WO2018113602A1 - Parking management robot, and parking management method and system - Google Patents

Abstract

A parking management robot, and a parking management method and system applied to a parking management robot (110) of a parking lot. The parking management method comprises: when a vehicle is driving into a pre-set position of the parking lot, the parking management robot (110) moving to a first position, wherein the first position is located within a first distance range of the pre-set position (S102); acquiring information about free parking bays in the parking lot, and selecting a target free parking bay from the information about free parking bays according to a pre-set rule, wherein the free parking bays are bays at the parking lot where no vehicle has been parked (S104); planning a first path for the robot (110) to move from the first position to the target free parking bay (S106); and controlling the robot (110), so that same moves to a second position according to the planned first path, wherein the second position is located within a second distance range of the target free parking bay, and guiding the vehicle to drive into the target free parking bay from the pre-set position (S108). The present invention solves the problem in the related art that an operation for manual searching for parking bays for parking is inconvenient.

Description

停车管理机器人及停车管理方法和***Parking management robot and parking management method and system 技术领域Technical field

本发明涉及机器人领域，具体而言，涉及一种停车管理机器人及停车管理方法和***。The present invention relates to the field of robots, and in particular to a parking management robot and a parking management method and system.

背景技术Background technique

目前停车场管理员大多是人在管理，在有车进入停车场时只能提供一个大概位置，不能指出具体路径或带领车辆驶入空车位，人工找车位费时费力，对开车人员很不友好。At present, most parking lot managers are managed. When a car enters the parking lot, it can only provide an approximate location. It cannot point out the specific route or lead the vehicle into the empty parking space. It takes time and effort to find the parking space manually, which is very unfriendly to the driving personnel.

针对相关技术中人工找车位停车操作不便的问题，目前尚未提出有效的解决方案。In view of the inconvenience of manual parking for parking spaces in related art, an effective solution has not been proposed yet.

发明内容Summary of the invention

本发明的主要目的在于提供一种停车管理机器人及停车管理方法和***，以解决相关技术中人工找车位停车操作不便的问题。The main object of the present invention is to provide a parking management robot and a parking management method and system to solve the problem of inconvenient operation of manually finding a parking space in the related art.

为了实现上述目的，根据本发明的一个方面，提供了一种停车管理方法，应用于停车场的停车管理机器人，该方法包括：在有车辆驶入所述停车场的预设位置时，所述停车管理机器人移动到第一位置，所述第一位置位于所述预设位置的第一距离范围内；获取所述停车场内的空闲车位的信息，并根据预设规则从所述空闲车位的信息中选择目标空闲车位，其中，所述空闲车位为所述停车场内还未停放车辆的车位；规划所述机器人从所述第一位置移动到所述目标空闲车位的第一路径；根据规划的所述第一路径控制所述机器人移动到第二位置，所述第二位置位于所述目标空闲车位的第二距离范围内，并引导所述车辆从所述预设位置驶入所述目标空闲车位。In order to achieve the above object, according to an aspect of the present invention, a parking management method is provided, which is applied to a parking management robot of a parking lot, the method comprising: when a vehicle enters a preset position of the parking lot, The parking management robot moves to a first position, the first position is within a first distance range of the preset position; acquiring information of an idle parking space in the parking lot, and from the free parking space according to a preset rule Selecting a target free parking space, wherein the free parking space is a parking space in the parking lot that has not parked the vehicle; planning a movement of the robot from the first position to the first free parking space; according to a plan The first path controls the robot to move to a second position, the second position is within a second distance range of the target free parking space, and directs the vehicle to enter the target from the preset position Free parking.

可选的，所述停车场内的停车管理机器人有多个，在所述引导车辆从所述预设位置驶入所述目标空闲车位之后，所述方法还包括：所述机器人记录所述目标空闲车位的第一标识信息与所述车辆的第二标识信息之间的对应关系、以及所述目标空闲车位被占用的车位状态信息；将记录的所述对应关系和所述车位状态信息共享给所述停车场内的其他停车管理机器人；或者，将所述对应关系和所述车位状态信息存入所述停车场的停车管理共享数据库中，所述停车管理共享数据库由其中一停车管理机器人来维护、或者由特定的停车管理服务器来维护。Optionally, there are multiple parking management robots in the parking lot, and after the guiding vehicle enters the target free parking space from the preset location, the method further includes: the robot recording the target Corresponding relationship between the first identification information of the idle parking space and the second identification information of the vehicle, and the parking space state information occupied by the target idle parking space; sharing the recorded correspondence relationship and the parking space state information to Other parking management robots in the parking lot; or storing the corresponding relationship and the parking space status information in a parking management sharing database of the parking lot, the parking management sharing database being provided by one parking management robot Maintained or maintained by a specific parking management server.

可选的，在记录所述目标空闲车位的第一标识信息与所述车辆的第二标识信息之 间的对应关系之后，所述方法还包括：发送车位提示消息给驶入所述目标空闲车位的车辆的关联设备，所述车位提示消息中至少包括所述目标空闲车位的第一标识信息与所述车辆的第二标识信息之间的对应关系。Optionally, the first identification information of the target free parking space and the second identification information of the vehicle are recorded After the corresponding relationship, the method further includes: sending a parking space prompt message to the associated device of the vehicle entering the target free parking space, wherein the parking space prompt message includes at least the first identification information and the location of the target free parking space Corresponding relationship between the second identification information of the vehicle.

可选的，所述根据预设规则从所述空闲车位的信息中选择目标空闲车位，包括：获得驶入所述停车场的预设位置的车辆的类型信息，并根据所述车辆的类型信息从所述空闲车位的信息中选择匹配所述车辆的类型信息的目标空闲车位；其中，通过以下方式中的至少之一获得驶入停车场的预设位置的车辆的类型信息：获得所述驶入停车场的预设位置的车辆或其关联设备发送的车辆的类型信息；基于所述机器人的图像采集单元对所述驶入停车场的预设位置的车辆进行图像采集所获得的图像进行分析，获得所述驶入停车场的预设位置的车辆的类型信息；基于所述机器人的语音分析单元对所述驶入停车场的预设位置的车辆的车主进行语音采集和语义分析，获得所述驶入停车场的预设位置的车辆的类型信息。Optionally, the selecting the target free parking space from the information of the idle parking space according to the preset rule comprises: obtaining type information of the vehicle entering the preset position of the parking lot, and according to the type information of the vehicle Selecting, from the information of the free parking space, a target free parking space that matches the type information of the vehicle; wherein, the type information of the vehicle entering the preset position of the parking lot is obtained by at least one of the following manners: obtaining the driving The type information of the vehicle transmitted by the vehicle or its associated device in the preset position of the parking lot; the image obtained by the image acquisition unit of the robot to perform image acquisition on the vehicle at the preset position of the parking lot is analyzed Obtaining type information of the vehicle in the preset position of the parking lot; performing voice collection and semantic analysis on the owner of the vehicle entering the preset position of the parking lot based on the voice analysis unit of the robot, obtaining the The type information of the vehicle that enters the preset position of the parking lot.

可选的，所述引导车辆从所述预设位置驶入所述目标空闲车位，包括：所述机器人通过其图像采集单元采集获得所述车辆的停车入位视频，并将所述视频同步发送给所述车辆或所述车辆的关联设备，以在所述车辆的显示屏或在所述关联设备的显示屏上同步显示所述车辆的停车入位视频。Optionally, the guiding vehicle enters the target free parking space from the preset position, including: the robot acquires a parking in-place video of the vehicle by using an image capturing unit thereof, and sends the video synchronously Giving the vehicle or an associated device of the vehicle a synchronized parking video of the vehicle on a display screen of the vehicle or on a display screen of the associated device.

可选的，所述引导车辆从所述预设位置驶入所述目标空闲车位，还包括：根据所述机器人的图像采集单元获得的所述车辆的停车入位视频，识别所述车辆与障碍物之间的距离，并在所述距离小于预设阈值时向所述车辆或车辆的关联设备发送报警消息。Optionally, the guiding vehicle enters the target free parking space from the preset position, and further includes: identifying the vehicle and the obstacle according to the parking location video of the vehicle obtained by the image collecting unit of the robot a distance between the objects and sending an alert message to the associated device of the vehicle or vehicle when the distance is less than a predetermined threshold.

可选的，在所述引导车辆从所述预设位置驶入所述空闲车位之后，所述方法还包括：在获得所述车辆的关联设备发送的车辆提取信息时，所述机器人获得待取的车辆的第二标识信息；根据所述第二标识信息查找所述对应关系获得相应的第一标识信息，所述第一标识信息所对应的车位的位置即为所述待取的车辆的停放位置；规划所述车辆的关联设备的用户从所处的当前位置到所述车辆的停放位置的第二路径；根据所述第二路径引导所述用户移动到所述车辆的停放位置。Optionally, after the guiding vehicle enters the idle parking space from the preset position, the method further includes: when obtaining vehicle extraction information sent by an associated device of the vehicle, the robot obtains a pending The second identification information of the vehicle is obtained by searching the corresponding relationship according to the second identification information, and the location of the parking space corresponding to the first identification information is the parking of the vehicle to be taken. a second path for planning a user of the associated device of the vehicle from a current location to a parking position of the vehicle; and guiding the user to move to a parking position of the vehicle according to the second path.

可选的，在根据所述第二路径引导所述用户移动到所述车辆的停放位置之后，所述方法还包括：规划从所述车辆的停放位置到所述停车场出口的第三路径；根据所述第三路径引导所述车辆从所述停放位置驶向所述停车场出口。Optionally, after the user is moved to the parking position of the vehicle according to the second path, the method further includes: planning a third path from the parking position of the vehicle to the parking lot exit; The vehicle is guided from the parking position to the parking lot exit according to the third path.

为了实现上述目的，根据本发明的另一方面，还提供了一种停车管理机器人，应用于停车场的停车管理，该机器人包括：第一控制单元，设置为在有车辆驶入所述停车场的预设位置时，控制所述停车管理机器人移动到第一位置，所述第一位置位于所述预设位置的第一距离范围内；第一获取单元，设置为获取所述停车场内的空闲车位 的信息，并根据预设规则从所述空闲车位的信息中选择目标空闲车位，其中，所述空闲车位为所述停车场内还未停放车辆的车位；第一规划单元，设置为规划所述机器人从所述第一位置移动到所述目标空闲车位的第一路径；第二控制单元，设置为根据规划的所述第一路径控制所述机器人移动到第二位置，所述第二位置位于所述目标空闲车位的第二距离范围内，并引导所述车辆从所述预设位置驶入所述目标空闲车位。In order to achieve the above object, according to another aspect of the present invention, there is also provided a parking management robot for parking management of a parking lot, the robot comprising: a first control unit configured to enter a parking lot when a vehicle is driven Controlling the parking management robot to move to a first position, the first position being within a first distance range of the preset position; the first obtaining unit configured to acquire the inside of the parking lot Free parking space Information, and selecting a target free parking space from the information of the free parking space according to a preset rule, wherein the free parking space is a parking space in the parking lot that has not parked the vehicle; the first planning unit is set to plan Moving the robot from the first position to a first path of the target free parking space; the second control unit is configured to control the robot to move to the second position according to the planned first path, the second position is located And within a second distance range of the target free parking space, and guiding the vehicle to enter the target free parking space from the preset position.

可选的，所述停车场内的停车管理机器人有多个，所述机器人还包括：记录单元，设置为在所述引导车辆从所述预设位置驶入所述目标空闲车位之后，通过所述机器人记录所述目标空闲车位的第一标识信息与所述车辆的第二标识信息之间的对应关系、以及所述目标空闲车位被占用的车位状态信息；共享单元，设置为将记录的所述对应关系和所述车位状态信息共享给所述停车场内的其他停车管理机器人；或者，将所述对应关系和所述车位状态信息存入所述停车场的停车管理共享数据库中，所述停车管理共享数据库由其中一停车管理机器人来维护、或者由特定的停车管理服务器来维护。Optionally, there are multiple parking management robots in the parking lot, and the robot further includes: a recording unit, configured to pass the navigation vehicle after the guiding vehicle enters the target free parking space from the preset position The robot records the correspondence between the first identification information of the target free parking space and the second identification information of the vehicle, and the parking space status information of the target idle parking space; the sharing unit is set as the location to be recorded The correspondence relationship and the parking space status information are shared with other parking management robots in the parking lot; or the corresponding relationship and the parking space status information are stored in a parking management sharing database of the parking lot, The parking management shared database is maintained by one of the parking management robots or by a specific parking management server.

可选的，所述机器人还包括：发送单元，设置为在记录所述目标空闲车位的第一标识信息与所述车辆的第二标识信息之间的对应关系之后，发送车位提示消息给驶入所述目标空闲车位的车辆的关联设备，所述车位提示消息中至少包括所述目标空闲车位的第一标识信息与所述车辆的第二标识信息之间的对应关系。Optionally, the robot further includes: a sending unit, configured to send a parking space prompt message to the driving after recording the correspondence between the first identification information of the target idle parking space and the second identification information of the vehicle The associated device of the vehicle of the target free parking space, the parking space prompt message includes at least a correspondence between the first identification information of the target free parking space and the second identification information of the vehicle.

可选的，所述第一获取单元包括：获取模块，设置为获得驶入所述停车场的预设位置的车辆的类型信息，并根据所述车辆的类型信息从所述空闲车位的信息中选择匹配所述车辆的类型信息的目标空闲车位；其中，通过以下方式中的至少之一获得驶入停车场的预设位置的车辆的类型信息：获得所述驶入停车场的预设位置的车辆或其关联设备发送的车辆的类型信息；基于所述机器人的图像采集单元对所述驶入停车场的预设位置的车辆进行图像采集所获得的图像进行分析，获得所述驶入停车场的预设位置的车辆的类型信息；基于所述机器人的语音分析单元对所述驶入停车场的预设位置的车辆的车主进行语音采集和语义分析，获得所述驶入停车场的预设位置的车辆的类型信息。Optionally, the first acquiring unit includes: an acquiring module, configured to obtain type information of a vehicle that enters a preset position of the parking lot, and according to the type information of the vehicle, from the information of the idle parking space Selecting a target free parking space that matches the type information of the vehicle; wherein, the type information of the vehicle entering the preset position of the parking lot is obtained by at least one of: obtaining the preset position of the driving into the parking lot Type information of the vehicle transmitted by the vehicle or its associated device; analyzing an image obtained by performing image acquisition on the vehicle at the preset position of the parking lot based on the image acquisition unit of the robot, and obtaining the driving parking lot Type information of the vehicle at the preset position; performing voice collection and semantic analysis on the owner of the vehicle entering the preset position of the parking lot based on the voice analysis unit of the robot, and obtaining the preset of the driving into the parking lot Type information of the location of the vehicle.

可选的，所述第二控制单元设置为：使所述机器人通过其图像采集单元采集获得所述车辆的停车入位视频，并将所述视频同步发送给所述车辆或所述车辆的关联设备，以在所述车辆的显示屏或在所述关联设备的显示屏上同步显示所述车辆的停车入位视频。Optionally, the second control unit is configured to: enable the robot to acquire a parking in-place video of the vehicle through its image acquisition unit, and synchronously send the video to the vehicle or the association of the vehicle And a device for simultaneously displaying a parking in-place video of the vehicle on a display screen of the vehicle or on a display screen of the associated device.

可选的，所述第二控制单元还设置为：根据所述机器人的图像采集单元获得的所述车辆的停车入位视频，识别所述车辆与障碍物之间的距离，并在所述距离小于预设阈值时向所述车辆或车辆的关联设备发送报警消息。 Optionally, the second control unit is further configured to: identify a distance between the vehicle and an obstacle according to the parking in-place video of the vehicle obtained by the image capturing unit of the robot, and at the distance When less than the preset threshold, an alert message is sent to the associated device of the vehicle or vehicle.

可选的，所述机器人还包括：第二获取单元，设置为在所述引导车辆从所述预设位置驶入所述空闲车位之后，在获得所述车辆的关联设备发送的车辆提取信息时，通过所述机器人获得待取的车辆的第二标识信息；查找单元，设置为根据所述第二标识信息查找所述对应关系获得相应的第一标识信息，所述第一标识信息所对应的车位的位置即为所述待取的车辆的停放位置；第二规划单元，设置为规划所述车辆的关联设备的用户从所处的当前位置到所述车辆的停放位置的第二路径；第一引导单元，设置为根据所述第二路径引导所述用户移动到所述车辆的停放位置。Optionally, the robot further includes: a second acquiring unit, configured to, after obtaining the vehicle extraction information sent by the associated device of the vehicle, after the guiding vehicle enters the idle parking space from the preset position Obtaining second identification information of the vehicle to be taken by the robot; the searching unit is configured to obtain the corresponding first identification information by searching the corresponding relationship according to the second identification information, where the first identification information corresponds to The position of the parking space is the parking position of the vehicle to be taken; the second planning unit is configured to plan a second path of the user of the associated device of the vehicle from the current location to the parking position of the vehicle; A guiding unit configured to guide the user to move to a parking position of the vehicle according to the second path.

可选的，所述机器人还包括：第三规划单元，设置为在根据所述第二路径引导所述用户移动到所述车辆的停放位置之后，规划从所述车辆的停放位置到所述停车场出口的第三路径；第二引导单元，设置为根据所述第三路径引导所述车辆从所述停放位置驶向所述停车场出口。Optionally, the robot further includes: a third planning unit configured to plan from a parking position of the vehicle to the parking after guiding the user to move to a parking position of the vehicle according to the second path a third path of the field exit; a second guiding unit configured to direct the vehicle from the parking position to the parking lot exit according to the third path.

为了实现上述目的，根据本发明的另一方面，还提供了一种装置，该装置包括：机器人，其中，所述机器人为上述所述的机器人，所述机器人为至少两个；服务器，与所述机器人连接，设置为维护共享数据库，其中，所述共享数据库中存储并实时更新停车场内各车位的状态信息，以及处于被占用状态的车位的第一标识信息与相应车辆的第二标识之间的对应关系。In order to achieve the above object, according to another aspect of the present invention, there is also provided an apparatus comprising: a robot, wherein the robot is the robot described above, the robot is at least two; a server, and a The robot connection is set to maintain a shared database, wherein the shared database stores and updates status information of each parking space in the parking lot, and first identification information of the parking space in the occupied state and the second identification of the corresponding vehicle. Correspondence between the two.

为了实现上述目的，根据本发明的另一方面，还提供了一种存储介质，所述存储介质包括存储的程序，其中，在所述程序运行时控制所述存储介质所在设备执行上述任意一项所述的停车管理方法。In order to achieve the above object, according to another aspect of the present invention, a storage medium is provided, the storage medium including a stored program, wherein a device in which the storage medium is located is controlled to execute any one of the above when the program is running The parking management method described.

为了实现上述目的，根据本发明的另一方面，还提供了一种处理器，所述处理器用于运行程序，其中，所述程序运行时执行上述任意一项所述的停车管理方法。In order to achieve the above object, according to another aspect of the present invention, there is further provided a processor for running a program, wherein the program is executed to execute the parking management method according to any one of the above.

本发明通过在有车辆驶入停车场的预设位置时，停车管理机器人移动到第一位置，第一位置位于预设位置的第一距离范围内；获取停车场内的空闲车位的信息，并根据预设规则从空闲车位的信息中选择目标空闲车位，其中，空闲车位为停车场内还未停放车辆的车位；规划机器人从第一位置移动到目标空闲车位的第一路径；根据规划的第一路径控制机器人移动到第二位置，第二位置位于目标空闲车位的第二距离范围内，并引导车辆从预设位置驶入目标空闲车位，解决了相关技术中人工找车位停车操作不便的问题，进而达到了提高停车操作的便利性的效果。The invention moves the parking management robot to the first position when the vehicle enters the preset position of the parking lot, the first position is within the first distance range of the preset position; acquiring information of the idle parking space in the parking lot, and Selecting a target free parking space from the information of the idle parking space according to a preset rule, wherein the idle parking space is a parking space in the parking lot that has not parked the vehicle; the planning robot moves from the first position to the first free parking space; according to the plan A path control robot moves to the second position, and the second position is located within the second distance range of the target idle parking space, and guides the vehicle to enter the target idle parking space from the preset position, thereby solving the problem of inconvenient parking operation of the artificially found parking space in the related art. Further, the effect of improving the convenience of the parking operation is achieved.

附图说明DRAWINGS

构成本申请的一部分的附图用来提供对本发明的进一步理解，本发明的示意性实施例及其说明用于解释本发明，并不构成对本发明的不当限定。在附图中： The accompanying drawings, which are incorporated in the claims In the drawing:

图1是根据本发明实施例的停车管理方法的流程图；1 is a flow chart of a parking management method according to an embodiment of the present invention;

图2是根据本发明实施例的停车管理机器人的示意图；以及2 is a schematic diagram of a parking management robot according to an embodiment of the present invention;

图3是根据本发明实施例的停车管理***的示意图。3 is a schematic diagram of a parking management system in accordance with an embodiment of the present invention.

具体实施方式detailed description

需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本发明。It should be noted that the embodiments in the present application and the features in the embodiments may be combined with each other without conflict. The invention will be described in detail below with reference to the drawings in conjunction with the embodiments.

为了使本技术领域的人员更好地理解本申请方案，下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分的实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本申请保护的范围。The technical solutions in the embodiments of the present application are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present application. It is an embodiment of the present application, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present application without departing from the inventive scope shall fall within the scope of the application.

需要说明的是，本申请的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本申请的实施例。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、***、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。It should be noted that the terms "first", "second" and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or order. It should be understood that the data so used may be interchanged where appropriate to facilitate the embodiments of the present application described herein. In addition, the terms "comprises" and "comprises" and "the" and "the" are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or device that comprises a series of steps or units is not necessarily limited to Those steps or units may include other steps or units not explicitly listed or inherent to such processes, methods, products or devices.

本发明实施例提供了一种停车管理方法。Embodiments of the present invention provide a parking management method.

图1是根据本发明实施例的停车管理方法的流程图，应用于停车场的停车管理机器人，如图1所示，该方法包括以下步骤：1 is a flow chart of a parking management method according to an embodiment of the present invention, applied to a parking management robot of a parking lot, as shown in FIG. 1, the method includes the following steps:

步骤S102：在有车辆驶入停车场的预设位置时，停车管理机器人移动到第一位置，第一位置位于预设位置的第一距离范围内。Step S102: When there is a preset position of the vehicle entering the parking lot, the parking management robot moves to the first position, and the first position is within the first distance range of the preset position.

步骤S104：获取停车场内的空闲车位的信息，并根据预设规则从空闲车位的信息中选择目标空闲车位，其中，空闲车位为停车场内还未停放车辆的车位。Step S104: Obtain information of the idle parking space in the parking lot, and select a target free parking space from the information of the idle parking space according to a preset rule, wherein the free parking space is a parking space of the vehicle that has not been parked in the parking lot.

步骤S106：规划机器人从第一位置移动到目标空闲车位的第一路径。Step S106: Plan the first path of the robot moving from the first position to the target free parking space.

步骤S108：根据规划的第一路径控制机器人移动到第二位置，第二位置位于目标空闲车位的第二距离范围内，并引导车辆从预设位置驶入目标空闲车位。Step S108: The robot is moved to the second position according to the planned first path, and the second position is located within the second distance range of the target idle parking space, and guides the vehicle to enter the target free parking space from the preset position.

该实施例采用在有车辆驶入停车场的预设位置时，停车管理机器人移动到第一位 置，第一位置位于预设位置的第一距离范围内；获取停车场内的空闲车位的信息，并根据预设规则从空闲车位的信息中选择目标空闲车位，其中，空闲车位为停车场内还未停放车辆的车位；规划机器人从第一位置移动到目标空闲车位的第一路径；根据规划的第一路径控制机器人移动到第二位置，第二位置位于目标空闲车位的第二距离范围内，并引导车辆从预设位置驶入目标空闲车位，解决了相关技术中人工找车位停车操作不便的问题，进而达到了提高停车操作的便利性的效果。This embodiment adopts the parking management robot to move to the first position when there is a preset position where the vehicle enters the parking lot. The first position is within a first distance range of the preset position; obtaining information of the idle parking space in the parking lot, and selecting a target free parking space from the information of the idle parking space according to a preset rule, wherein the idle parking space is in the parking lot The parking space of the vehicle has not been parked; the first path of the planned robot moving from the first position to the target free parking space; the robot is moved to the second position according to the planned first path, and the second position is within the second distance of the target free parking space And guiding the vehicle to enter the target free parking space from the preset position, solving the problem of inconvenient operation of manually finding the parking space in the related art, thereby achieving the effect of improving the convenience of the parking operation.

本发明实施例中，停车场的预设位置可以是停车场的入口，也可以是停车场中某个区域的入口，例如，A，B，C，D等区域的某个区域的入口，在车辆行驶到停车场的预设位置时，停车管理机器人就移动到第一位置，第一位置可以是预先设定的位置，例如，某个定点位置，也可以是距离车辆一定距离的位置，第一位置位于预设位置的第一距离范围内，例如，机器人位于距离车辆2米的距离范围内，以方便指导车辆停车。In the embodiment of the present invention, the preset position of the parking lot may be an entrance of a parking lot, or an entrance of an area in a parking lot, for example, an entrance of an area such as A, B, C, D, etc. When the vehicle travels to the preset position of the parking lot, the parking management robot moves to the first position, and the first position may be a preset position, for example, a certain fixed position, or a position at a certain distance from the vehicle, A position is within a first distance range of the preset position, for example, the robot is located within a distance of 2 meters from the vehicle to facilitate guiding the vehicle to park.

停车场内的空闲车位信息可以通过数据库中存储的空闲车位信息获得，从空闲车位的信息中选择目标空闲车位可以是从所有空闲车位信息中选择距离当前车辆距离最近的空闲车位，也可以是选择目标空闲车位中车辆密度最小的空闲车位。预设规则还可以是根据车辆类型选择目标车位，例如，如果车辆为电动汽车，则选择带有充电桩的停车位，如果是体积较大的车辆，则选择大型停车位等。在确定了目标空闲车位之后，规划机器人从第一位置移动到目标空闲车位的路径，可以是根据位置等参数规划机器人从第一位置移动到目标空闲车位的第一路径，然后控制机器人按照规划的第一路径移动到第二位置，第二位置可以是目标空闲车位也可以是目标空闲车位的旁边位置，第二位置与目标空闲车位在第二距离范围内，机器人引导车辆从预设位置驶入到目标空闲车位，可以是机器人通过手部活动引导，也可以是机器人通过显示界面显示提示信息提示车辆的活动来引导。The free parking space information in the parking lot can be obtained through the free parking space information stored in the database. The selected free parking space from the information of the idle parking space may be the free parking space selected from the all available parking space information, or may be selected. The free parking space with the lowest vehicle density in the target free parking space. The preset rule may also be to select a target parking space according to the type of vehicle. For example, if the vehicle is an electric vehicle, a parking space with a charging pile is selected, and if it is a large vehicle, a large parking space is selected. After the target free parking space is determined, the planned robot moves from the first position to the target free parking space, and may be a first path for the robot to move from the first position to the target free parking space according to parameters such as position, and then control the robot according to the plan. The first path is moved to the second position, and the second position may be the target idle parking space or the side position of the target idle parking space. The second position is within the second distance range from the target idle parking space, and the robot guides the vehicle to enter from the preset position. To the target free parking space, the robot may be guided by the hand activity, or the robot may display the prompt information to prompt the vehicle's activity through the display interface.

机器人运动速度可以很快，可以引领车辆很快到达车位，在到达车位后，机器人可以根据车位与车的位置指导司机正确停车，方便快速并且提高用户体验，节约用户寻找车位的停车时间。机器人通过数据共享可以让同一停车场所有机器人更新车位变化。The speed of the robot can be very fast, and the vehicle can be quickly reached to the parking space. After arriving at the parking space, the robot can guide the driver to correctly stop according to the position of the parking space and the position of the vehicle, which is convenient and quick, improves the user experience, and saves the parking time for the user to find the parking space. Through data sharing, the robot can make all the robots in the same parking lot change the parking space.

可选地，停车场内的停车管理机器人有多个，在引导车辆从预设位置驶入目标空闲车位之后，机器人记录目标空闲车位的第一标识信息与车辆的第二标识信息之间的对应关系、以及目标空闲车位被占用的车位状态信息；将记录的对应关系和车位状态信息共享给停车场内的其他停车管理机器人；或者，将对应关系和车位状态信息存入停车场的停车管理共享数据库中，停车管理共享数据库由其中一停车管理机器人来维护、或者由特定的停车管理服务器来维护。 Optionally, there are multiple parking management robots in the parking lot, and after the guiding vehicle enters the target free parking space from the preset position, the robot records the correspondence between the first identification information of the target free parking space and the second identification information of the vehicle. Relationship, and parking space status information occupied by the target free parking space; sharing the recorded correspondence and parking space status information to other parking management robots in the parking lot; or storing the corresponding relationship and parking space status information in the parking management sharing of the parking lot In the database, the parking management shared database is maintained by one of the parking management robots or by a specific parking management server.

机器人可以是一个也可以是多个，多个机器人可以满足多个需要停车的车辆的需求，更好地为用户服务，提高停车效率，在机器人引导车辆从预设位置驶入目标空闲车位之后，机器人记录目标空闲车位的第一标识信息和车辆的第二标识信息之间的对应关系以及目标空闲车位被占用的车位状态信息，其中，目标空闲车位的第一标识信息可以是目标空闲车位的位置信息，例如，目标空闲车位的车位号，车辆的第二标识信息可以是车辆的车牌号、颜色等标识信息，机器人可以将对应关系保存在机器人自身的内存数据库中，也可以发送到云端服务器存储。目标车位被占用的状态信息可以是目标车位在已被该车辆占用等信息，在机器人引导车辆驶入目标空闲车位之后，将目标车位被占用的状态信息共享给其他停车机器人，多个停车机器人之间可以通过多种通信方式实现信息共享，例如，通过蓝牙通信的方式，或者wifi的方式连接，实现信息共享。机器人数据库中将每个车位的空闲/使用状态进行记录更新，更新的记录可以在多台机器人之间共享，数据库中还包括每个被使用的车位上停放的车辆的标识信息(车牌号)，及时维护每个车位上停放的车辆信息的数据库，这样便于车主寻找车辆；可选地，机器人可以将车主的车辆的停放车位编号发到用户的手机保存(短信、微信等)，让用户方便记录车位信息。The robot can be one or more. Multiple robots can meet the needs of multiple vehicles that need to park, better serve the user, and improve parking efficiency. After the robot guides the vehicle from the preset position into the target free parking space, The robot records the correspondence between the first identification information of the target free parking space and the second identification information of the vehicle and the parking space status information of the target idle parking space, wherein the first identification information of the target idle parking space may be the location of the target idle parking space. The information, for example, the parking space number of the target free parking space, the second identification information of the vehicle may be identification information such as the license plate number and color of the vehicle, and the robot may save the correspondence in the in-memory database of the robot itself or may be sent to the cloud server for storage. . The state information of the occupied parking space may be information that the target parking space is occupied by the vehicle, and after the robot guides the vehicle into the target free parking space, the state information of the occupied parking space is shared with other parking robots, and the plurality of parking robots Information sharing can be achieved through various communication methods, for example, through Bluetooth communication or wifi connection to achieve information sharing. The idle/usage status of each parking space is recorded and updated in the robot database, and the updated records can be shared among multiple robots, and the database also includes identification information (vehicle number) of the vehicles parked on each used parking space. Timely maintenance of the database of vehicle information parked on each parking space, so that the owner can find the vehicle; optionally, the robot can send the parking space number of the owner's vehicle to the user's mobile phone to save (sms, WeChat, etc.), so that the user can conveniently record Parking information.

可选地，在记录目标空闲车位的第一标识信息与车辆的第二标识信息之间的对应关系之后，发送车位提示消息给驶入目标空闲车位的车辆的关联设备，车位提示消息中至少包括目标空闲车位的第一标识信息与车辆的第二标识信息之间的对应关系。Optionally, after the correspondence between the first identification information of the target free parking space and the second identification information of the vehicle is recorded, the parking space prompt message is sent to the associated device of the vehicle that enters the target free parking space, and the parking space prompt message includes at least Correspondence between the first identification information of the target free parking space and the second identification information of the vehicle.

在引导车辆停车并记录目标空闲车位与车辆之间的对应关系之后，将车位的提示信息发送至车辆的关联设备，例如，关联设备可以是绑定的手机号或者微信号等设备，向关联设备发送短信或者微信，通过向关联设备发送车位提示信息能够更加方便用户记录车位信息，提高用户寻找车辆的便利性，增强用户体验。After guiding the vehicle to stop and recording the correspondence between the target free parking space and the vehicle, the prompt information of the parking space is sent to the associated device of the vehicle, for example, the associated device may be a bound mobile phone number or a device such as a micro signal, to the associated device. Send SMS or WeChat, it is more convenient for users to record the parking space information by sending the parking space prompt information to the associated equipment, which improves the user's convenience in finding the vehicle and enhances the user experience.

可选地，根据预设规则从空闲车位的信息中选择目标空闲车位包括，获得驶入停车场的预设位置的车辆的类型信息，并根据车辆的类型信息从空闲车位的信息中选择匹配车辆的类型信息的目标空闲车位；其中，通过以下方式中的至少之一获得驶入停车场的预设位置的车辆的类型信息：获得驶入停车场的预设位置的车辆或其关联设备发送的车辆的类型信息；基于机器人的图像采集单元对驶入停车场的预设位置的车辆进行图像采集所获得的图像进行分析，获得驶入停车场的预设位置的车辆的类型信息；基于机器人的语音分析单元对驶入停车场的预设位置的车辆的车主进行语音采集和语义分析，获得驶入停车场的预设位置的车辆的类型信息。Optionally, selecting the target free parking space from the information of the idle parking space according to the preset rule comprises: obtaining the type information of the vehicle entering the preset position of the parking lot, and selecting the matching vehicle from the information of the idle parking space according to the type information of the vehicle. a target free parking space of the type information; wherein, the type information of the vehicle that enters the preset position of the parking lot is obtained by at least one of the following ways: obtaining the vehicle that is driven into the preset position of the parking lot or the related device Type information of the vehicle; the image acquisition unit based on the robot analyzes an image obtained by image capturing of a vehicle entering a preset position of the parking lot, and obtains type information of the vehicle at a preset position of entering the parking lot; The voice analysis unit performs voice collection and semantic analysis on the owner of the vehicle entering the preset position of the parking lot, and obtains the type information of the vehicle that enters the preset position of the parking lot.

根据预设规则从空闲车位的信息中选择目标空闲车位可以通过以下方法：获得车辆的类型信息，例如，车辆为电动汽车或者燃油车或者混合动力汽车等，根据车辆的类型信息从空闲车位的信息中选择匹配车辆的类型信息的目标空闲车位，例如，对于 电动汽车则匹配带有充电桩的目标空闲车位，获得车辆的类型信息可以通过以下任意一种或多种方式：由车辆或者车辆的关联设备发送车辆的类型信息，车辆自身携带的数据传输模块发送车辆的类型信息，或者可以发送给一个机器人，然后共享给所有机器人；或者通过机器人的图像采集单元对车辆进行图像采集，分析得到的图像，例如，可以通过机器人的摄像头(图像采集单元)拍摄车辆的图像；或者分析图像，与预设的数据库中的图像匹配，匹配成功的图像对应的车辆的类型即当前车辆的类型。对获得的图像进行分析可以是对全车的图像比对分析，也可以是对车身上的类型标识(如条形码等)进行扫描识别等等。The target free parking space may be selected from the information of the idle parking space according to a preset rule by obtaining the type information of the vehicle, for example, the vehicle is an electric vehicle or a fuel vehicle or a hybrid vehicle, and the information from the free parking space according to the type information of the vehicle. Select the target free parking space that matches the type information of the vehicle, for example, for The electric vehicle matches the target free parking space with the charging pile, and the type information of the obtained vehicle can be obtained by any one or more of the following methods: the type information of the vehicle is transmitted by the associated device of the vehicle or the vehicle, and the data transmission module carried by the vehicle itself is sent. The type information of the vehicle can be sent to a robot and then shared to all the robots; or the image acquisition unit of the robot can be used to collect images and analyze the obtained images. For example, the vehicle can be photographed by the camera (image acquisition unit) of the robot. Or an image that matches the image in the preset database, matching the type of vehicle corresponding to the successful image, ie the type of the current vehicle. The analysis of the obtained image may be an image comparison analysis of the entire vehicle, or may be a scanning identification of a type identification (such as a barcode) on the vehicle body.

可选地，引导车辆从预设位置驶入目标空闲车位可以是，机器人通过其图像采集单元采集获得车辆的停车入位视频，并将视频同步发送给车辆或车辆的关联设备，以在车辆的显示屏或在关联设备的显示屏上同步显示车辆的停车入位视频。Optionally, guiding the vehicle to enter the target free parking space from the preset position may be that the robot acquires the parking in-place video of the vehicle through the image capturing unit thereof, and synchronously transmits the video to the associated device of the vehicle or the vehicle to be in the vehicle. The parking display video of the vehicle is displayed synchronously on the display or on the display of the associated device.

在引导车辆停车入位时，机器人的图像采集单元实时采集得到车辆的停车入位视频，将图像同传到车辆的显示屏或者用户的手机屏幕上，以协助用户停车入位，在此期间还可以通过一些语音提示信息协助用户停车入位。When guiding the vehicle to park in place, the image acquisition unit of the robot collects the parking in-place video of the vehicle in real time, and transmits the image to the display screen of the vehicle or the screen of the user's mobile phone to assist the user to park the parking space. Some voice prompts can be used to assist the user in parking.

可选地，引导车辆从预设位置驶入目标空闲车位还包括，根据机器人的图像采集单元获得的车辆的停车入位视频，识别车辆与障碍物之间的距离，并在距离小于预设阈值时向车辆或车辆的关联设备发送报警消息。Optionally, guiding the vehicle to enter the target idle parking space from the preset position further includes: identifying a distance between the vehicle and the obstacle according to the parking in-position video of the vehicle obtained by the image acquisition unit of the robot, and the distance is less than a preset threshold. An alarm message is sent to the associated device of the vehicle or vehicle.

在车辆停车入位时，还通过机器人的图像采集单元获得车辆的停车入位视频，根据视频识别车辆与障碍物之间的距离，在距离小于预设阈值时向车辆或者车辆关联的设备发送报警信息，以提示当前停车入位的车辆停车或者调整方向，由于车辆与障碍物之间的距离小于一定阈值时，继续停车入位极有可能会发生碰撞等，因此，需要及时向车辆或者车辆的关联设备发出报警信息。When the vehicle is parked in position, the parking location video of the vehicle is also obtained by the image acquisition unit of the robot, and the distance between the vehicle and the obstacle is recognized according to the video, and the alarm is sent to the vehicle or the device associated with the vehicle when the distance is less than the preset threshold. Information to prompt the vehicle that is currently parked to stop or adjust the direction. Since the distance between the vehicle and the obstacle is less than a certain threshold, it is very likely that collision will occur if the parking is continued. Therefore, it is necessary to promptly report to the vehicle or the vehicle. The associated device issues an alarm message.

可选地，在引导车辆从预设位置驶入空闲车位之后，在获得车辆的关联设备发送的车辆提取信息时，机器人获得待取的车辆的第二标识信息；根据第二标识信息查找对应关系获得相应的第一标识信息，第一标识信息所对应的车位的位置即为待取的车辆的停放位置；规划车辆的关联设备的用户从所处的当前位置到车辆的停放位置的第二路径；根据第二路径引导用户移动到车辆的停放位置。Optionally, after the guiding vehicle enters the idle parking space from the preset position, when obtaining the vehicle extraction information sent by the associated device of the vehicle, the robot obtains the second identification information of the vehicle to be taken; and searches for the correspondence according to the second identification information. Obtaining corresponding first identification information, where the location of the parking space corresponding to the first identification information is the parking position of the vehicle to be taken; the second path of the user of the associated device of the planning vehicle from the current location to the parking position of the vehicle The user is guided to move to the parking position of the vehicle according to the second path.

第二标识信息可以是车辆的车牌号等信息，车辆的关联设备可以是车辆关联的手机，在获取到车辆的关联手机发送的车辆提取信息时，提取信息中携带有车辆的第二标识信息，根据第二标识信息查找对应关系获得该车辆当前的第一标识信息，例如停放位置，第一标识信息对应的车位的位置即待取车辆的停放位置，在得到待取车辆的停放位置之后，规划关联设备的用户从当前位置到达车辆的停放位置的第二路径，然 后根据第二路径引导用户移动到车辆的停放位置，以使用户能够根据第二路径找到停放的车辆，方便用户查找，相对于现有技术中用户需要自己记住停车位置，查找十分不便，具有更好的用户体验。The second identification information may be information such as the license plate number of the vehicle, and the associated device of the vehicle may be a mobile phone associated with the vehicle. When the vehicle extraction information sent by the associated mobile phone of the vehicle is acquired, the second identification information of the vehicle is carried in the extracted information. Finding the current first identification information of the vehicle according to the second identification information, for example, the parking position, the position of the parking space corresponding to the first identification information, that is, the parking position of the vehicle to be taken, after obtaining the parking position of the vehicle to be taken, planning The second path of the user of the associated device from the current location to the parking position of the vehicle, Then, according to the second path, the user is guided to move to the parking position of the vehicle, so that the user can find the parked vehicle according to the second path, which is convenient for the user to find. Compared with the prior art, the user needs to remember the parking position by himself, and the search is very inconvenient, and has A better user experience.

可选地，在根据第二路径引导用户移动到车辆的停放位置之后，规划从车辆的停放位置到停车场出口的第三路径；根据第三路径引导车辆从停放位置驶向停车场出口。Optionally, after guiding the user to move to the parking position of the vehicle according to the second path, planning a third path from the parking position of the vehicle to the parking lot exit; guiding the vehicle from the parking position to the parking lot exit according to the third path.

在引导用户移动到车辆的停放位置之后，再规划路径引导用户从车辆的停放位置到达停车场出口，作为第三路径，根据第三路径引导车辆从停放位置到停车场出口，其中，引导车辆从停放位置驶出可以是将规划的路径发送到用户的手机终端也可以是将规划的路径在车辆的显示屏上显示，还可以由机器人在前方指引。After guiding the user to move to the parking position of the vehicle, the re-planning path guides the user from the parking position of the vehicle to the parking lot exit as a third path, guiding the vehicle from the parking position to the parking lot exit according to the third path, wherein the vehicle is guided from The parking location may be sent to the user's mobile terminal or the planned route may be displayed on the vehicle's display screen, or may be directed by the robot in front.

机器人可以在用户进入停车场取车的入口(如商场的电梯入口等)待命，当有用户需要取车时，获得用户的手机号(也可以是其他标识信息，如微信二维码等等)，查找记录的信息，获得车主的车位编号，规划到车位的移动路径，从而引导车主走向车位；甚至，如果是以电动平衡车(例如小米平衡车)为运动底盘的机器人，用户可以直接骑行机器人驶向车位，但需要注意的是，在骑行状态下，机器人的移动是完全受控于用户操作的，其不能按照规划的路径自主移动，但是可以通过语音提示用户移动方向(左拐、右拐等等)；用户找到车辆后，引导车辆驶向收费出口，还可以根据停车时长提前将停车费用发送到用户手机，以方便用户及时准备停车费，减少在停车场出口的等待时间。The robot can be on standby when the user enters the parking lot to pick up the car (such as the elevator entrance of the mall). When there is a user who needs to pick up the car, the user's mobile phone number (also other identification information, such as WeChat QR code, etc.) is obtained. Find the recorded information, get the owner's parking space number, plan the moving path to the parking space, and guide the owner to the parking space; even if the electric balancing vehicle (such as the millet balance car) is the robot of the sports chassis, the user can ride directly. The robot drives to the parking space, but it should be noted that in the riding state, the movement of the robot is completely controlled by the user, and it cannot move autonomously according to the planned path, but the user can move the direction by voice (left turn, Right turn, etc.); after the user finds the vehicle, the vehicle is guided to the toll outlet, and the parking fee can be sent to the user's mobile phone in advance according to the parking time, so that the user can prepare the parking fee in time and reduce the waiting time at the exit of the parking lot.

需要说明的是，在附图的流程图示出的步骤可以在诸如一组计算机可执行指令的计算机***中执行，并且，虽然在流程图中示出了逻辑顺序，但是在某些情况下，可以以不同于此处的顺序执行所示出或描述的步骤。It should be noted that the steps illustrated in the flowchart of the accompanying drawings may be executed in a computer system such as a set of computer executable instructions, and, although shown in the flowchart, The steps shown or described may be performed in an order different than that herein.

本发明实施例提供了一种停车管理机器人，该停车管理机器人可以用于执行本发明实施例的停车管理方法。The embodiment of the invention provides a parking management robot, which can be used to execute the parking management method of the embodiment of the invention.

图2是根据本发明实施例的停车管理机器人的示意图，如图2所示，该机器人包括：2 is a schematic diagram of a parking management robot according to an embodiment of the present invention. As shown in FIG. 2, the robot includes:

第一控制单元10，设置为在有车辆驶入停车场的预设位置时，控制停车管理机器人移动到第一位置，第一位置位于预设位置的第一距离范围内。The first control unit 10 is configured to control the parking management robot to move to the first position when the vehicle enters the preset position of the parking lot, the first position being within the first distance range of the preset position.

第一获取单元20，设置为获取停车场内的空闲车位的信息，并根据预设规则从空闲车位的信息中选择目标空闲车位，其中，空闲车位为停车场内还未停放车辆的车位。The first obtaining unit 20 is configured to acquire information of the idle parking space in the parking lot, and select a target free parking space from the information of the idle parking space according to a preset rule, wherein the idle parking space is a parking space in the parking lot that has not parked the vehicle.

第一规划单元30，设置为规划机器人从第一位置移动到目标空闲车位的第一路径。 The first planning unit 30 is configured to plan a first path in which the robot moves from the first location to the target free parking space.

第二控制单元40，设置为根据规划的第一路径控制机器人移动到第二位置，第二位置位于目标空闲车位的第二距离范围内，并引导车辆从预设位置驶入目标空闲车位。The second control unit 40 is configured to control the robot to move to the second position according to the planned first path, the second position is within the second distance range of the target idle parking space, and guide the vehicle to enter the target free parking space from the preset position.

可选地，停车场内的停车管理机器人有多个，机器人还包括：记录单元，设置为在引导车辆从预设位置驶入目标空闲车位之后，通过机器人记录目标空闲车位的第一标识信息与车辆的第二标识信息之间的对应关系、以及目标空闲车位被占用的车位状态信息；共享单元，设置为将记录的对应关系和车位状态信息共享给停车场内的其他停车管理机器人；或者，将对应关系和车位状态信息存入停车场的停车管理共享数据库中，停车管理共享数据库由其中一停车管理机器人来维护、或者由特定的停车管理服务器来维护。Optionally, there are multiple parking management robots in the parking lot, and the robot further includes: a recording unit configured to record the first identification information of the target free parking space by the robot after the guiding vehicle enters the target free parking space from the preset position. Corresponding relationship between the second identification information of the vehicle and the parking space state information occupied by the target free parking space; the sharing unit is configured to share the recorded correspondence relationship and the parking space state information to other parking management robots in the parking lot; or The correspondence and parking space status information are stored in the parking management sharing database of the parking lot, and the parking management sharing database is maintained by one of the parking management robots or by a specific parking management server.

可选地，机器人还包括：发送单元，设置为在记录目标空闲车位的第一标识信息与车辆的第二标识信息之间的对应关系之后，发送车位提示消息给驶入目标空闲车位的车辆的关联设备，车位提示消息中至少包括目标空闲车位的第一标识信息与车辆的第二标识信息之间的对应关系。Optionally, the robot further includes: a sending unit, configured to send a parking space prompt message to the vehicle that enters the target free parking space after recording the correspondence between the first identification information of the target free parking space and the second identification information of the vehicle The associated device includes at least a correspondence between the first identification information of the target free parking space and the second identification information of the vehicle.

可选地，第一获取单元20包括：获取模块，设置为获得驶入停车场的预设位置的车辆的类型信息，并根据车辆的类型信息从空闲车位的信息中选择匹配车辆的类型信息的目标空闲车位；其中，通过以下方式中的至少之一获得驶入停车场的预设位置的车辆的类型信息：获得驶入停车场的预设位置的车辆或其关联设备发送的车辆的类型信息；基于机器人的图像采集单元对驶入停车场的预设位置的车辆进行图像采集所获得的图像进行分析，获得驶入停车场的预设位置的车辆的类型信息；基于机器人的语音分析单元对驶入停车场的预设位置的车辆的车主进行语音采集和语义分析，获得驶入停车场的预设位置的车辆的类型信息。Optionally, the first obtaining unit 20 includes: an acquiring module, configured to obtain type information of the vehicle that enters the preset position of the parking lot, and select, according to the type information of the vehicle, information that matches the type information of the vehicle from the information of the idle parking space. a target free parking space; wherein, the type information of the vehicle that enters the preset position of the parking lot is obtained by at least one of the following ways: obtaining the type information of the vehicle transmitted by the vehicle or the associated device that enters the preset position of the parking lot The robot-based image acquisition unit analyzes the image obtained by the image acquisition of the vehicle entering the preset position of the parking lot, and obtains the type information of the vehicle at the preset position of the parking lot; the robot-based voice analysis unit pairs The owner of the vehicle entering the preset position of the parking lot performs voice collection and semantic analysis to obtain type information of the vehicle that enters the preset position of the parking lot.

可选地，第二控制单元40设置为：使机器人通过其图像采集单元采集获得车辆的停车入位视频，并将视频同步发送给车辆或车辆的关联设备，以在车辆的显示屏或在关联设备的显示屏上同步显示车辆的停车入位视频。Optionally, the second control unit 40 is configured to: enable the robot to acquire the parking in-place video of the vehicle through its image acquisition unit, and synchronously transmit the video to the associated device of the vehicle or the vehicle to be displayed on the display or in the vehicle. The vehicle's parking in-position video is displayed synchronously on the display of the device.

可选地，第二控制单元40还设置为：根据机器人的图像采集单元获得的车辆的停车入位视频，识别车辆与障碍物之间的距离，并在距离小于预设阈值时向车辆或车辆的关联设备发送报警消息。Optionally, the second control unit 40 is further configured to: identify a distance between the vehicle and the obstacle according to the parking in-position video of the vehicle obtained by the image acquisition unit of the robot, and to the vehicle or the vehicle when the distance is less than a preset threshold The associated device sends an alert message.

可选地，机器人还包括：第二获取单元，设置为在引导车辆从预设位置驶入空闲车位之后，在获得车辆的关联设备发送的车辆提取信息时，通过机器人获得待取的车辆的第二标识信息；查找单元，设置为根据第二标识信息查找对应关系获得相应的第一标识信息，第一标识信息所对应的车位的位置即为待取的车辆的停放位置；第二规划单元，设置为规划车辆的关联设备的用户从所处的当前位置到车辆的停放位置的第 二路径；第一引导单元，设置为根据第二路径引导用户移动到车辆的停放位置。Optionally, the robot further includes: a second acquiring unit, configured to obtain, by the robot, the vehicle to be taken by the robot after obtaining the vehicle extraction information sent by the associated device of the vehicle after guiding the vehicle to enter the idle parking space from the preset position The second identification unit is configured to obtain the corresponding first identification information according to the second identification information, and the location of the parking space corresponding to the first identification information is the parking position of the vehicle to be taken; The number of users who are set to plan the associated device of the vehicle from the current location to the parking position of the vehicle a second path; the first guiding unit is configured to guide the user to move to a parking position of the vehicle according to the second path.

可选地，机器人还包括：第三规划单元，设置为在根据第二路径引导用户移动到车辆的停放位置之后，规划从车辆的停放位置到停车场出口的第三路径；第二引导单元，设置为根据第三路径引导车辆从停放位置驶向停车场出口。Optionally, the robot further includes: a third planning unit configured to plan a third path from the parking position of the vehicle to the parking lot exit after guiding the user to move to the parking position of the vehicle according to the second path; the second guiding unit, It is arranged to guide the vehicle from the parking position to the parking lot exit according to the third path.

该实施例中的架构方式可以是多台机器人的分布式架构，可能需要一台机器人进行总调配。The architectural approach in this embodiment may be a distributed architecture of multiple robots, which may require a robot to perform a total deployment.

该实施例采用第一控制单元10在有车辆驶入停车场的预设位置时，控制停车管理机器人移动到第一位置，第一位置位于预设位置的第一距离范围内，第一获取单元20获取停车场内的空闲车位的信息，并根据预设规则从空闲车位的信息中选择目标空闲车位，其中，空闲车位为停车场内还未停放车辆的车位，第一规划单元30规划机器人从第一位置移动到目标空闲车位的第一路径，第二控制单元40根据规划的第一路径控制机器人移动到第二位置，第二位置位于目标空闲车位的第二距离范围内，并引导车辆从预设位置驶入目标空闲车位，从而解决了相关技术中人工找车位停车操作不便的问题，进而达到了提高停车操作的便利性的效果。In this embodiment, the first control unit 10 controls the parking management robot to move to the first position when the vehicle enters the preset position of the parking lot, and the first position is within the first distance range of the preset position, and the first acquiring unit 20: Obtain information of the idle parking space in the parking lot, and select a target free parking space from the information of the idle parking space according to a preset rule, wherein the idle parking space is a parking space of the vehicle that has not parked in the parking lot, and the first planning unit 30 plans the robot from The first position moves to the first path of the target free parking space, and the second control unit 40 controls the robot to move to the second position according to the planned first path, the second position is located within the second distance range of the target idle parking space, and guides the vehicle from The preset position enters the target free parking space, thereby solving the problem that the manual finding parking space is inconvenient in the related art, thereby achieving the effect of improving the convenience of the parking operation.

本发明实施例还提供了一种停车管理***，图3是根据本发明实施例的停车管理***的示意图，如图3所示，该***包括：机器人110，其中，机器人为本发明实施例的机器人，机器人为至少两个；服务器120，与机器人连接，设置为维护共享数据库，其中，共享数据库中存储并实时更新停车场内各车位的状态信息，以及处于被占用状态的车位的第一标识信息与相应车辆的第二标识之间的对应关系。The embodiment of the present invention further provides a parking management system, and FIG. 3 is a schematic diagram of a parking management system according to an embodiment of the present invention. As shown in FIG. 3, the system includes: a robot 110, wherein the robot is an embodiment of the present invention. The robot and the robot are at least two; the server 120 is connected to the robot and configured to maintain a shared database, wherein the shared database stores and updates the status information of each parking space in the parking lot in real time, and the first identifier of the parking space in the occupied state. The correspondence between the information and the second identification of the corresponding vehicle.

本发明实施例还提供了一种存储介质，该存储介质包括存储的程序，其中，在程序运行时控制存储介质所在设备执行上述任意一项的停车管理方法。The embodiment of the present invention further provides a storage medium, where the storage medium includes a stored program, wherein the device in which the storage medium is located controls the parking management method of any one of the above items when the program is running.

本发明实施例还提供了一种处理器，该处理器用于运行程序，其中，程序运行时执行上述任意一项的停车管理方法。The embodiment of the present invention further provides a processor for running a program, wherein the program is executed to execute the parking management method of any of the above.

本发明实施例的机器人至少为两个，根据实际应用的需求，机器人数量也可以为更多，属于多台机器人和服务器的集中式架构，服务器可以存储和维护共享数据库，为多个机器人之间的信息交互/通信提供中转，共享数据库中的数据来自于多个机器人发送的共享数据，例如，车位是否空闲，某个车位上停放的车辆的信息等数据，服务器的功能可以由少到多，例如：There are at least two robots in the embodiment of the present invention. According to the requirements of actual applications, the number of robots can also be more. It belongs to a centralized architecture of multiple robots and servers, and the server can store and maintain a shared database between multiple robots. The information interaction/communication provides transit, and the data in the shared database comes from shared data sent by multiple robots, for example, whether the parking space is idle, information of vehicles parked on a certain parking space, etc., and the functions of the server can be as small as possible. E.g:

服务器可以仅设置为数据库存储维护，服务器根据机器人上报的信息更新数据库中的数据，仅作为数据存储的机构，而不执行其他的运算功能。The server can be set only for database storage maintenance, and the server updates the data in the database according to the information reported by the robot, and only serves as a data storage mechanism, and does not perform other computing functions.

服务器可以设置为进行数据库维护+空闲车位调配/分配，调配的车位信息通知给 机器人，供机器人规划路径并引导车辆，服务器除了作为数据库存储设备还用户对空闲车位进行调配和分配，例如，有待停车辆驶入，服务器为待停车辆分配目标空闲车位，然后将分配好的目标空闲车位发送给机器人，由机器人规划路径引导待停车辆驶入目标空闲车位。The server can be set to perform database maintenance + idle parking space allocation/allocation, and the allocated parking space information is notified to The robot is used by the robot to plan the path and guide the vehicle. In addition to being the database storage device, the server also allocates and allocates the idle parking space. For example, if the vehicle is to be stopped, the server allocates the target free parking space for the waiting vehicle, and then assigns the target. The free parking space is sent to the robot, and the robot planning path guides the waiting vehicle to enter the target free parking space.

服务器还可以执行更多功能，可以设置为数据库维护+空闲车位调配/分配+路径规划，将调配的车位信息和规划的路径发给机器人，供机器人引导车辆。与上述实施方式不同的是，服务器除了进行目标空闲车位的调配和分配还可以进行路径规划，由服务器规划到达目标空闲车位的路径，然后发送给机器人，由机器人引导待停车辆驶入。The server can also perform more functions, which can be set to database maintenance + idle parking space allocation/allocation + path planning, and the deployed parking space information and planned route are sent to the robot for the robot to guide the vehicle. Different from the above embodiment, the server can perform path planning in addition to the allocation and allocation of the target free parking spaces, and the server plans the path to the target free parking space, and then sends it to the robot, and the robot guides the waiting vehicle to enter.

除了上述三种方式以外，服务器还可以与机器人配合执行更多功能，以为用户带来更加灵活方便的停车和取车体验，方便用户使用，也方便停车场管理，具有广泛的用途。In addition to the above three methods, the server can also perform more functions with the robot to provide users with more flexible and convenient parking and pick-up experience, convenient for users, and convenient for parking management, and has a wide range of uses.

在本发明的上述实施例中，对各个实施例的描述都各有侧重，某个实施例中没有详述的部分，可以参见其他实施例的相关描述。In the above-mentioned embodiments of the present invention, the descriptions of the various embodiments are different, and the parts that are not detailed in a certain embodiment can be referred to the related descriptions of other embodiments.

显然，本领域的技术人员应该明白，上述的本发明的各模块或各步骤可以用通用的计算装置来实现，它们可以集中在单个的计算装置上，或者分布在多个计算装置所组成的网络上，可选地，它们可以用计算装置可执行的程序代码来实现，从而，可以将它们存储在存储装置中由计算装置来执行，或者将它们分别制作成各个集成电路模块，或者将它们中的多个模块或步骤制作成单个集成电路模块来实现。这样，本发明不限制于任何特定的硬件和软件结合。It will be apparent to those skilled in the art that the various modules or steps of the present invention described above can be implemented by a general-purpose computing device that can be centralized on a single computing device or distributed across a network of multiple computing devices. Alternatively, they may be implemented by program code executable by the computing device, such that they may be stored in a storage device by a computing device, or they may be fabricated into individual integrated circuit modules, or Multiple modules or steps are made into a single integrated circuit module. Thus, the invention is not limited to any specific combination of hardware and software.

以上所述仅为本发明的优选实施例而已，并不用于限制本发明，对于本领域的技术人员来说，本发明可以有各种更改和变化。凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。 The above description is only the preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes can be made to the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and scope of the present invention are intended to be included within the scope of the present invention.

Claims (19)

1. 一种停车管理方法，应用于停车场的停车管理机器人，所述方法包括：A parking management method is applied to a parking management robot of a parking lot, and the method includes:

   在有车辆驶入所述停车场的预设位置时，所述停车管理机器人移动到第一位置，所述第一位置位于所述预设位置的第一距离范围内；When a vehicle enters a preset position of the parking lot, the parking management robot moves to a first position, and the first position is within a first distance range of the preset position;

   获取所述停车场内的空闲车位的信息，并根据预设规则从所述空闲车位的信息中选择目标空闲车位，其中，所述空闲车位为所述停车场内还未停放车辆的车位；Obtaining information of the free parking space in the parking lot, and selecting a target free parking space from the information of the free parking space according to a preset rule, wherein the free parking space is a parking space in the parking lot that has not parked the vehicle;

   规划所述机器人从所述第一位置移动到所述目标空闲车位的第一路径；Planning to move the robot from the first position to a first path of the target free parking space;

   根据规划的所述第一路径控制所述机器人移动到第二位置，所述第二位置位于所述目标空闲车位的第二距离范围内，并引导所述车辆从所述预设位置驶入所述目标空闲车位。Controlling the robot to move to a second position according to the planned first path, the second position being within a second distance range of the target free parking space, and guiding the vehicle to enter the preset position The target free parking space.
2. 根据权利要求1所述的方法，其中，所述停车场内的停车管理机器人有多个，在引导车辆从所述预设位置驶入所述目标空闲车位之后，所述方法还包括：The method of claim 1, wherein the parking management robot in the parking lot has a plurality of, after the guiding vehicle enters the target free parking space from the preset position, the method further comprises:

   所述机器人记录所述目标空闲车位的第一标识信息与所述车辆的第二标识信息之间的对应关系、以及所述目标空闲车位被占用的车位状态信息；The robot records a correspondence between the first identification information of the target free parking space and the second identification information of the vehicle, and the parking space state information that the target idle parking space is occupied;

   将记录的所述对应关系和所述车位状态信息共享给所述停车场内的其他停车管理机器人；或者，将所述对应关系和所述车位状态信息存入所述停车场的停车管理共享数据库中，所述停车管理共享数据库由其中一停车管理机器人来维护、或者由特定的停车管理服务器来维护。Sharing the recorded correspondence relationship and the parking space status information to other parking management robots in the parking lot; or storing the corresponding relationship and the parking space status information in a parking management sharing database of the parking lot The parking management sharing database is maintained by one of the parking management robots or by a specific parking management server.
3. 根据权利要求2所述的方法，其中，在记录所述目标空闲车位的第一标识信息与所述车辆的第二标识信息之间的对应关系之后，所述方法还包括：The method of claim 2, wherein after the correspondence between the first identification information of the target free parking space and the second identification information of the vehicle is recorded, the method further comprises:

   发送车位提示消息给驶入所述目标空闲车位的车辆的关联设备，所述车位提示消息中至少包括所述目标空闲车位的第一标识信息与所述车辆的第二标识信息之间的对应关系。Sending a parking space prompt message to the associated device of the vehicle entering the target free parking space, wherein the parking space prompt message includes at least a correspondence between the first identification information of the target free parking space and the second identification information of the vehicle .
4. 根据权利要求1、2或3所述的方法，其中，所述根据预设规则从所述空闲车位的信息中选择目标空闲车位，包括：The method according to claim 1, 2 or 3, wherein the selecting the target free parking space from the information of the free parking spaces according to a preset rule comprises:

   获得驶入所述停车场的预设位置的车辆的类型信息，并根据所述车辆的类型信息从所述空闲车位的信息中选择匹配所述车辆的类型信息的目标空闲车位；Obtaining type information of the vehicle that enters the preset position of the parking lot, and selecting a target free parking space that matches the type information of the vehicle from the information of the free parking space according to the type information of the vehicle;

   其中，通过以下方式中的至少之一获得驶入停车场的预设位置的车辆的类型信息： Wherein, the type information of the vehicle that enters the preset position of the parking lot is obtained by at least one of the following manners:

   获得所述驶入停车场的预设位置的车辆或其关联设备发送的车辆的类型信息；Obtaining type information of the vehicle transmitted by the vehicle or its associated device that is in the preset position of the parking lot;

   基于所述机器人的图像采集单元对所述驶入停车场的预设位置的车辆进行图像采集所获得的图像进行分析，获得所述驶入停车场的预设位置的车辆的类型信息；And analyzing, according to the image acquisition unit of the robot, an image obtained by performing image acquisition on the vehicle at the preset position of the parking lot, and obtaining the type information of the vehicle at the preset position of the parking lot;

   基于所述机器人的语音分析单元对所述驶入停车场的预设位置的车辆的车主进行语音采集和语义分析，获得所述驶入停车场的预设位置的车辆的类型信息。The voice analysis unit of the robot performs voice collection and semantic analysis on the owner of the vehicle entering the preset position of the parking lot, and obtains the type information of the vehicle at the preset position of the parking lot.
5. 根据权利要求1、2或3所述的方法，其中，引导车辆从所述预设位置驶入所述目标空闲车位，包括：The method of claim 1, 2 or 3, wherein guiding the vehicle from the predetermined position into the target free parking space comprises:

   所述机器人通过其图像采集单元采集获得所述车辆的停车入位视频，并将所述视频同步发送给所述车辆或所述车辆的关联设备，以在所述车辆的显示屏或在所述关联设备的显示屏上同步显示所述车辆的停车入位视频。The robot acquires a parking in-place video of the vehicle through its image acquisition unit, and synchronously transmits the video to the vehicle or the associated device of the vehicle to be on the display screen of the vehicle or in the The parking in-place video of the vehicle is simultaneously displayed on the display of the associated device.
6. 根据权利要求5所述的方法，其中，所述引导车辆从所述预设位置驶入所述目标空闲车位，还包括：The method of claim 5, wherein the guiding the vehicle to enter the target free parking space from the preset position further comprises:

   根据所述机器人的图像采集单元获得的所述车辆的停车入位视频，识别所述车辆与障碍物之间的距离，并在所述距离小于预设阈值时向所述车辆或车辆的关联设备发送报警消息。Identifying a distance between the vehicle and an obstacle according to the parking in-position video of the vehicle obtained by the image acquisition unit of the robot, and to the associated device of the vehicle or the vehicle when the distance is less than a preset threshold Send an alarm message.
7. 根据权利要求3所述的方法，其中，在所述引导车辆从所述预设位置驶入所述空闲车位之后，所述方法还包括：The method of claim 3, wherein after the guiding vehicle enters the free parking space from the preset position, the method further comprises:

   在获得所述车辆的关联设备发送的车辆提取信息时，所述机器人获得待取的车辆的第二标识信息；And obtaining, by the robot, the second identification information of the vehicle to be taken when obtaining the vehicle extraction information sent by the associated device of the vehicle;

   根据所述第二标识信息查找所述对应关系获得相应的第一标识信息，所述第一标识信息所对应的车位的位置即为所述待取的车辆的停放位置；And searching for the corresponding relationship according to the second identifier information to obtain corresponding first identifier information, where the location of the parking space corresponding to the first identifier information is the parking location of the vehicle to be taken;

   规划所述车辆的关联设备的用户从所处的当前位置到所述车辆的停放位置的第二路径；Planning a second path from a current location of the user of the associated device of the vehicle to a parking position of the vehicle;

   根据所述第二路径引导所述用户移动到所述车辆的停放位置。The user is guided to move to a parking position of the vehicle according to the second path.
8. 根据权利要求7所述的方法，其中，在根据所述第二路径引导所述用户移动到所述车辆的停放位置之后，所述方法还包括：The method of claim 7, wherein after the user is guided to move to the parking position of the vehicle according to the second path, the method further comprises:

   规划从所述车辆的停放位置到所述停车场出口的第三路径； Planning a third path from a parking position of the vehicle to the parking lot exit;

   根据所述第三路径引导所述车辆从所述停放位置驶向所述停车场出口。The vehicle is guided from the parking position to the parking lot exit according to the third path.
9. 一种停车管理机器人，应用于停车场的停车管理，包括：A parking management robot for parking management in a parking lot, including:

   第一控制单元，设置为在有车辆驶入所述停车场的预设位置时，控制所述停车管理机器人移动到第一位置，所述第一位置位于所述预设位置的第一距离范围内；a first control unit configured to control the parking management robot to move to a first position when a vehicle enters a preset position of the parking lot, the first position being located at a first distance range of the preset position Inside;

   第一获取单元，设置为获取所述停车场内的空闲车位的信息，并根据预设规则从所述空闲车位的信息中选择目标空闲车位，其中，所述空闲车位为所述停车场内还未停放车辆的车位；a first acquiring unit, configured to acquire information of an idle parking space in the parking lot, and select a target free parking space from the information of the idle parking space according to a preset rule, wherein the idle parking space is in the parking lot Parking spaces for unparked vehicles;

   第一规划单元，设置为规划所述机器人从所述第一位置移动到所述目标空闲车位的第一路径；a first planning unit configured to plan a first path of the robot moving from the first location to the target free parking space;

   第二控制单元，设置为根据规划的所述第一路径控制所述机器人移动到第二位置，所述第二位置位于所述目标空闲车位的第二距离范围内，并引导所述车辆从所述预设位置驶入所述目标空闲车位。a second control unit configured to control the robot to move to a second position according to the planned first path, the second position being within a second distance range of the target free parking space, and guiding the vehicle from the location The preset position enters the target free parking space.
10. 根据权利要求9所述的机器人，其中，所述停车场内的停车管理机器人有多个，所述机器人还包括：The robot according to claim 9, wherein there are a plurality of parking management robots in the parking lot, and the robot further comprises:

    记录单元，设置为在引导车辆从所述预设位置驶入所述目标空闲车位之后，通过所述机器人记录所述目标空闲车位的第一标识信息与所述车辆的第二标识信息之间的对应关系、以及所述目标空闲车位被占用的车位状态信息；a recording unit configured to record, between the first identification information of the target free parking space and the second identification information of the vehicle, by the robot after the guiding vehicle enters the target free parking space from the preset position Corresponding relationship and parking position status information of the target free parking space;

    共享单元，设置为将记录的所述对应关系和所述车位状态信息共享给所述停车场内的其他停车管理机器人；或者，将所述对应关系和所述车位状态信息存入所述停车场的停车管理共享数据库中，所述停车管理共享数据库由其中一停车管理机器人来维护、或者由特定的停车管理服务器来维护。a sharing unit configured to share the recorded correspondence and the parking space status information to other parking management robots in the parking lot; or store the corresponding relationship and the parking space status information in the parking lot In the parking management sharing database, the parking management sharing database is maintained by one of the parking management robots or by a specific parking management server.
11. 根据权利要求10所述的机器人，其中，所述机器人还包括：The robot of claim 10, wherein the robot further comprises:

    发送单元，设置为在记录所述目标空闲车位的第一标识信息与所述车辆的第二标识信息之间的对应关系之后，发送车位提示消息给驶入所述目标空闲车位的车辆的关联设备，所述车位提示消息中至少包括所述目标空闲车位的第一标识信息与所述车辆的第二标识信息之间的对应关系。a sending unit, configured to send a parking space prompt message to the associated device of the vehicle entering the target free parking space after recording the correspondence between the first identification information of the target free parking space and the second identification information of the vehicle And the parking space prompt message includes at least a correspondence between the first identification information of the target free parking space and the second identification information of the vehicle.
12. 根据权利要求9、10或11所述的机器人，其中，所述第一获取单元包括：The robot according to claim 9, 10 or 11, wherein the first acquisition unit comprises:

    获取模块，设置为获得驶入所述停车场的预设位置的车辆的类型信息，并根据所述车辆的类型信息从所述空闲车位的信息中选择匹配所述车辆的类型信息的 目标空闲车位；Obtaining a module, configured to obtain type information of a vehicle that enters a preset position of the parking lot, and select, according to the type information of the vehicle, information matching the type information of the vehicle from the information of the free parking space Target free parking space;

    其中，通过以下方式中的至少之一获得驶入停车场的预设位置的车辆的类型信息：Wherein, the type information of the vehicle that enters the preset position of the parking lot is obtained by at least one of the following manners:

    获得所述驶入停车场的预设位置的车辆或其关联设备发送的车辆的类型信息；Obtaining type information of the vehicle transmitted by the vehicle or its associated device that is in the preset position of the parking lot;

    基于所述机器人的图像采集单元对所述驶入停车场的预设位置的车辆进行图像采集所获得的图像进行分析，获得所述驶入停车场的预设位置的车辆的类型信息；And analyzing, according to the image acquisition unit of the robot, an image obtained by performing image acquisition on the vehicle at the preset position of the parking lot, and obtaining the type information of the vehicle at the preset position of the parking lot;

    基于所述机器人的语音分析单元对所述驶入停车场的预设位置的车辆的车主进行语音采集和语义分析，获得所述驶入停车场的预设位置的车辆的类型信息。The voice analysis unit of the robot performs voice collection and semantic analysis on the owner of the vehicle entering the preset position of the parking lot, and obtains the type information of the vehicle at the preset position of the parking lot.
13. 根据权利要求9、10或11所述的机器人，其中，所述第二控制单元设置为：A robot according to claim 9, 10 or 11, wherein said second control unit is arranged to:

    使所述机器人通过其图像采集单元采集获得所述车辆的停车入位视频，并将所述视频同步发送给所述车辆或所述车辆的关联设备，以在所述车辆的显示屏或在所述关联设备的显示屏上同步显示所述车辆的停车入位视频。Having the robot acquires a parking in-place video of the vehicle through its image acquisition unit, and synchronously transmits the video to an associated device of the vehicle or the vehicle to be on a display screen of the vehicle or at the The parking in-place video of the vehicle is synchronously displayed on the display screen of the associated device.
14. 根据权利要求13所述的机器人，其中，所述第二控制单元还设置为：The robot of claim 13, wherein the second control unit is further configured to:

    根据所述机器人的图像采集单元获得的所述车辆的停车入位视频，识别所述车辆与障碍物之间的距离，并在所述距离小于预设阈值时向所述车辆或车辆的关联设备发送报警消息。Identifying a distance between the vehicle and an obstacle according to the parking in-position video of the vehicle obtained by the image acquisition unit of the robot, and to the associated device of the vehicle or the vehicle when the distance is less than a preset threshold Send an alarm message.
15. 根据权利要求11所述的机器人，其中，所述机器人还包括：The robot of claim 11 wherein said robot further comprises:

    第二获取单元，设置为在所述引导车辆从所述预设位置驶入所述空闲车位之后，在获得所述车辆的关联设备发送的车辆提取信息时，通过所述机器人获得待取的车辆的第二标识信息；a second acquiring unit, configured to obtain, by the robot, a vehicle to be taken when the vehicle extracting information sent by the associated device of the vehicle is obtained after the guiding vehicle enters the idle parking space from the preset position Second identification information;

    查找单元，设置为根据所述第二标识信息查找所述对应关系获得相应的第一标识信息，所述第一标识信息所对应的车位的位置即为所述待取的车辆的停放位置；The searching unit is configured to obtain the corresponding first identification information by searching the corresponding relationship according to the second identification information, where the location of the parking space corresponding to the first identification information is the parking position of the vehicle to be taken;

    第二规划单元，设置为规划所述车辆的关联设备的用户从所处的当前位置到所述车辆的停放位置的第二路径；a second planning unit, configured to plan a second path of a user of the associated device of the vehicle from a current location where the vehicle is located to a parking position of the vehicle;

    第一引导单元，设置为根据所述第二路径引导所述用户移动到所述车辆的停放位置。 The first guiding unit is configured to guide the user to move to a parking position of the vehicle according to the second path.
16. 根据权利要求15所述的机器人，其中，所述机器人还包括：The robot of claim 15 wherein said robot further comprises:

    第三规划单元，设置为在根据所述第二路径引导所述用户移动到所述车辆的停放位置之后，规划从所述车辆的停放位置到所述停车场出口的第三路径；a third planning unit configured to plan a third path from a parking position of the vehicle to the parking lot exit after guiding the user to move to a parking position of the vehicle according to the second path;

    第二引导单元，设置为根据所述第三路径引导所述车辆从所述停放位置驶向所述停车场出口。The second guiding unit is configured to guide the vehicle from the parking position to the parking lot exit according to the third path.
17. 一种停车管理***，包括：A parking management system comprising:

    机器人，其中，所述机器人为权利要求9所述的机器人，所述机器人为至少两个；a robot, wherein the robot is the robot of claim 9, the robot is at least two;

    服务器，与所述机器人连接，设置为维护共享数据库，其中，所述共享数据库中存储并实时更新停车场内各车位的状态信息，以及处于被占用状态的车位的第一标识信息与相应车辆的第二标识之间的对应关系。a server, connected to the robot, configured to maintain a shared database, wherein the shared database stores and updates status information of each parking space in the parking lot, and first identification information of the parking space in the occupied state and the corresponding vehicle The correspondence between the second identifiers.
18. 一种存储介质，所述存储介质包括存储的程序，其中，在所述程序运行时控制所述存储介质所在设备执行权利要求1至8中任意一项所述的停车管理方法。A storage medium comprising a stored program, wherein the device in which the storage medium is located is controlled to execute the parking management method according to any one of claims 1 to 8 while the program is running.
19. 一种处理器，所述处理器用于运行程序，其中，所述程序运行时执行权利要求1至8中任意一项所述的停车管理方法。 A processor for executing a program, wherein the program is executed to perform the parking management method according to any one of claims 1 to 8.

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