CN106781685A - A kind of city intelligent shutdown system that robot is managed based on parking garage - Google Patents
A kind of city intelligent shutdown system that robot is managed based on parking garage Download PDFInfo
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- CN106781685A CN106781685A CN201710126345.5A CN201710126345A CN106781685A CN 106781685 A CN106781685 A CN 106781685A CN 201710126345 A CN201710126345 A CN 201710126345A CN 106781685 A CN106781685 A CN 106781685A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/142—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces external to the vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q20/00—Payment architectures, schemes or protocols
- G06Q20/30—Payment architectures, schemes or protocols characterised by the use of specific devices or networks
- G06Q20/32—Payment architectures, schemes or protocols characterised by the use of specific devices or networks using wireless devices
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
- G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
- G07B15/02—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/148—Management of a network of parking areas
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- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Business, Economics & Management (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Finance (AREA)
- Computer Networks & Wireless Communication (AREA)
- Accounting & Taxation (AREA)
- Strategic Management (AREA)
- General Business, Economics & Management (AREA)
- Theoretical Computer Science (AREA)
- Traffic Control Systems (AREA)
Abstract
A kind of city intelligent shutdown system that robot is managed based on parking garage, system includes parking garage management robot, parking ground control system, urban parking area Cloud Server and mobile terminal APP, collection parking space information, license board information are gone on patrol by robot, information bidirectional circulation is carried out by mobile terminal APP, realizes that parking lot is efficiently managed, car owner is quickly stopped, car owner quickly looks for the function of car.
Description
Technical field
The present invention relates to intelligent parking field, and in particular to a kind of city intelligent that robot is managed based on parking garage
Shutdown system.
Background technology
Parking lot as Traffic Systems an important component, the quality of its situation is directly connected to city friendship
The overall operation efficiency of way system.Wherein, the scale and quantity in parking lot are continuously increased, and are brought to parking lot management very big tired
Difficulty, meanwhile, car owner finds that idle parking stall is difficult and reverse car seeking difficulty is all open question all the time in docking process.
Traditional parking lot management mainly takes the managing system of car parking of manual toll collection and smart card payment, this scheme
There is a problem of looking for car hardly possible, parking difficulty, management difficult.The parking of the view-based access control model sensor that some new parking lot managements are used
Induction information system, this scheme has that high cost, efficiency are low.And the parking data in each parking lot is not united
One management, causes parking lot service efficiency uneven.
The content of the invention
To solve the above problems, the invention provides a kind of city intelligent parking based on parking garage management robot
System, manages robot whole day in parking lot and goes on patrol acquisition parking space information, license board information, by machine by parking garage
Wireless communication module on people will perceive the information transfer that obtains to parking ground control system, by internet by parking lot control
The information transfer of system gives urban parking area Cloud Server, is transferred to urban parking area Cloud Server by internet mobile whole
Hold, and then car owner can realize specified parking lot residue parking stall quantity and the parking stall particular location of inquiry, reversely seek by mobile terminal
Look for the function of storing cycle position and not parking self-help charging.
A kind of city intelligent shutdown system that robot is managed based on parking garage, including parking garage management machine
People, parking ground control system, urban parking area Cloud Server and mobile terminal APP.
The parking garage management robot includes：Processor, path planning module, parking stall measure module, car plate are known
Other module and wireless communication module.Path planning module, for robot localization, the drafting of environmental map and corresponding route rule
Draw；Parking stall measure module, the service condition for detecting parking stall；Car license recognition module, for recognizing the number-plate number in parking stall；
Processor is used to obtain and processing path planning module, parking stall measure module, the information of Car license recognition module；Wireless communication module
For the server being transferred to the parking space information of processor, license board information in parking ground control system.
The parking ground control system includes：Server, parking stall notice board, vehicles while passing functional module.Server is used for
Parking lot management robot and the information of vehicles while passing functional module transmission in receiving chamber, arrange the parking stall letter for obtaining parking lot
Parking space information is transferred to parking stall notice board by breath, license board information, down time information and Parking Fee information, server, while
All information are uploaded to urban parking area Cloud Server by server by internet.Vehicles while passing functional module includes：Entrance
Vehicle identification camera, entrance banister, in-let dimple case, outlet vehicle identification camera, outlet banister and control of export case, institute
Entrance vehicle identification camera, entrance banister are stated by control line and the in-let dimple case signal communication, the outlet vehicle
Identification camera is connected by control line with the control of export case.Parking stall notice board is positioned over Entrance, in parking lot
Portion, for guiding car owner to find remaining parking stall.
The urban parking area Cloud Server is used to receive the parking space information in each parking lot, license board information, parking duration
Information and Parking Fee information, and the Internet transmission to mobile terminal APP will be passed through after information integration.
The mobile terminal includes：Management module further, for inquiring about parking lot residue parking stall quantity；Reverse car seeking mould
Block, for reversely finding vehicle particular location；Self-help charging module, for deducting expense needed for parking.
Advantages of the present invention is：
1. the present invention uses a kind of city intelligent shutdown system that robot is managed based on parking garage, by robot
Patrol collection parking space information, license board information, information bidirectional circulation is carried out by mobile terminal APP, realize parking lot efficiently manage,
Car owner is quickly stopped, car owner quickly looks for the function of car.
2. the present invention gathers parking space information, license board information using parking garage management robot, realizes robot 20
Permanent patrol in four hours, compared to fixed parking position monitoring device is installed, greatly reduces installation cost and maintenance cost.
3. the present invention gathers parking space information, license board information using parking garage management robot, compared to manual toll collection
The managing system of car parking paid the fees with smart card, there is provided the function of parking space information inquiry, reverse car seeking and automatic fee, significantly
Shorten car owner and find idle parking stall, reverse car seeking and the time of the payment that comes in and goes out, improve the efficiency of car owner's parking.
4. the present invention can reduce parking lot management people using the city intelligent shutdown system of parking garage management robot
Member, improves the efficiency of parking lot management, promotes the process of urban parking area intelligent management.
Brief description of the drawings
Fig. 1 is a kind of intelligent parking system composition schematic diagram that robot is managed based on parking garage of the present invention；
Fig. 2 is parking garage of the present invention management robot composition schematic diagram；
Fig. 3 is mobile terminal APP composition schematic diagrams of the present invention；
Fig. 4 is parking garage of the present invention management robot Car license recognition partial process view；
Fig. 5 is that parking garage of the present invention management machine manually makees schematic flow sheet.
Specific embodiment
In order that the purpose of the present invention, technical scheme and advantage are clearer, below in conjunction with the accompanying drawings to of the invention specific
Implementation method is described in further details.
A kind of city intelligent shutdown system that robot is managed based on parking garage, including indoor parking as shown in Figure 1
Field management robot 1, parking ground control system 2, urban parking area Cloud Server 3 and mobile terminal APP 4.The indoor parking
The whole day patrol in parking lot of field robot 1, carries out parking space information detection and license board information detection；The parking ground control system
2 include vehicles while passing functional module 21, parking stall notice board 22, server 23；The server 23 is received and comes from parking garage
The parking space information and license board information of robot 1, and the information that will be gathered is uploaded to urban parking area Cloud Server 3, city is stopped
Parking lot Cloud Server 3 integrates all parking lot informations, and by the Internet transmission to mobile terminal 4.The parking garage pipe
Reason robot 1 includes：Car license recognition module 11, parking stall measure module 12, path planning module 13, processor 14 and wireless telecommunications
Module 15, as shown in Figure 2.The mobile terminal 4 includes：Management module further 41, reverse car seeking module 42 and automatic fee mould
Block 43, as shown in Figure 3.
In the management robot 1 of parking garage, Car license recognition module 11 is used to recognize that the car plate parked cars in parking stall is known
Not, parking stall identification module 12 is used to detect whether parking stall leaves unused that path planning module 13 to be used for robot localization, environmental map
Draw and corresponding route planning.
In mobile terminal APP 4, car owner can be inquired about by management module further 41 and specify parking when parking lot is selected
Parking space information, it is determined that the particular location of the quantity of remaining idle parking stall and idle parking stall, car owner, can be with reverse car seeking
The particular location parked by the enquiring vehicle of reverse car seeking module 42, car owner when parking lot is gone out, by automatic fee module 43
Bales catch removes corresponding expense.
A kind of parking garage management machine for said system manually makees method, as shown in figure 5, specific steps are such as
Under：
Step 1：The laser radar carried by robot gathers ambient data, sets up dynamic using laser SLAM systems
The map office of state, while cooking up the optimal tour path under single parking lot, realizes the navigation of entirely autonomous formula.
Step 2：In each parking stall in parking lot, the parking stall service condition is determined with ultrasonic radar.
Step 3：In each parking stall in parking lot, if detection has vehicle, opening vision sensor carries out car plate knowledge
Not.Car license recognition is divided into car plate detection and two processes of character recognition, and by Car license recognition process, we can obtain many can
Can be the segment of car plate, these segments are carried out into manual sort, after aggregation certain amount, be put into training in SVM models, obtain
One judgment models of SVM, during actual car plate, we again judge the segment input SVM of be likely to be car plate
Model, by SVM models automatically select actually be actually car plate segment.Then, in character recognition process, by car
Board segment carries out gray processing first, and then binaryzation gets the segmentation segment of each character of car plate using series of algorithms.
After obtaining these character segments of magnanimity, manual sort is carried out, then fed in the MLP models of neutral net (ANN), instructed
Practice.During actual Car license recognition, 7 character segments will be obtained and be put into the neural network model for training, by model
To predict the specific character represented by each segment.
Step 4：Parking stall measure and Car license recognition are carried out successively along the path cooked up, by the parking space information of each parking stall
With the server that license board information sends parking ground control system to by wireless communication module.
Step 5：When running into barrier during robot patrol, the ultrasonic wave module of avoidance part will be played and made in system
With, the avoidance of traffic is carried out, return to initial planning path after completing to avoid.
Step 6：Robot is once gone on patrol and finishes, and second patrol is reopened after return to origin.In order that of the invention
Purpose, technical scheme and advantage are clearer, and specific embodiment of the invention is done further specifically below in conjunction with the accompanying drawings
It is bright.
Claims (3)
1. it is a kind of based on parking garage manage robot city intelligent shutdown system, it is characterised in that system include interior
Parking lot management robot, parking ground control system, urban parking area Cloud Server and mobile terminal APP, the indoor parking
Field management robot includes：Processor, path planning module, parking stall measure module, Car license recognition module and wireless communication module,
Path planning module is used for robot localization, the drafting of environmental map and corresponding route planning；Parking stall measure module is used to examine
The service condition of measuring car position；Car license recognition module is used to recognize the number-plate number in parking stall；Processor is used to obtain and locate line of reasoning
Footpath planning module, parking stall measure module, the information of Car license recognition module；Wireless communication module is used to believe the parking stall of processor
Breath, license board information are transferred to the server in parking ground control system；The parking ground control system includes：Server, parking stall
Notice board, vehicles while passing functional module, server are used for parking lot management robot and vehicles while passing functional module in receiving chamber
The information of transmission, arranges parking space information, license board information, down time information and the Parking Fee information for obtaining parking lot, service
Parking space information is transferred to parking stall notice board by device, while all information are uploaded to urban parking area cloud by server by internet
Server, vehicles while passing functional module includes：Entrance vehicle identification camera, entrance banister, in-let dimple case, outlet vehicle are known
Other camera, outlet banister and control of export case, the entrance vehicle identification camera, entrance banister by control line with it is described
In-let dimple case signal communication, the outlet vehicle identification camera is connected by control line with the control of export case, parking stall
Notice board is positioned over Entrance, inner part of parking lot, for guiding car owner to find remaining parking stall；The urban parking area cloud clothes
Business device is used to receiving the parking space information in each parking lot, license board information, parking duration information and Parking Fee information, and by information
By the Internet transmission to mobile terminal APP after integration；The mobile terminal includes：Management module further, stops for inquiring about
The remaining parking stall quantity in field；Reverse car seeking module, for reversely finding vehicle particular location；Self-help charging module, stops for deducting
Expense needed for car.
2. a kind of parking garage management machine of intelligent parking system based on described in claim 1 manually makees method, and it is special
Levy and be, comprise the following steps that：
Step 1：The laser radar carried by robot gathers ambient data, sets up dynamic using laser SLAM systems
Map office, while cooking up the optimal tour path under single parking lot, realizes the navigation of entirely autonomous formula；
Step 2：In each parking stall in parking lot, the parking stall service condition is determined with ultrasonic radar；
Step 3：In each parking stall in parking lot, if detection has vehicle, opening vision sensor carries out Car license recognition；
Step 4：Parking stall measure and Car license recognition are carried out successively along the path cooked up, by the parking space information and car of each parking stall
Board information sends the server of parking ground control system to by wireless communication module；
Step 5：When running into barrier during robot patrol, the ultrasonic wave module of avoidance part will play a role in system,
The avoidance of traffic is carried out, initial planning path is returned to after completing to avoid；
Step 6：Robot is once gone on patrol and finishes, and second patrol is reopened after return to origin.
3. method of work according to claim 2, it is characterised in that the Car license recognition described in step 3 is divided into car plate detection
With two processes of character recognition, by Car license recognition process, we can obtain the segment that many is probably car plate, by these figures
Block carries out manual sort, after aggregation certain amount, is put into training in SVM models, a judgment models of SVM is obtained, in reality
Car plate during, the segment of be likely to be car plate is input into SVM judgment models by we again, is automatically selected by SVM models
Select out actually be actually car plate segment, then, in character recognition process, car plate segment is carried out into gray processing, two first
Value, then gets the segmentation segment of each character of car plate using series of algorithms, obtains these character segments of magnanimity
Afterwards, manual sort is carried out, is then fed in the MLP models of neutral net (ANN), be trained, in actual Car license recognition mistake
Cheng Zhong, the 7 character segments that will be obtained are put into the neural network model for training, and are predicted by model represented by each segment
Specific character.
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Cited By (27)
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| CN108255181A (en) * | 2018-01-29 | 2018-07-06 | 广州市君望机器人自动化有限公司 | Reverse car seeking method and computer readable storage medium based on robot |
| CN108269407A (en) * | 2018-04-09 | 2018-07-10 | 中山火炬高新企业孵化器有限公司 | A kind of automatic management stream of people, the security robot of logistics |
| CN108269423A (en) * | 2018-01-29 | 2018-07-10 | 广州市君望机器人自动化有限公司 | Reverse car seeking device and robot based on robot |
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| CN110634319A (en) * | 2019-09-20 | 2019-12-31 | 哈工大机器人集团重庆普耀信息产业发展有限公司 | Smart parking cloud service system |
| CN110766973A (en) * | 2018-07-27 | 2020-02-07 | 比亚迪股份有限公司 | Intelligent vehicle searching method, device, system, server and cruise intelligent equipment |
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| CN111986337A (en) * | 2020-08-31 | 2020-11-24 | 山东新一代信息产业技术研究院有限公司 | Robot-based roadside parking charge management system and method |
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Cited By (37)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107269054A (en) * | 2017-06-08 | 2017-10-20 | 昆明奥多智能科技有限公司 | A kind of intelligent stereo garage system and control method |
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