CN205158461U - Robot goes out access control system - Google Patents
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- CN205158461U CN205158461U CN201520982288.7U CN201520982288U CN205158461U CN 205158461 U CN205158461 U CN 205158461U CN 201520982288 U CN201520982288 U CN 201520982288U CN 205158461 U CN205158461 U CN 205158461U
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Abstract
The embodiment of the utility model discloses robot goes out access control system, robot goes out access control system includes: locate the passageway of access & exit, locate the arm of the information acquisition side of passageway, arm preset range ground brush has chequered with black and white stripe, locate the passageway information acquisition side, be used for gathering an image acquisition device of vehicle information, locate the 2nd image acquisition device information acquisition side, that be used for carrying on image acquisition to the stripe of not pushed down by the vehicle of passageway, and connect in the host computer of arm, an image acquisition device and the 2nd image acquisition device. The embodiment of the utility model provides an accurate discernment, location and control have been realized to carrying out the information acquisition action fast, reliably, having guaranteed the convenient, comfortable, safe and reliable of driver information acquisition, application prospect is wide.
Description
Technical field
The utility model relates to technical field of image processing, particularly relates to a kind of robot gateway control system.
Background technology
The gateways such as existing entry and exit port, expressway and parking lot, often adopt the mode of artificial card feeding-discharging on duty or collection fingerprint or inspection I.D., human cost is higher; Also there is any discrepancy, and mouth is provided with unmanned automatic transceiving card machine, but because of driver's parking spot out of true, the reasons such as arm outreach is limited, drive-through operation occurs often, block up and breaks the phenomenons such as card dispatcher, low by efficiency, driver experiences difference.
Utility model content
The utility model embodiment technical matters to be solved is, provides a kind of unmanned, high by efficiency, the robot gateway control system that driver experiences.
In order to solve the problems of the technologies described above, the utility model embodiment proposes a kind of robot gateway control system, and described robot gateway control system comprises:
Be located at the passage of gateway;
Be located at the mechanical arm of the information acquisition side of passage, mechanical arm preset range ground is brushed with chequered with black and white striped;
Be located at the information acquisition side of passage, for the first image collecting device of collection vehicle information;
Be located at the information acquisition side of passage, for carrying out the second image collecting device of image acquisition to the striped do not pushed down by vehicle; And
Be connected to the main frame of mechanical arm, the first image collecting device and the second image collecting device.
Further, mechanical arm comprise slide rail and be located at slidably on slide rail, by the motor-driven transfer arm in XYZ tri-directions, the end of transfer arm is provided with information identification/harvester.
Further, described information identification/harvester is fingerprint acquisition instrument and/or identity card identifier and/or IC-card read write line.
Further, the first image collecting device and the second image collecting device are arranged at the both sides of mechanical arm respectively.
Further, described robot gateway control system also comprises the host computer being connected to main frame by network.
The utility model embodiment is by proposing a kind of robot gateway control system, by adopting the digital image recognition means such as front window identification, positioning step and distance calculating, switch process, achieve accurate identification, location and control, and quickly and reliably perform information acquisition action, ensure that driver information gathers convenient, comfortable, safe and reliable, have a extensive future.
Accompanying drawing explanation
Fig. 1 is the systematic schematic diagram of the robot gateway control system of the utility model embodiment.
Fig. 2 is the structural representation of mechanical arm shown in Fig. 1.
Fig. 3 is the schematic flow sheet of robot exit-entrance control method corresponding to the utility model embodiment.
Drawing reference numeral explanation
Path 10
Mechanical arm 20
Slide rail 21
Transfer arm 22
First image collecting device 30
Second image collecting device 40
Main frame 50
Striped 60
Preparation process S1
Sail detecting step S2 into
Parking determining step S3
Front window identification step S4
Roof location recognin step S41
Front window straight line Image Acquisition sub-step S42
Front window positioning step S5
Optimization Steps S6
Vehicle body side and mechanical arm distance calculation procedure S7
Image coordinate location is to the switch process S8 of spatial coordinate location
Mechanical arm moves to front window position step S9
Sail out of detecting step S10
Reconstitution steps S11.
Embodiment
It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can be combined with each other, and are described in further detail the utility model below in conjunction with the drawings and specific embodiments.
If there is directivity to indicate (such as up, down, left, right, before and after in the utility model embodiment ...) only for explaining the relative position relation, motion conditions etc. under a certain particular pose (as shown in drawings) between each parts, if when this particular pose changes, then directionality instruction also correspondingly changes thereupon.
In addition, if the description relating to " first ", " second " etc. in the utility model is only for describing object, and instruction can not be interpreted as or implies its relative importance or the implicit quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise at least one this feature.The robot gateway control system of the utility model embodiment, also can be called the gateway information acquisition system based on image procossing.
Please refer to Fig. 1, the robot gateway control system of the utility model embodiment mainly comprises path 10, mechanical arm 20, first image collecting device 30, second image collecting device 40 and main frame 50.
Path 10 is located at the gateways such as entry and exit port, expressway and parking lot.
Please with reference to Fig. 2, mechanical arm 20 comprise slide rail 21 and be located at slidably on slide rail 21, by the motor-driven transfer arm 22 in XYZ tri-directions, the end of transfer arm 22 is provided with information identification/harvester.Wherein, mechanical arm 20 preset range ground is brushed with chequered with black and white striped 60.Preferably, described information identification/harvester is fingerprint acquisition instrument and/or identity card identifier and/or IC-card read write line.This instructions is described for fingerprint acquisition instrument.
First image collecting device 30 and the second image collecting device 40 are arranged at the both sides of mechanical arm 20 respectively, described in be arranged at intervals with effect and avoid the mutual interference of two harvesters.
As a kind of embodiment, described robot gateway control system also comprises the host computer (scheming not shown) being connected to main frame 50 by network, so that carry out remote monitoring, management.
Please refer to Fig. 3, robot described in the utility model gateway control system adopts a kind of robot exit-entrance control method to run, described method mainly comprises: preparation process S1, sail detecting step S2 into, parking determining step S3, front window identification step S4, roof location recognin step S41, front window straight line Image Acquisition sub-step S42, front window positioning step S5, Optimization Steps S6, vehicle body side and mechanical arm distance calculation procedure S7, image coordinate location is to the switch process S8 of spatial coordinate location, mechanical arm moves to front window position step S9, sail out of detecting step S10 and reconstitution steps S11.
Preparation process S1: initialization process is carried out to each interface, and read the first image collecting device 30 gather image.
Sail detecting step S2 into: the track in video image is arranged the first virtual detection coil, and Background difference process is carried out to confirm that vehicle sails into the pixel in the video image of being caught by video image acquisition device of the first virtual detection coil.
Parking determining step S3: before and after utilizing, frame difference method obtains image and carries out binary conversion treatment, the then number of predetermined luminance pixel in computed image, if be less than predetermined threshold, be then judged as stopping.Wherein, predetermined threshold can change environmentally and be set to different numerical value.
Front window identification step S4: extract profile by frame difference is cumulative from collection image, carry out straight-line detection, then identify the lower limb of front window and rear vertical edge according to front window feature.
Front window positioning step S5: get rid of straight line according to Logic judgment, then from getting rid of the position, lower edge of accurately location front window remaining straight line and rear vertical edge placement.Particularly, for the straight line under the downward minimum possibility front window height region, lower edge position Ym position of front window, according to direction, angle and length get rid of a part of straight line, extreme length straight line is asked in the horizontal direction again from getting rid of remaining straight line, its position is the position of the lower edge of front window, the straight line within front window region is estimated forward in rear vertical edge location Xm position for front window, according to direction, angle and length get rid of a part of straight line, again from getting rid of the straight line asking minimum X-coordinate remaining straight line in vertical direction, its position is the rear vertical edge placement of front window.It should be noted that, the edge in this instructions can be the meaning of rough, fuzzy contour images, and edge can be the meaning of rectilinear picture that is meticulous, that determine.
Optimization Steps S6: if the first two field picture captured after stopping does not have detection and positioning to go out the lower edge of front window and rear vertical edges edge, then capture next frame image, repeats front window identification step S4 and front window positioning step S5 until orient.
Vehicle body side and mechanical arm distance the calculation procedure S7: the second image collecting device 40 collection vehicle enter exit and entrance 10 and push down mechanical arm 20 preset range ground picture when brushing chequered with black and white striped 60, obtain not by fringe number N that wheel is pushed down according to described picture, the distance Z of vehicle body side and mechanical arm 20 is calculated according to Z=N × Nm, wherein, Nm is the width of every stripe 60.
Image coordinate location is to the switch process S8 of spatial coordinate location: obtaining the lower edge of front window and the point of crossing on rear vertical edges edge by front window positioning step S5 is (x, y), demarcated by the first image collecting device 30 and obtain camera internal reference matrix [fx, fy, cx, cy], then point of crossing (x, y) be X=x × Z/fx-cx relative to the physical location of the first image collecting device 30, Y=y × Z/fy-cy, wherein, described internal reference matrix is prior art, repeat no more, Z is the distance of vehicle body side and mechanical arm 20, finally calculate point of crossing (x, y) relative to the real space position Xc=X+xl of mechanical arm 20 initial point, Yc=Y+yl, Zc=Z+zl, wherein, xl, yl, zl is that the first image collecting device 30 is relative to mechanical arm 20 initial point X, Y, range difference on Z tri-directions.
Mechanical arm moves to front window position step S9: make mechanical arm 20 move to described coordinate position (Xc, Yc, Zc), to gather driver information by the motor in XYZ tri-directions of controller mechanical arm 20.
Sail out of detecting step S10: the track in video image is arranged the second virtual detection coil, and Background difference process is carried out to confirm that vehicle sails out of to the pixel in the video image of being caught by video image acquisition device of the second virtual detection coil.It will be appreciated by persons skilled in the art that and adopt virtual detection coil to carry out the means that vehicle sailed and sailed out of detection into, can adopt to replace to carry out detecting in the means of channel setting ground induction coil and reach same technique effect.
Reconstitution steps S11: make mechanical arm 20 move to the position that coordinate is (0,0,0) by the motor in XYZ tri-directions of controller mechanical arm 20, upgrade background.
As a kind of embodiment, front window identification step S4 comprises: roof location recognin step S41 and front window straight line Image Acquisition sub-step S42.
Roof location recognin step S41: calculate the first image collecting device 30 to gather the frame of image poor, and carry out binary conversion treatment, then through Morphological scale-space, carry out the cumulative cumulative trace image obtaining vehicle operating of frame difference again, cumulative trace image is asked the minimum value in Y direction, obtain the lower edge position Ym of front window with this, then ask the minimum value of X-direction, obtain the rear vertical edge location Xm of front window.
Front window straight line Image Acquisition sub-step S42: capture a two field picture, and the lower edge position Ym of the front window obtained according to cumulative trace image and rear vertical edge location Xm clip image, use dynamic Canny operator and Hough line detection algorithm to obtain front window rectilinear picture after using dislocation method of difference to detect vehicle ' s contour to clip image.
To sum up, the utility model embodiment is by proposing a kind of robot gateway control system, by adopting the digital image recognition means such as front window identification, positioning step and distance calculating, switch process, achieve accurate identification, location and control, and quickly and reliably perform information acquisition action, ensure that driver information gathers convenient, comfortable, safe and reliable, have a extensive future.
In addition, a part of the present utility model can be applied to computer program, such as computer program instructions, when it is performed by computing machine, by the operation of this computing machine, can call or provide according to method of the present utility model and/or technical scheme.And call the programmed instruction of method of the present utility model, may be stored in fixing or moveable recording medium, and/or be transmitted by the data stream in broadcast or other signal bearing medias, and/or be stored in the working storage of the computer equipment run according to described programmed instruction.At this, a device is comprised according to an embodiment of the present utility model, this device comprises the storer for storing computer program instructions and the processor for execution of program instructions, wherein, when this computer program instructions is performed by this processor, trigger this plant running based on the aforementioned method according to multiple embodiment of the present utility model and/or technical scheme.
Although illustrate and described embodiment of the present utility model, for the ordinary skill in the art, be appreciated that and can carry out multiple change, amendment, replacement and modification to these embodiments when not departing from principle of the present utility model and spirit, scope of the present utility model is limited by claims and equivalency range thereof.
Claims (5)
1. a robot gateway control system, is characterized in that, described robot gateway control system comprises:
Be located at the passage of gateway;
Be located at the mechanical arm of the information acquisition side of passage, mechanical arm preset range ground is brushed with chequered with black and white striped;
Be located at the information acquisition side of passage, for the first image collecting device of collection vehicle information;
Be located at the information acquisition side of passage, for carrying out the second image collecting device of image acquisition to the striped do not pushed down by vehicle; And
Be connected to the main frame of mechanical arm, the first image collecting device and the second image collecting device.
2. robot as claimed in claim 1 gateway control system, is characterized in that, mechanical arm comprise slide rail and be located at slidably on slide rail, by the motor-driven transfer arm in XYZ tri-directions, the end of transfer arm is provided with information identification/harvester.
3. robot as claimed in claim 2 gateway control system, is characterized in that, described information identification/harvester is fingerprint acquisition instrument and/or identity card identifier and/or IC-card read write line.
4. robot as claimed in claim 1 gateway control system, it is characterized in that, the first image collecting device and the second image collecting device are arranged at the both sides of mechanical arm respectively.
5. the robot gateway control system according to any one of Claims 1-4, is characterized in that, described robot gateway control system also comprises the host computer being connected to main frame by network.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520982288.7U CN205158461U (en) | 2015-12-01 | 2015-12-01 | Robot goes out access control system |
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| CN201520982288.7U CN205158461U (en) | 2015-12-01 | 2015-12-01 | Robot goes out access control system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105513175A (en) * | 2015-12-01 | 2016-04-20 | 深圳市盛视科技有限公司 | Robot exit/entrance control method and system |
| CN106760754A (en) * | 2016-12-29 | 2017-05-31 | 上海涂思机电技术有限公司 | Parking apparatus packaging robot and packaging method |
| CN108073951A (en) * | 2018-01-10 | 2018-05-25 | 浙江行雨网络科技有限公司 | A kind of freeway toll station IC card Intelligent hairpin device |
| CN109671168A (en) * | 2017-10-13 | 2019-04-23 | 浙江交通职业技术学院 | A kind of multifunctional adaptive highway toll card access device |
| CN110689725A (en) * | 2019-09-03 | 2020-01-14 | 北京理工大学 | Security robot system for crossing comprehensive inspection and processing method thereof |
-
2015
- 2015-12-01 CN CN201520982288.7U patent/CN205158461U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105513175A (en) * | 2015-12-01 | 2016-04-20 | 深圳市盛视科技有限公司 | Robot exit/entrance control method and system |
| CN105513175B (en) * | 2015-12-01 | 2017-10-24 | 盛视科技股份有限公司 | Robot access control method and system |
| CN106760754A (en) * | 2016-12-29 | 2017-05-31 | 上海涂思机电技术有限公司 | Parking apparatus packaging robot and packaging method |
| CN109671168A (en) * | 2017-10-13 | 2019-04-23 | 浙江交通职业技术学院 | A kind of multifunctional adaptive highway toll card access device |
| CN108073951A (en) * | 2018-01-10 | 2018-05-25 | 浙江行雨网络科技有限公司 | A kind of freeway toll station IC card Intelligent hairpin device |
| CN110689725A (en) * | 2019-09-03 | 2020-01-14 | 北京理工大学 | Security robot system for crossing comprehensive inspection and processing method thereof |
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Inventor after: Guan Qingjia Inventor after: Hu Gang Inventor after: Lai Shiwu Inventor after: Qu Lei Inventor after: Song Yu Inventor before: Qu Lei |
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Address after: 518000 Guangdong city of Shenzhen province Futian District Che Kung Temple Tairan six road Tairan Cangsong building 511, South Tower 512, 513, 515, 516, 517, 518 (only office) Patentee after: Maxvision Technology Corp. Address before: 518000 Guangdong city of Shenzhen province Futian District Che Kung Temple Tairan six road Tairan Cangsong building 511, South Tower 512, 513, 515, 516, 517, 518 (only office) Patentee before: SHENZHEN MAXVISION TECHNOLOGY Co.,Ltd. |
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Address after: 518000 East Block 1601, 1605, Tian'an Innovation Science and Technology Plaza Phase II, Tairan 10 Road, Tian'an Community, Shatou Street, Futian District, Shenzhen City, Guangdong Province Patentee after: Maxvision Technology Corp. Address before: 518000 South Block 511, 512, 513, 515, 516, 517, 518, Tairan Cangsong Building, Chegongmiao Tairan Road, Futian District, Shenzhen City, Guangdong Province (office only) Patentee before: Maxvision Technology Corp. |
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