che robots 100 by captured video the etc. when vehicle, for the administrative staff in parking lot be based on this type of information into Row management.

It is understood that information acquisition module 113 includes acquisition camera 1131, information acquisition module 113 is by acquiring Camera 1131 shoots vehicle pictures, and generates corresponding license plate number by vehicle pictures, and information acquisition module 113 can also be ETC (electronic charging system without parking) reader, the board units antenna that vehicle is read by ETC readers obtain vehicle letter Breath, information acquisition module 113 can also be RFID (radio frequency identification) reader device, read the letter in the electronic tag of vehicle Breath, to obtain information of vehicles, it is possible to understand that when, information acquisition module 113 can also use above-mentioned read means simultaneously, with Improve the information collecting capacity of Xun Che robots 100.

Xun Che robots 100 will judge whether the article is vehicle by information acquisition module 113, if the non-vehicle of the article , by by the complaint message of 118 dyspoiesis object of location and obstacle avoidance module, control module 112 is according to obstacle information to default Cartographic information is modified, such as：Certain place of the patrol route indicated on default cartographic information is the case where blank can keep straight on, When Xun Che robots 100 run to the place, in the place or nearby there is the barrier of non-vehicle, Xun Che robots 100 record the complaint message of the barrier in the place, and break the barriers according to complaint message detour, again through being somebody's turn to do in patrol When place, the barrier in the place still exists, and control module 112 is stored in the patrol route of background server 500 by correcting With default cartographic information, when passing through the place next time, Xun Che robots 100 are according to corrected patrol route and default map Information is gone on patrol, and is just planned again without carrying out path, patrol speed is improved, when again passing by the position, if hindering at this time Object is hindered to disappear, Xun Che robots 100 will correct patrol circuit and default cartographic information again, improve patrol speed.

It should be noted that when Xun Che robots 100 can not detour and break the barriers, cruiser will stop, and backward Platform server 500 sends prompt or warning message, in order to parking lot management personnel's timely processing barrier so that parking lot Restore unimpeded in time, whether parking lot management personnel can also need timely processing by complaint message disturbance in judgement object.

In addition, the Xun Che robots 100 can also be used to go on patrol the Important Sections such as passageway for fire apparatus, to be reported in time to administrative staff Accuse the status information of Important Sections.In addition, when the reverse vehicle searching system 900 and shutdown system are used cooperatively, the information of vehicles It can also be compared with the information of vehicles of shutdown system institute typing, to improve data sharing degree, facilitate administrative staff to be based on such Information is managed.

Fig. 5 and Fig. 6 are please referred to, Fig. 5 is the graphical interaction mould for the reverse vehicle searching system 900 that the utility model embodiment provides The composition schematic block diagram of block 116；Fig. 6 is the voice interaction module for the reverse vehicle searching system 900 that the utility model embodiment provides 119 composition schematic block diagram.

User can be carried out operation by graphical interaction module 116 or voice interaction module 119 and Xun Che robots 100 and be sought Vehicle robot 100.

Graphical interaction module 116 includes display screen 1161 and input module 1162, display screen 1161 and input module 1162 It is electrically connected respectively with control module 112, it is to be appreciated that the display screen 1161 or touch display screen 1161, voice are handed over Mutual module 119 includes microphone 1191 and loudspeaker 1192, and microphone 1191 and loudspeaker 1192 are electric with control module 112 respectively Connection, user can input the license board information of vehicle by graphical interaction module 116 or voice interaction module 119, to search vehicle The information such as position.

In addition, user can also input designated positions by graphical interaction module 116 or voice interaction module 119, Path planning module 111 is generated based on the vehicle location information inquired and designated position and seeks vehicle path profile, this seeks vehicle path profile Preferably to seek fare road, user, which can refer to this and seek vehicle path profile, to carry out seeking vehicle, may also require that the arrival of Xun Che robots 100 refers to Positioning is set, and is led user and is gone to the position corresponding to vehicle location information according to path planning figure, it is to be understood that the road The affiliated part of diameter planning module 111 or background server 500.

It is understood that above-mentioned designated position, can be any position on default cartographic information, such as：Certain electricity The position that ladder way, certain stairs port or Xun Che robots 100 are currently located.

Please continue to refer to Fig. 1, vehicle query terminal 300 is communicated to connect with background server 500, vehicle query terminal 300 For responding user's operation the corresponding vehicle location information of target vehicle, vehicle query terminal 300 are transferred from background server 500 Including query station's (not shown) and mobile enquiry terminal (not shown), query station and mobile enquiry terminal are and background server 500 communication connections, either parking attendant can be fixed by the vehicle of query station or mobile enquiry terminal inquiry vehicle by user Position information, either parking attendant can also input designated position, path rule to user by query station or mobile enquiry terminal It draws module 111 and seeks vehicle path profile according to designated position and the vehicle location information inquired generation, it is preferable that this, which seeks vehicle path profile, Seek fare road, user, which can refer to this and seek vehicle path profile, to carry out seeking vehicle, may also require that Xun Che robots 100 reach specific bit It sets, lead user and goes to the position corresponding to vehicle location information according to path planning figure, it is to be understood that above-mentioned correspondence Position can be the vehicle corresponding to vehicle location information position, or vehicle corresponding to vehicle location information Region, in addition, the affiliated part of the path planning module 111 or background server 500.

It should be noted that query station is to be installed on lift port or stairs port etc. to inquire when searching vehicle convenient for user The position of vehicle location information, mobile enquiry terminal are the mobile devices such as mobile phone or tablet, and certainly, mobile enquiry terminal also may be used To be apparatus such as computer, the vehicle location information that mobile enquiry terminal and query station are stored by accessing background server 500 Carry out enquiring vehicle position.

It is understood that above-mentioned communication connection can be internet, LAN and infrared communication etc., certainly, also may be used To be other connection types.Such as：It can be connected by wireless pairing, i.e., match realization connection by way of instructing and matching.

Please continue to refer to Fig. 1, background server 500 be used to store the default cartographic information in parking lot, patrol route and Vehicle location information etc..

The reverse vehicle searching system 900 of first embodiment offer and the operation principle of managing system of car parking are：

When information acquisition module 113 collects information of vehicles, information of vehicles is sent to control module 112, control module 112 generate vehicle location information based on the location information of information of vehicles and Xun Che robots 100 at this time, in patrol, inspection When measuring the barrier different from default map or meeting the barrier for influencing patrol, amendment is stored in by control module 112 Graphical interaction module 116, voice interaction module can be used in the patrol route of background server 500 and default cartographic information, user 119 or 300 enquiring vehicle location information of vehicle query terminal, path planning can respond user's operation and be based on finger input by user Positioning sets and the vehicle location information inquired generation is needed to seek vehicle path profile, also, Xun Che robots 100 can seek bus or train route based on this Diameter image strip receives the position that family goes to vehicle location letter corresponding.

In summary：

A kind of reverse vehicle searching system 900 that the utility model embodiment provides, the system installation maintenance is at low cost, installation spirit It is living, it is vdiverse in function, it can complete actively to seek vehicle.

The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this For the technical staff in field, in the absence of conflict, the feature in the above embodiments can be combined with each other, this practicality is new Type can have various modifications and variations.Within the spirit and principle of the utility model, any modification made by is equally replaced It changes, improve, should be included within the scope of protection of this utility model.

It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and And without departing substantially from the spirit or essential attributes of the utility model, it can realize that this practicality is new in other specific forms Type.Therefore, in all respects, the present embodiments are to be considered as illustrative and not restrictive, this practicality is new The range of type is indicated by the appended claims rather than the foregoing description, it is intended that containing in the equivalent requirements of the claims will be fallen All changes in justice and range are embraced therein.Any reference numeral in claim should not be considered as limitation Involved claim.

Claims (10)

1. a kind of reverse vehicle searching system, which is characterized in that including Xun Che robots, background server and vehicle query terminal, institute Shu Xun vehicles robot includes vehicle assembly and control acquisition component, and the control acquisition component includes control module, information collection Module and location and obstacle avoidance module；

Described information acquisition module, the location and obstacle avoidance module and the vehicle assembly are electrically connected with the control module, institute It states information acquisition module, the location and obstacle avoidance module and the control module and is mounted on the vehicle assembly, the backstage clothes Business device is communicated to connect with the control module and the vehicle query terminal respectively；

The location and obstacle avoidance module is used to detect the location information of the Xun Che robots, and the control module is used for based on described Location information controls the working condition of the vehicle assembly, is gone on patrol with controlling the Xun Che robots, described information acquisition Module is used for the information of vehicles of collection vehicle, and when described information acquisition module collects the information of vehicles, described in transmission To the control module, the control module is additionally operable to based on the information of vehicles and from the location and obstacle avoidance mould information of vehicles Block obtain the location information generate vehicle location information, and send the vehicle location information to the background server into Row storage, the vehicle query terminal is for responding user's operation from background server institute corresponding with target vehicle State vehicle location information.

2. reverse vehicle searching system according to claim 1, which is characterized in that the vehicle query terminal include query station and Mobile enquiry end, the query station and the mobile enquiry end are communicated to connect with the background server.

3. reverse vehicle searching system according to claim 1, which is characterized in that the control acquisition component further includes path rule Module is drawn, the path planning module is electrically connected with the control module, and the path planning module is used to be based on the user Designated position and the vehicle location information generation seek vehicle path profile.

4. reverse vehicle searching system according to claim 1, which is characterized in that the location and obstacle avoidance module includes ranging sensing Device and depth camera, the distance measuring sensor and the depth camera are electrically connected with the control module, the ranging Sensor is used to acquire the complaint message of the barrier around the Xun Che robots, and the depth camera is described for acquiring Environment deep image information around Xun Che robots, the control module are additionally operable to be based on the complaint message and the environment Deep image information generates the location information.

5. reverse vehicle searching system according to claim 1, which is characterized in that the control acquisition component further includes that figure is handed over Mutual module, the graphical interaction module are electrically connected with the control module, and the graphical interaction module is for responding user's operation From the background server vehicle location information corresponding with target vehicle.

6. reverse vehicle searching system according to claim 1, which is characterized in that the control acquisition component further includes that voice is handed over Mutual module, the voice interaction module are electrically connected with the control module, and the voice interaction module is for responding user speech From the background server vehicle location information corresponding with target vehicle.

7. reverse vehicle searching system according to claim 1, which is characterized in that the vehicle assembly includes remote terminal, institute It states remote terminal to communicate to connect with the control module, the remote terminal is for being remotely controlled the Xun Che robots movement.

8. reverse vehicle searching system according to claim 1, which is characterized in that the vehicle assembly further includes that rotating monitoring is taken the photograph As head, the rotating monitoring camera is installed on Xun Che robots top, the rotating monitoring camera and the control Module is electrically connected, and the rotating monitoring camera is used to monitor the environment around the Xun Che robots during patrol.

9. reverse vehicle searching system according to claim 1, which is characterized in that the vehicle assembly further includes indicator light, institute Indicator light is stated to be electrically connected with the control module.

10. a kind of managing system of car parking, which is characterized in that including reverse car seeking as described in any one of claims 1-9 System.