CN214376963U

CN214376963U - Parking service robot

Info

Publication number: CN214376963U
Application number: CN202120607428.8U
Authority: CN
Inventors: 张纬坤; 马国良; 巩秀钢
Original assignee: Shandong University of Technology
Current assignee: Shandong University of Technology
Priority date: 2021-03-25
Filing date: 2021-03-25
Publication date: 2021-10-08
Anticipated expiration: 2031-03-25

Abstract

The utility model discloses a parking service robot, which belongs to the technical field of intelligent parking, and structurally comprises a robot main body, wherein a main control module is arranged inside the robot main body, and a camera, a distance measuring module, a communication module, a display screen and a charging interface are arranged outside the robot main body; the parking lot map module is stored in the main control module, and the camera, the distance measuring module, the communication module, the display screen and the charging interface are all connected with the main control module to realize mutual communication of current and data; and the bottom of the robot main body is provided with a traveling wheel. The utility model discloses the parking service robot of example realizes guiding the parking and reverse car of seeking, and better realization human-computer interaction provides more convenience for the user.

Description

Parking service robot

Technical Field

The utility model belongs to the technical field of the intelligence parking technique and specifically relates to a parking service robot mainly is applied to in parking guide service and the reverse car of seeking.

Background

Along with the improvement of people's standard of living, the private car has more and more entered into ordinary family, and the parking problem also shows prominently and more day by day, for the tension of alleviating ground parking, general shopping mall, living area and workspace all can be equipped with underground parking area, nevertheless because underground parking area light is not good enough, the route is similar, still has some inconveniences in the in-service use, mainly embodies:

1. the existing product mainly solves the problems of vehicle entering and exiting a parking lot, vehicle identification and parking charging, and has defects in guiding a parking space in the parking lot by vehicles or personnel and reversely searching vehicles;

2. the parking guidance problem is realized by adopting a sign board, a road sign and the like, and the parking guidance problem is still deficient in the interaction function of personnel;

3. the conventional parking lot mainly uses the mode of vehicle license plate inquiry parking stall, realizes the reverse car function of seeking, nevertheless because of the environment in parking lot is complicated, can not let the user in time find the vehicle.

4. In the discernment to the vehicle model, prior art shoots through the camera and obtains the vehicle type and take notes, and the defect lies in, and too much vehicle that the motorcycle type is similar can lead to the motorcycle type to belong to differently, can't obtain the exact information of vehicle, simultaneously can't with the complete correct contrast of reservation information, information identification can produce the deviation, the accuracy can't obtain guaranteeing.

5. For each parking position, the guiding robot has a designated parking route, and the route is not modified along with real-time parking information, which has the defects that the guiding robot cannot acquire shortest path information, cannot reduce the time cost of using a parking lot, and additionally increases the consumption cost of a user.

6. The prior art generally adopts a network reservation mode, a mode of paying before and stopping, and the using time and the using process are not transparent, so that the parking efficiency is reduced when the traffic flow is large, a user cannot know whether consumption information is clear or not, all prices are determined by merchants, and the consumer cannot check the information.

Because the traditional satellite positioning system can not directly penetrate through a building, the indoor positioning mostly depends on technologies such as Bluetooth and the like, the guided parking is realized, and people still need to actively search for vehicles, parking spaces and the like; in the prior art, the system is realized in a hardware superposition mode, the problem is solved in each stage, the functions are lack of connection, and seamless connection cannot be formed under the condition of large traffic flow; in addition, in reverse car searching, the traditional technologies such as signs or display screens are still mostly used, and although the technologies are simple and convenient, the user requirements cannot be better solved.

Therefore, the above-mentioned drawbacks have not been solved well.

SUMMERY OF THE UTILITY MODEL

In order to solve the defects in the prior art, the utility model aims to provide a parking service robot, which realizes guiding parking and reverse car searching and provides more convenience for users.

The utility model provides a technical scheme that its technical problem adopted does:

the parking service robot comprises a robot main body, wherein a main control module is arranged inside the robot main body, and a camera, a distance measuring module, a communication module, a display screen and a charging interface are arranged outside the robot main body; the parking lot map module is stored in the main control module, and the camera, the distance measuring module, the communication module, the display screen and the charging interface are all connected with the main control module to realize mutual communication of current and data; and the bottom of the robot main body is provided with a traveling wheel.

Furthermore, the camera and the communication module are arranged at the top position of the front surface of the robot main body.

Further, the display screen comprises a front display screen and a rear display screen.

Further, the ranging module comprises a laser radar ranging module and an infrared ranging module, the laser radar ranging module is arranged at the position of the top of the front of the robot body, and the infrared ranging module is arranged at the position below the middle of the front of the robot body.

Furthermore, an ultrasonic module is arranged at the position, close to the infrared ranging module, of the lower part of the robot main body.

Furthermore, the front display screen is an LCD display screen, and the rear display screen is a touch display screen. For convenient to use, the touch display screen can be obliquely arranged.

Further, the front and the back of the robot main body are respectively provided with an illuminating lamp.

Furthermore, the traveling wheels are connected with motors for driving the traveling wheels to travel, and the motors are connected with the main control module and controlled by the main control module.

Furthermore, a voice module is arranged on the robot main body and connected with the main control module.

Furthermore, the camera is connected with a license plate recognition module.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the parking service robot of the example of the utility model realizes the guiding of parking space and reverse vehicle searching for vehicles or personnel in the parking lot through the arrangement of various functional modules and walking wheels; when guiding parking, combine induction modes such as current sign, realize optimal route planning through parking service robot, save the time of looking for the parking stall, realize better human-computer interaction through technologies such as image, pronunciation.

2. The utility model discloses the parking service robot of example is provided with parking area map module, plans out the parking route of optimization, for vehicle and personnel's guide provides the support, on the mode of conventional vehicle license plate inquiry parking stall, through parking service robot guide personnel seek the vehicle, uses route optimization algorithm, saves the time of seeking the car of personnel and obtains better experience.

Drawings

Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:

fig. 1 is a schematic front structural view of a first embodiment of the present invention;

fig. 2 is a schematic side view of a first embodiment of the present invention;

fig. 3 is a schematic back structure diagram of a first embodiment of the present invention;

fig. 4 is a schematic diagram of the overall architecture of a parking guidance system used in an embodiment of the present invention;

fig. 5 is a schematic diagram of a module structure of a parking service robot according to an embodiment of the present invention;

fig. 6 is a schematic view of the working flow of parking guidance according to an embodiment of the present invention;

fig. 7 is a schematic view of the work flow of reverse car searching in the embodiment of the present invention.

In the figure, 1 camera, 2 laser radar ranging module, 3 communication module, 4 positive display screens, 5 light, 6 ultrasonic wave modules, 7 infrared ranging module, 8 walking wheels, 9 the interface that charges, 10 host system, 11 display screens at the back, 12 main robot bodies.

Detailed Description

The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention.

The components of the embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention.

Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings.

The first embodiment is as follows:

as shown in fig. 1 to 3, the present embodiment provides a parking service robot, including a robot main body 12, a main control module 10 is disposed inside the robot main body 12, and a camera 1, a distance measuring module, a communication module 3, a display screen and a charging interface 9 are disposed outside the robot main body 12; a parking lot map module is stored in the main control module 10, and the camera 1, the distance measuring module, the communication module 3, the display screen and the charging interface 9 are all connected with the main control module 10 to realize mutual communication of current and data; the bottom of the robot main body 12 is provided with a traveling wheel 8.

Specifically, the camera 1 and the communication module 3 are disposed at a top position of the front surface of the robot main body 12. The range finding module includes laser radar range finding module 2 and infrared ranging module 7, laser radar range finding module 2 sets up in the positive top position of robot main part 12, infrared ranging module 7 sets up in the position below the positive middle part of robot main part 12.

In this embodiment, master control module 10 adopts raspberry group 4B and arduinoouno development board, and camera 1 adopts the depth of field camera, and communication module 3 adopts 3HNE00009-1 DSQC352B robot communication module, and laser radar ranging module 2 adopts TFmini laser radar range sensor, and infrared ranging module adopts GP2Y0a710K infrared ranging sensor.

An ultrasonic module 6 is arranged at the lower part of the robot main body 12 close to the infrared distance measuring module 7. The ultrasonic module 6 adopts an HC-SR ultrasonic ranging module.

The display screen comprises a front display screen 4 and a rear display screen 11. The front display screen 4 is an LCD display screen, and the rear display screen 11 is a touch display screen. For convenient to use, the touch display screen can be obliquely arranged, and the touch display screen is an inclined plane, so that the touch operation is facilitated.

For convenience of illumination, the front surface of the robot main body 12 is also provided with an illumination lamp 5. In order to facilitate the attention of the parking service robot in time, an illumination lamp 5 may be provided also at the rear of the robot main body 12.

In order to facilitate the automatic walking of the robot, the walking wheel 8 is connected with a motor for driving the robot to walk, and the motor is connected with the main control module 10 and is controlled by the main control module 10. The traveling wheels 8 adopt Mecanum wheels or TT rubber wheels, and motors are driven through a 1298n motor driving module.

The camera 1 is connected with a license plate recognition module. The license plate recognition module performs license plate character recognition based on a Convolutional Neural Network (CNN). Firstly, acquiring a license plate character image, compressing to save storage space, and simultaneously carrying out preprocessing such as size normalization, denoising, binarization, refining, character area centering and the like to remove complex background to obtain a simple character shape structure; and then, training and identifying the preprocessed license plate character set by using the proposed CNN model.

The parking lot map module of the embodiment constructs a parking lot two-dimensional map through SLAM, the map type is a grid map, the map construction equipment is a laser radar, and the technology can construct the shortest path through Dijkstra algorithm. In this embodiment, the depth-of-field camera is used to construct a three-dimensional map model, the laser radar ranging module 2 is used to construct a two-dimensional map, and a common camera may be added for license plate recognition. When current and data exchange exists between the two circuits, the connection modes can be connected by adopting cables.

The main control module 10 is connected with the laser radar ranging module 2, the front display screen 4, the ultrasonic wave module 6, the infrared ranging module 7 and the rear display screen 11 and used for receiving the current position of the robot and the position information of surrounding obstacles, which are acquired by the ultrasonic wave module 6 and the infrared ranging module 7, and updating the current position and the walking route in real time through data processing.

The main control module 10 calculates the current parking service time in real time, displays the parking consumption amount and the payment two-dimensional code on the front display screen 4 in real time for the car owner to preview, and displays the advertisement content on the front display screen 4.

As shown in fig. 6, when guiding parking, after the vehicle owner drives into the parking lot, the nearby parking service robot moves to the front of the vehicle owner, acquires the license plate of the user through the depth-of-field camera 1, and then transmits the image information to the main control module 10 to acquire the current vehicle information. The main control module 10 transmits the parking space location and shortest path information to the parking service robot through data analysis, and the parking service robot guides the vehicle to a designated position according to a planned route. And the main control module 10 calculates the usage cost of the vehicle.

As shown in fig. 7, when a user gets a vehicle in a reverse direction, after obtaining license plate information of the user and comparing the license plate information with server information successfully, the main control module 10 charges according to time, the collected fee and the payment two-dimensional code are displayed on the front display screen 4 in real time, and the user can view detailed use information and charge through the web.

Example two:

the same features of this embodiment and the first embodiment are not described again, and the different features of this embodiment and the first embodiment are: in this embodiment, the robot main body 12 is provided with a voice module, and the voice module is connected to the main control module 10. The voice module belongs to the products in the prior art, such as an OTP voice chip.

As shown in fig. 4 and 5, in this embodiment, the control module corresponds to the main control module 10, the display module corresponds to the display screen, the path planning module corresponds to the parking lot map module, and the intelligent obstacle avoidance module corresponds to the ultrasonic module 6 and the infrared distance measurement module 7.

The working principle of the embodiment is substantially the same as that of the first embodiment, and the difference is that the voice module is arranged in the embodiment, so that better man-machine interaction can be realized through voice.

The above description is only a preferred embodiment of the application and is illustrative of the principles of the technology employed. It will be understood by those skilled in the art that the scope of the present invention is not limited to the specific combination of the above-mentioned features, but also covers other embodiments formed by any combination of the above-mentioned features or their equivalents without departing from the spirit of the present invention. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.

Besides the technical features described in the specification, other technical features are known to those skilled in the art, and further description of the other technical features is omitted here in order to highlight the innovative features of the present invention.

Claims

1. The parking service robot comprises a robot main body (12), and is characterized in that a main control module (10) is arranged inside the robot main body (12), and a camera (1), a distance measuring module, a communication module (3), a display screen and a charging interface (9) are arranged outside the robot main body (12); a parking lot map module is stored in the main control module (10), and the camera (1), the distance measuring module, the communication module (3), the display screen and the charging interface (9) are all connected with the main control module (10) to realize mutual communication of current and data; and a traveling wheel (13) is arranged at the bottom of the robot main body (12).

2. Parking service robot as claimed in claim 1, characterized in that said camera (1) and communication module (3) are arranged in a top position on the front of the robot body (12).

3. Parking service robot according to claim 1, characterized in that said display screens comprise a front display screen (4) and a rear display screen (11).

4. The parking service robot as claimed in claim 1, wherein the ranging module comprises a lidar ranging module (2) and an infrared ranging module (7), the lidar ranging module (2) is disposed at a top position of the front surface of the robot body (12), and the infrared ranging module (7) is disposed at a position below the middle of the front surface of the robot body (12).

5. Parking service robot according to claim 4, characterized in that an ultrasonic module (6) is provided at the lower part of the robot body (12) near the infrared ranging module (7).

6. Parking service robot as claimed in claim 3, characterized in that said front display screen (4) is an LCD display screen and said rear display screen (11) is a touch display screen.

7. Parking service robot according to claim 1, characterized in that the front and rear of the robot body (12) are provided with illumination lamps (5), respectively.

8. Parking service robot according to claim 1, characterized in that the walking wheels (13) are connected with motors driving them to walk, said motors being connected with the master control module (10) and controlled by the master control module (10).

9. Parking service robot as claimed in claim 1, characterized in that said robot body (12) is provided with a voice module connected to said master control module (10).

10. Parking service robot according to claim 1, characterized in that a license plate recognition module is connected to said camera (1).