CN106204756A - A kind of curb parking automatic accounting system - Google Patents
A kind of curb parking automatic accounting system Download PDFInfo
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- CN106204756A CN106204756A CN201610461157.3A CN201610461157A CN106204756A CN 106204756 A CN106204756 A CN 106204756A CN 201610461157 A CN201610461157 A CN 201610461157A CN 106204756 A CN106204756 A CN 106204756A
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- parking stall
- mobile robot
- parking
- robot
- background server
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- 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
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- General Physics & Mathematics (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of curb parking automatic accounting system, and curb parking automatic accounting system comprises mobile robot, parking stall, background server module；Mobile robot, parking stall, background server module are communicated to connect by radio receiving transmitting module；Described mobile robot includes that Led lamp and the sensor board of light resistance composition, 4 ultrasonic range finder sensors, 2 motors, radio receiving transmitting module, rfid interrogator, automatic telescopic link, single-chip microcomputer, miniature camera, buzzer, sudden strains of a muscle are turned off the light；The present invention is on the basis of automatization, artificial intelligence technology, it is possible to rapidly, accurately, automatically to roadside parks cars and is managed registration, decreases the human cost in city management and the uncertain factor artificially brought.
Description
Technical field
The invention belongs to automatic technology and field of artificial intelligence, particularly relate to a kind of curb parking automatic charging system
System.
Background technology
Along with the development of human society, future city will carry increasing population.At present, China is in city
In the period of town accelerated development, the disadvantage of various urbanization also highlights, and in order to realize the sustainable development in city, promotes city
City's synthesized competitiveness, builds smart city imperative.The theory of " wisdom " is through applying generation information technology to make people
Class can manage, with mode flexibly, the state producing and living with more fine, by sensor being embedded or is provided to the whole world respectively
The various objects of the productive life systems such as the electric power system in individual corner, water system, traffic system, building and oil gas channel
In so that it is the Internet of Things of formation is connected with the Internet, it is achieved human society is integrated with physical system, then passes through supercomputing
Internet of Things is integrated by machine and cloud computing, and smart city can realize.
Wisdom traffic is a critical function column in smart city, and the essence of wisdom traffic is the management to vehicle
With monitoring, including to advance in vehicle, park in vehicle supervise.As highway uses photographic head random picture pair
Vehicle in traveling is captured, and underground parking registers parking cars, metered, but for curb parking
Management there is presently no perfect solution, mostly is artificial supervision.
Summary of the invention
The present invention is in order to preferably solve the existing problem manually collecting curb parking expense, real for roadside parked vehicle
Executing the function of automatic charging, the present invention proposes a kind of front end and uses line walking to take pictures the curb parking automatic charging system of robot
System.
A kind of curb parking automatic accounting system that the present invention proposes, curb parking automatic accounting system comprises mobile machine
People, parking stall, background server module；Mobile robot, parking stall, background server module are communicated by radio receiving transmitting module
Connect；
Described mobile robot includes Led lamp and the sensor board of light resistance composition, 4 ultrasonic range finder sensors, 2 stepping electricity
Machine, radio receiving transmitting module, rfid interrogator, automatic telescopic link, single-chip microcomputer, miniature camera, buzzer, sudden strain of a muscle are turned off the light；Sensor
Plate, 4 ultrasonic range finder sensors, 2 motors, radio receiving transmitting module, rfid interrogator, automatic telescopic link, single-chip microcomputer, little
Type video camera, buzzer, sudden strain of a muscle are turned off the light connected in series and are fixed on mobile robot base；Led lamp and the biography of light resistance composition
Sensor plate is used for judging mobile robot whether offset track；2 motors are for changing the moving direction of mobile robot；
4 ultrasonic range finder sensors are for judging the distance between mobile robot and vehicle；Radio receiving transmitting module is used for moving machine
Communicate between people, parking stall and background server module；Rfid interrogator is used for judging whether mobile robot arrives to be checked stopping
Parking stall；Automatic telescopic link is used for adjusting miniature camera and takes pictures highly；Single-chip microcomputer is for moving the control of robot；Small-sized image pickup
Machine is used for shooting information of vehicles；Buzzer, sudden strain of a muscle are turned off the light for alerting and pointing out；
Described parking stall is used for parking cars, and separates with white line between adjacent parking stall, imbeds in the underground on each parking stall
Ground induction coil, that imbeds also has radio receiving transmitting module, RFID label tag simultaneously；Wherein ground induction coil for judge the stop of vehicle with
Leave；Radio receiving transmitting module is for informing the state of mobile robotic vehicle, the need of carrying out taking pictures and parking stall id；RFID marks
Sign the foundation for judging parking stall id；The yellow line line walking track as mobile robot is coated on parking stall；
Background server module is for the overall control of curb parking automatic accounting system, including utilizing car based on neutral net
The car plate that board identification software identification receives, the car plate after identifying is as key assignments and relevant parking space information, information down time
It is stored in data base.
The workflow of curb parking automatic accounting system is:
First movement robot is placed in and initially parks position, after having vehicle to enter parking stall lasting N minute, radio receiving transmitting module
Send line walking instruction with parking stall id_c to mobile robot, and the state on this parking stall is set to " in parking "；
The mobile robot receiving message passes through each parking stall from underbody successively, and judges each parking stall id, until
Finding the id_c of correspondence, in the moving process of mobile robot, mobile robot opens its buzzer carried and sudden strain of a muscle is turned off the light
Point out to external world, to prevent vehicles passing in and out from it is caused accidental injury；Then move robot and enter searching shooting bit pattern, move
Mobile robot continues to move forward, and open 4 ultrasonic range finder sensors of vehicle body, when 4 ultrasonic range finder sensors are measured
When distance is all higher than M centimetre, automatic telescopic link rises miniature camera and takes pictures；After having taken pictures, mobile robot will shine
Sheet, parking stall id and current time are sent to background server module, and mobile robot returns to initial stand；
Background server module utilizes Car license recognition software to filter photo, identify, the license plate number that will identify that is as key
Value, and parking stall id, parking space state, photo opporunity relevant information are stored in data base；
When vehicle leaves the state on parking stall and this parking stall for " in parking ", current time is sent extremely by radio receiving transmitting module
Mobile robot, this information is sent to background server module by mobile robot again, and is set to by this parking space state " empty
Not busy "；
Background server module matches car plate by parking space state and parking stall id, thus calculates the time of this storing cycle,
And this parking space state is set to " idle ".
The job step of curb parking automatic accounting system is:
(1) judge that parking stall is with or without storing cycle: utilize ground induction coil to judge " entrance " and " leaving " of vehicle；
(2) line walking: limit the movement locus of mobile robot by drawing the line of specific color on parking stall, utilize photosensitive biography
Sensor judges whether robot deviates setting-out, and is adjusted the direction of motion of robot by the rotating speed of single-chip microcomputer adjustment motor；
(3) appointment parking stall is arrived: mobile robot carries out line walking and target parking stall to utilize radio receiving transmitting module to inform, uses RFID
Whether verifier people arrives appointment parking stall；
(4) photo opportunity: whether mobile robot is at two car head and the tail to utilize around vehicle body four ultrasonic range finder sensors to judge
Gap location；
(5) take pictures and data back: the miniature camera lifting using expansion link to be carried by mobile robot is specified to several
Height also carries out automatic camera, and the photo of shooting, parking stall id and shooting time are sent to background server module；
(6) data process: utilize Car license recognition program filters, identify the photo passed back, using license plate number as key assignments, and will be relevant
Position, temporal information be stored in data base.
The beneficial effect of the invention is: the present invention is on the basis of automatization, artificial intelligence technology, it is possible to rapidly, accurately
Ground, automatically roadside is parked cars be managed registration, decrease the human cost in city management and artificially bring not
Determine factor.
Accompanying drawing explanation
Fig. 1 is the workflow diagram of curb parking automatic accounting system of the present invention；
Fig. 2 is curb parking position of the present invention conceptual schematic drawing；
Fig. 3 is the schematic diagram one that the present invention moves robot；
Fig. 4 is the schematic diagram two that the present invention moves robot.
Detailed description of the invention
For the summary of the invention of the present invention, feature and effect can be further appreciated that, enumerate following example, and describe in detail such as
Under:
The workflow of curb parking automatic accounting system of the present invention is as shown in Figure 1.
First robot is placed in and initially parks position, after having vehicle to enter parking stall lasting N minute, wireless sending module
Send line walking instruction with parking stall id_c to robot, and the state on this parking stall is set to " in parking ".Receive the machine of message
Device people passes sequentially through each parking stall (passing through from underbody) and judges each parking stall id, until finding the id_c of correspondence,
In the moving process of robot, robot opens its buzzer carried and sudden strain of a muscle is turned off the light and pointed out to external world, with prevent into
Go out vehicle and it is caused accidental injury.Then robot enters and finds shooting bit pattern, and robot continues to move forward, and opens vehicle body
4 range sensors.When the distance that 4 range sensors are measured is all higher than M centimetre, automatic telescopic link rises small-sized photograph
Machine is in some specified altitude assignments (model of car is different, and the height of car plate does not enter identical) and takes pictures.After having taken pictures, robot
Photo, parking stall id and current time are sent to background server, and robot returns to initial stand.Background server utilizes
Photo is filtered, identifies by Car license recognition software, the license plate number that will identify that as key assignments, and by relevant information (parking stall id,
Parking space state, photo opporunity) it is stored in data base.When vehicle leaves the state on parking stall and this parking stall for " in parking ", nothing
Current time is sent to robot by line sending module, and this information is sent to background server by robot again, and by this parking stall
State is set to " idle ".Server matches car plate by parking space state and parking stall id, thus calculates this storing cycle
Time, and this parking space state is set to " idle ".
The enforcement step of curb parking automatic accounting system of the present invention is:
Implementing step 1. and first make the parking stall as shown in the conceptual schematic drawing of Fig. 2 curb parking position in roadside, adjacent stops
Separate with white line between parking stall, each parking stall underground imbed ground induction coil, imbed simultaneously also have radio receiving transmitting module,
RFID label tag.Wherein ground induction coil is used for judging the stop of vehicle and leaving, RFID label tag then as judging the foundation of parking stall id,
Radio receiving transmitting module is in order to inform the state of mobile robotic vehicle, the need of carrying out taking pictures and parking stall id.Finally coat Huang
Line is as the line walking track of mobile robot.
Implement step 2. and move robot master-plan as shown in Figure 3, Figure 4.Composition components and parts include: Led lamp and photoelectricity
The sensor board of resistance composition, 4 ultrasonic range finder sensors, 2 motors, radio receiving transmitting module, rfid interrogators, automatically stretch
Contracting bar, single-chip microcomputer, miniature camera, buzzer, sudden strain of a muscle are turned off the light.
The sensor board of Led lamp and light resistance composition is used for judging robot whether offset track, the effect of motor
Being the moving direction changing robot, 4 ultrasonic range finder sensors are as judging robot whether the depending on of gap between two cars
According to, radio receiving transmitting module is as the bridge of exchange, the effect of RFID card reader between robot and parking stall and background server
It is to judge whether inspection robot arrives parking stall to be checked.
Implement the car plate that step 3. utilizes Car license recognition software identification based on neutral net to receive, after identifying
Car plate is stored in mysql data base as information such as key assignments and relevant parking space information, down times.
Inventive technique scheme and job step be:
(1) judge that parking stall is with or without storing cycle: utilize ground induction coil to judge " entrance " and " leaving " of vehicle.
(2) line walking: limit the movement locus of robot by drawing the line of specific color on parking stall, utilize photosensitive biography
Sensor judges whether robot deviates setting-out, and is adjusted the direction of motion of robot by the rotating speed of single-chip microcomputer adjustment motor.
(3) appointment parking stall is arrived: robot carries out line walking and target parking stall to utilize wireless receiving/sending module to inform, makes
Appointment parking stall whether is arrived with RFID verifier people.
(4) photo opportunity: whether robot is in two car head and the tail gaps to utilize around vehicle body four distance measuring sensors to judge
Place.
(5) take pictures and data back: the photographic head using expansion link to be carried by robot lifts to several specified altitude assignments
And carry out automatic camera, the photo of shooting, parking stall id and shooting time are sent to background server.
(6) data process: utilize Car license recognition program filters, identify the photo passed back, using license plate number as key assignments, and will
Relevant position, temporal information are stored in data base.
Although the preferred embodiments of the present invention being described above in conjunction with accompanying drawing, but the invention is not limited in
The detailed description of the invention stated, above-mentioned detailed description of the invention is only schematically, is not restrictive, this area common
Technical staff, under the enlightenment of the present invention, in the case of without departing from present inventive concept and scope of the claimed protection, also may be used
To make a lot of form, within these belong to protection scope of the present invention.
Claims (3)
1. a curb parking automatic accounting system, it is characterised in that: curb parking automatic accounting system comprise mobile robot,
Parking stall, background server module；Mobile robot, parking stall, background server module are by radio receiving transmitting module communication link
Connect；
Described mobile robot includes Led lamp and the sensor board of light resistance composition, 4 ultrasonic range finder sensors, 2 stepping electricity
Machine, radio receiving transmitting module, rfid interrogator, automatic telescopic link, single-chip microcomputer, miniature camera, buzzer, sudden strain of a muscle are turned off the light；Led lamp and
The sensor board of light resistance composition is used for judging mobile robot whether offset track；2 motors are used for changing moving machine
The moving direction of device people；4 ultrasonic range finder sensors are for judging the distance between mobile robot and vehicle；Wireless receiving and dispatching mould
Block is used for moving between robot, parking stall and background server module communication；Rfid interrogator is used for judging mobile robot
Whether arrive parking stall to be checked；Automatic telescopic link is used for adjusting miniature camera and takes pictures highly；Single-chip microcomputer is used for moving robot
Control；Miniature camera is used for shooting information of vehicles；Buzzer, sudden strain of a muscle are turned off the light for alerting and pointing out；
Described parking stall is used for parking cars, and separates with white line between adjacent parking stall, imbeds in the underground on each parking stall
Ground induction coil, that imbeds also has radio receiving transmitting module, RFID label tag simultaneously；Wherein ground induction coil for judge the stop of vehicle with
Leave；Radio receiving transmitting module is for informing the state of mobile robotic vehicle, the need of carrying out taking pictures and parking stall id；RFID marks
Sign the foundation for judging parking stall id；The yellow line line walking track as mobile robot is coated on parking stall；
Background server module is for the overall control of curb parking automatic accounting system, including utilizing car based on neutral net
The car plate that board identification software identification receives, the car plate after identifying is as key assignments and relevant parking space information, information down time
It is stored in data base.
A kind of curb parking automatic accounting system the most according to claim 1, it is characterised in that: curb parking automatic charging
The workflow of system is:
First movement robot is placed in and initially parks position, after having vehicle to enter parking stall lasting N minute, radio receiving transmitting module
Send line walking instruction with parking stall id_c to mobile robot, and the state on this parking stall is set to " in parking "；
The mobile robot receiving message passes through each parking stall from underbody successively, and judges each parking stall id, until
Finding the id_c of correspondence, in the moving process of mobile robot, mobile robot opens its buzzer carried and sudden strain of a muscle is turned off the light
Point out to external world, to prevent vehicles passing in and out from it is caused accidental injury；Then move robot and enter searching shooting bit pattern, move
Mobile robot continues to move forward, and open 4 ultrasonic range finder sensors of vehicle body, when 4 ultrasonic range finder sensors are measured
When distance is all higher than M centimetre, automatic telescopic link rises miniature camera and takes pictures；After having taken pictures, mobile robot will shine
Sheet, parking stall id and current time are sent to background server module, and mobile robot returns to initial stand；
Background server module utilizes Car license recognition software to filter photo, identify, the license plate number that will identify that is as key
Value, and parking stall id, parking space state, photo opporunity relevant information are stored in data base；
When vehicle leaves the state on parking stall and this parking stall for " in parking ", current time is sent extremely by radio receiving transmitting module
Mobile robot, this information is sent to background server module by mobile robot again, and is set to by this parking space state " empty
Not busy "；
Background server module matches car plate by parking space state and parking stall id, thus calculates the time of this storing cycle,
And this parking space state is set to " idle ".
A kind of curb parking automatic accounting system the most according to claim 1, it is characterised in that: curb parking automatic charging
The job step of system is:
(1) judge that parking stall is with or without storing cycle: utilize ground induction coil to judge " entrance " and " leaving " of vehicle；
(2) line walking: limit the movement locus of mobile robot by drawing the line of specific color on parking stall, utilize photosensitive biography
Sensor judges whether robot deviates setting-out, and is adjusted the direction of motion of robot by the rotating speed of single-chip microcomputer adjustment motor；
(3) appointment parking stall is arrived: mobile robot carries out line walking and target parking stall to utilize radio receiving transmitting module to inform, uses RFID
Whether verifier people arrives appointment parking stall；
(4) photo opportunity: whether mobile robot is at two car head and the tail to utilize around vehicle body four ultrasonic range finder sensors to judge
Gap location；
(5) take pictures and data back: the miniature camera lifting using expansion link to be carried by mobile robot is specified to several
Height also carries out automatic camera, and the photo of shooting, parking stall id and shooting time are sent to background server module；
(6) data process: utilize Car license recognition program filters, identify the photo passed back, using license plate number as key assignments, and will be relevant
Position, temporal information be stored in data base.
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| CN201610461157.3A CN106204756A (en) | 2016-06-23 | 2016-06-23 | A kind of curb parking automatic accounting system |
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| CN201610461157.3A CN106204756A (en) | 2016-06-23 | 2016-06-23 | A kind of curb parking automatic accounting system |
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Cited By (23)
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| CN106781675A (en) * | 2017-01-21 | 2017-05-31 | 顾红波 | A kind of system and method for collecting parking lot information |
| CN106887157A (en) * | 2017-04-28 | 2017-06-23 | 四川辉通云联数据科技有限公司 | Parking stall enters car, goes out car data correlating method and device |
| CN107341856A (en) * | 2017-06-30 | 2017-11-10 | 深圳信路通智能技术有限公司 | Mobile parking identification, charging administration system and method based on video |
| CN108550278A (en) * | 2018-06-05 | 2018-09-18 | 浙江志诚软件有限公司 | Parking position seizure condition detection device and mobile parking berth seizure condition detection device |
| CN108682177A (en) * | 2018-05-28 | 2018-10-19 | 杭州目博科技有限公司 | Using the parking lot detector and control method of multisensor |
| CN108711303A (en) * | 2018-06-01 | 2018-10-26 | 浙江志诚软件有限公司 | A kind of movable type berth management equipment, berth management system and parking management system |
| CN108765970A (en) * | 2018-08-07 | 2018-11-06 | 普行智能停车（深圳）有限公司 | The method and apparatus of curb parking automatic identification automotive license plate |
| CN109118809A (en) * | 2017-06-26 | 2019-01-01 | 爱尔兰比邻信息技术有限责任公司 | Detection device/method/guidance the system on parking stall, readable storage medium storing program for executing |
| CN109285357A (en) * | 2018-10-25 | 2019-01-29 | 武汉轻工大学 | Information of vehicles based on earth magnetism mode identification technology obtains and bales catch charge system |
| CN109637187A (en) * | 2019-01-07 | 2019-04-16 | 合肥工业大学 | City Roadside Parking position unmanned charge monitoring and managing method and system |
| CN110047321A (en) * | 2019-04-25 | 2019-07-23 | 武汉科技大学 | A kind of parking position management method and system based on Car license recognition |
| CN110807948A (en) * | 2019-11-12 | 2020-02-18 | 苏州国轩智能科技有限公司 | Roadside parking space intelligent management system realized by adopting unmanned trolley |
| CN111390865A (en) * | 2020-04-21 | 2020-07-10 | 重庆盘古美天物联网科技有限公司 | Trackway type inspection robot for roadside parking |
| CN111613088A (en) * | 2020-06-02 | 2020-09-01 | 北京一通智能科技有限公司 | Parking charging management system and method |
| CN112085934A (en) * | 2020-08-20 | 2020-12-15 | 上海姜歌机器人有限公司 | Goods picking prompting method for goods picking robot and goods picking robot |
| CN112242010A (en) * | 2020-10-26 | 2021-01-19 | 厦门中卡科技股份有限公司 | Urban road parking ETC patrol vehicle charging system and charging method |
| CN112435477A (en) * | 2020-10-10 | 2021-03-02 | 北京无线电计量测试研究所 | Roadside intelligent parking identification inspection device and inspection method |
| CN113298961A (en) * | 2021-04-27 | 2021-08-24 | 淮阴工学院 | Roadside parking automatic charging device and control method thereof |
| CN113689729A (en) * | 2021-07-30 | 2021-11-23 | 四川邮电职业技术学院 | Intelligent roadside parking internet of things management system |
| CN113920776A (en) * | 2021-10-21 | 2022-01-11 | 北京无线电计量测试研究所 | Intelligent parking management and control guardrail system |
| CN113990102A (en) * | 2021-11-26 | 2022-01-28 | 卢欣 | Unattended roadside parking accurate positioning photographing system and method |
| CN114141024A (en) * | 2021-11-29 | 2022-03-04 | 深圳力合信息技术有限公司 | Parking space information detection device and method |
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| CN106781675A (en) * | 2017-01-21 | 2017-05-31 | 顾红波 | A kind of system and method for collecting parking lot information |
| CN106781675B (en) * | 2017-01-21 | 2022-06-28 | 顾红波 | System and method for collecting parking lot information |
| CN106887157A (en) * | 2017-04-28 | 2017-06-23 | 四川辉通云联数据科技有限公司 | Parking stall enters car, goes out car data correlating method and device |
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| CN109118809B (en) * | 2017-06-26 | 2022-02-18 | 爱尔兰比邻信息技术有限责任公司 | Parking space detection device/method/guidance system, readable storage medium |
| CN107341856A (en) * | 2017-06-30 | 2017-11-10 | 深圳信路通智能技术有限公司 | Mobile parking identification, charging administration system and method based on video |
| CN108682177A (en) * | 2018-05-28 | 2018-10-19 | 杭州目博科技有限公司 | Using the parking lot detector and control method of multisensor |
| CN108682177B (en) * | 2018-05-28 | 2023-09-22 | 杭州目博科技有限公司 | Parking space detector adopting multiple sensors and control method |
| CN108711303A (en) * | 2018-06-01 | 2018-10-26 | 浙江志诚软件有限公司 | A kind of movable type berth management equipment, berth management system and parking management system |
| CN108550278A (en) * | 2018-06-05 | 2018-09-18 | 浙江志诚软件有限公司 | Parking position seizure condition detection device and mobile parking berth seizure condition detection device |
| CN108765970A (en) * | 2018-08-07 | 2018-11-06 | 普行智能停车（深圳）有限公司 | The method and apparatus of curb parking automatic identification automotive license plate |
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| CN109285357A (en) * | 2018-10-25 | 2019-01-29 | 武汉轻工大学 | Information of vehicles based on earth magnetism mode identification technology obtains and bales catch charge system |
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Application publication date: 20161207 |