Parking lot robot, parking lot inspection method and computer equipment

Abstract

The invention relates to a parking lot robot, a parking lot inspection method and computer equipment. The parking lot robot comprises a first sensor which is arranged in a first preset direction of the parking lot robot and is used for obtaining a bottom video of an unmanned vehicle which is about to leave a parking space; the second sensor is arranged in a first preset direction and a second preset direction of the parking lot robot and is used for acquiring a surrounding environment video of the unmanned vehicle; the control system is used for identifying whether obstacles exist at the bottom of the unmanned vehicle according to the bottom video; when the obstacle exists, the bottom video and the surrounding environment video are uploaded to a scheduling system, so that the scheduling system recognizes whether the unmanned vehicle meets a moving condition or not according to the bottom video and the surrounding environment video, and when the unmanned vehicle is recognized to meet the moving condition, the obstacle is removed. And sending the information that the unmanned vehicle meets the moving condition to the parking lot terminal. According to the parking lot robot, safety inspection before starting of the unmanned vehicle can be achieved.

Description

Technical Field

[0001] The present application relates to the technical field of unmanned vehicle parking lot management, and in particular to a parking lot robot, a parking lot patrol method and a computer device. Background Art

[0002] With the rapid development of driverless technology, driverless vehicles are gradually replacing traditional vehicles as users' travel options. Driverless driving can not only minimize the danger of driving, but also reduce the heavy driving tasks of users. Therefore, driverless driving will be a major trend in the future development of automobiles.

[0003] When a user wants to use an unmanned vehicle, the unmanned vehicle parked in the parking lot can start the engine without anyone, and then leave the parking space to pick up the user. However, traditional parking lot robots are mainly aimed at parking lots with manned vehicles, and their main functions are real-time monitoring of vacant parking spaces, displaying parking space information, guiding unfamiliar car owners to quickly find vacant parking spaces, automatically raising and lowering poles, and automatically charging. For parking lots with unmanned vehicles, such robots have defects and cannot perform safety checks on unmanned vehicles before starting. Therefore, how to perform safety checks on unmanned vehicles in unmanned vehicle parking lots before starting has become a technical problem that needs to be solved at present. Summary of the invention

[0004] Based on this, it is necessary to provide a parking lot robot, parking lot patrol method and computer equipment that can perform safety checks on unmanned vehicles in unmanned vehicle parking lots before starting in order to address the above technical problems.

[0005] In a first aspect, the present application provides a parking robot, comprising:

[0006] A first sensor is disposed in a first preset direction of the parking robot and is used to obtain a bottom video of the unmanned vehicle to leave the parking space;

[0007] A second sensor is disposed in a first preset direction and a second preset direction of the parking robot, and is used to obtain a video of the surrounding environment of the unmanned vehicle;

[0008] A control system is used to identify whether there is an obstacle under the unmanned vehicle based on the bottom video; when an obstacle is identified under the unmanned vehicle, the bottom video and the surrounding environment video are uploaded to the dispatching system, so that the dispatching system identifies whether the unmanned vehicle meets the movement conditions based on the bottom video and the surrounding environment video, and when it is identified that the unmanned vehicle meets the movement conditions, the information that the unmanned vehicle meets the movement conditions is sent to the parking lot terminal, so that the parking lot terminal sends an instruction to the unmanned vehicle to allow it to leave the parking space.

[0009] In one embodiment, the first preset direction is the lower left side of the parking robot, and the first sensor includes a camera device arranged at the lower left side of the parking robot.

[0010] In one embodiment, the second preset direction includes the front, upper left side, right side, rear side and top of the parking robot; the second sensor includes a radar device arranged at the lower left side of the parking robot, a camera device and a radar device arranged in front of the parking robot, a camera device arranged at the upper left side of the parking robot, a camera device arranged at the right side and rear side of the parking robot, and a radar device arranged on the top of the parking robot.

[0011] In one of the embodiments, the control system is also used to determine that the unmanned vehicle meets the movement conditions when it is recognized that there is no obstacle under the unmanned vehicle, and send information that the unmanned vehicle meets the movement conditions to the parking lot terminal, so that the parking lot terminal sends an instruction to the unmanned vehicle to allow it to leave the parking space.

[0012] In one embodiment, the first sensor and the second sensor are further used to capture a personnel video of a current person in the unmanned vehicle parking lot, and upload the personnel video to the dispatch system, so that the dispatch system can identify the identity of the current person based on the personnel video, and send the identity recognition result to the control system;

[0013] The control system is used to generate an alarm message when the identification result is a non-target person, and track the current person until the current person leaves the sensing area of ​​the parking robot.

[0014] In a second aspect, the present application further provides a parking lot patrol method, which is applied to the parking lot robot of the first aspect, comprising:

[0015] Acquire a bottom environment video of the unmanned vehicle to be left of the parking space collected by a first sensor disposed in a first preset direction of the parking robot;

[0016] Acquire a surrounding environment video of the unmanned vehicle collected by a second sensor disposed in a first preset direction and a second preset direction of the parking robot;

[0017] Identify whether there is an obstacle under the unmanned vehicle based on the bottom video; when it is identified that there is an obstacle under the unmanned vehicle, send the bottom video and the surrounding environment video to the dispatching system, so that the dispatching system identifies whether the unmanned vehicle meets the movement conditions based on the bottom video and the surrounding environment video, and when it is identified that the unmanned vehicle meets the movement conditions, send the information that the unmanned vehicle meets the movement conditions to the parking lot terminal, so that the parking lot terminal sends an instruction to the unmanned vehicle to allow it to leave the parking space.

[0018] In one embodiment, the first preset direction is the lower left side of the parking robot, and the first sensor includes a camera device disposed at the lower left side of the parking robot;

[0019] Obtaining a bottom environment video of an unmanned vehicle to leave a parking space collected by a first sensor disposed in a first preset direction of a parking robot, including:

[0020] A bottom environment video of the unmanned vehicle to leave the parking space collected by a camera device arranged at the lower left side of the parking robot is obtained.

[0021] In one embodiment, the method further comprises:

[0022] Capture a video of the current person in the unmanned vehicle parking lot, and upload the video to the dispatch system, so that the dispatch system can identify the identity of the current person based on the video to obtain an identity recognition result;

[0023] Obtain the identification result. When the identification result is a non-target person, generate an alarm message and track the current person until the current person leaves the sensing area of ​​the parking robot.

[0024] In one embodiment, the method further comprises:

[0025] When the dispatch system identifies that the unmanned vehicle does not meet the movement conditions, it sends an obstacle removal instruction to the management terminal so that the management terminal removes the obstacle;

[0026] After the obstacles are cleared, information is sent to the parking lot terminal indicating that the driverless vehicle meets the moving conditions.

[0027] In a third aspect, the present application further provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0028] Acquire a bottom environment video of the unmanned vehicle to be left of the parking space collected by a first sensor disposed in a first preset direction of the parking robot;

[0029] Acquire a surrounding environment video of the unmanned vehicle collected by a second sensor disposed in a first preset direction and a second preset direction of the parking robot;

[0030] Identify whether there is an obstacle under the unmanned vehicle based on the bottom video; when it is identified that there is an obstacle under the unmanned vehicle, send the bottom video and the surrounding environment video to the dispatching system, so that the dispatching system identifies whether the unmanned vehicle meets the movement conditions based on the bottom video and the surrounding environment video, and when it is identified that the unmanned vehicle meets the movement conditions, send the information that the unmanned vehicle meets the movement conditions to the parking lot terminal, so that the parking lot terminal sends an instruction to the unmanned vehicle to allow it to leave the parking space.

[0031] The parking lot robot, parking lot patrol method and computer equipment described above, the parking lot robot obtains the bottom video and the surrounding environment video of the unmanned vehicle to be left in the parking space respectively through the first sensor arranged in the first preset direction and the second sensor arranged in the first preset direction and the second preset direction, replacing the traditional driver's behavior of walking around the vehicle to check the vehicle, so as to detect the surrounding environment and the bottom of the vehicle when the unmanned vehicle is started, and realize the safety inspection of the unmanned vehicle in the unmanned vehicle parking lot before starting. The control system can identify whether there is an obstacle under the unmanned vehicle according to the bottom video, and when there is an obstacle under the bottom, the bottom video and the surrounding environment video can be uploaded to the dispatching system to judge the vehicle movement conditions, which can ensure the safe start of the unmanned vehicle, and can also reduce the installation of sensors under the unmanned vehicle, saving vehicle costs and also saving parking lot labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] FIG1 is a schematic diagram of parking space positions corresponding to parking space numbers in one embodiment;

[0034] FIG2 is a schematic diagram of the position arrangement of a first sensor and a second sensor on a parking robot in one embodiment;

[0035] FIG3 is a schematic diagram of a process flow of a parking lot patrol method in one embodiment;

[0036] FIG4 is a schematic diagram of a flow chart of an alarm for a mistaken intruder in one embodiment;

[0037] FIG. 5 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0038] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] The current parking lot robots mainly provide services for manned vehicles and are suitable for parking lots for manned vehicles. However, there are defects in parking lots for unmanned vehicles. For example, before starting a manned vehicle, the driver will walk around the vehicle to check the environment around the vehicle and start the vehicle after confirming that there are no safety issues. However, for unmanned vehicles, especially end-to-end unmanned vehicles, when the vehicle stops in the parking lot and then starts, the current parking lot robots cannot ensure that the environment around the vehicle meets the safety requirements for starting the vehicle. At present, the sensor coverage of autonomous vehicles is limited to the surroundings of the vehicle. There is no sensor coverage for the bottom of the vehicle. If sensors are added to the bottom of the vehicle, the vehicle cost will increase. If manual inspection is used, the labor cost will increase.

[0040] Therefore, in response to the above technical problems, the present application proposes a parking robot that can solve the problem of being unable to perform a pre-start safety check when an unmanned vehicle is started for the second time after parking in an unmanned parking lot, with the least increase in cost possible.

[0041] In an exemplary embodiment, a parking robot is provided, comprising: a first sensor, a second sensor and a control system, wherein the first sensor and the second sensor are respectively connected to the control system. The parking robot is connected to the dispatching system via the control system.

[0042] The first sensor is arranged in a first preset direction of the parking robot and is used to obtain a bottom environment video of the unmanned vehicle to leave the parking space.

[0043] The second sensor is arranged in a first preset direction and a second preset direction of the parking robot and is used to obtain a surrounding environment video of the unmanned vehicle.

[0044] A control system is used to identify whether there is an obstacle under the unmanned vehicle based on the bottom video; when an obstacle is identified under the unmanned vehicle, the bottom video and the surrounding environment video are uploaded to the dispatching system, so that the dispatching system can identify whether the unmanned vehicle has the conditions for movement based on the surrounding environment video, and when it is identified that the unmanned vehicle meets the conditions for movement, the information that the unmanned vehicle meets the conditions for movement is sent to the parking lot terminal, so that the parking lot terminal sends an instruction to the unmanned vehicle allowing it to leave the parking space.

[0045] Optionally, the parking robot in this embodiment can be, but is not limited to, a humanoid robot, a legged robot such as a robot dog, or a wheeled robot such as an unmanned patrol car, which can be selected arbitrarily according to actual needs. The type and number of the first sensor and the second sensor can be the same or different, and can be arbitrarily matched according to different technical requirements.

[0046] Specifically, after the unmanned vehicle has been parked in the unmanned vehicle parking lot for a period of time, when it receives an instruction to start again, in order to avoid small animals staying under the wheels, or iron nails, sharp iron pieces and other objects on the bottom of the vehicle causing damage to the unmanned vehicle, the unmanned vehicle will send a departure request to the parking lot terminal, and the departure request carries the parking space number where the unmanned vehicle is located. For example, the parking lot terminal can be a parking lot application. The parking lot terminal controls the parking lot robot to arrive at the parking space position corresponding to the parking space number where the unmanned vehicle is located according to the departure request, and the parking space position corresponding to the parking space number is shown in Figure 1.

[0047] Afterwards, the parking lot robot conducts a surround inspection around the unmanned vehicle. At the same time, a first sensor set in a first preset direction of the parking lot robot is used to collect the bottom environment video of the unmanned vehicle, and a second sensor set in the first preset direction and the second preset direction of the parking lot robot is used to collect the surrounding environment video of the unmanned vehicle.

[0048] The first sensor and the second sensor upload the collected bottom environment video and surrounding environment video of the unmanned vehicle to the control system respectively. The control system may be a central control subsystem. The control system is used to identify whether there is an obstacle under the unmanned vehicle based on the bottom video. Furthermore, an obstacle recognition algorithm is pre-configured in the control system, and the obstacle recognition algorithm may be an obstacle recognition model.

[0049] When the control system identifies that there is an obstacle under the unmanned vehicle, the bottom environment video and the surrounding environment video are uploaded to the dispatch system. The dispatch system determines the obstacle category based on the bottom video and the surrounding environment video, and identifies whether the unmanned vehicle meets the movement conditions. The movement conditions refer to the safety conditions for the unmanned vehicle to start and leave. For example, the dispatcher can view the bottom video and the surrounding environment video to identify whether the unmanned vehicle meets the movement conditions. When the dispatch system identifies that the unmanned vehicle meets the movement conditions, the information that the unmanned vehicle meets the movement conditions is sent to the parking lot terminal, so that the parking lot terminal sends a command to the unmanned vehicle to allow it to leave the parking space, and the unmanned vehicle can leave the parking space.

[0050] In this embodiment, the parking robot obtains the bottom video and the surrounding environment video of the unmanned vehicle to be left in the parking space respectively through the first sensor arranged in the first preset direction and the second sensor arranged in the first preset direction and the second preset direction, replacing the traditional driver's behavior of walking around the vehicle to check the vehicle, so as to detect the surrounding environment and the bottom of the vehicle when the unmanned vehicle is started, and realize the safety inspection of the unmanned vehicle in the unmanned vehicle parking lot before starting. The control system can identify whether there is an obstacle under the unmanned vehicle according to the bottom video, and can also upload the bottom video and the surrounding environment video to the dispatching system to judge the vehicle movement conditions when there is an obstacle at the bottom, which can ensure the safe start of the unmanned vehicle, and can also reduce the installation of sensors at the bottom of the unmanned vehicle, saving vehicle costs and also saving parking lot labor costs.

[0051] In an exemplary embodiment, the first preset direction is the lower left side of the parking robot, and the first sensor includes a camera device disposed at the lower left side of the parking robot.

[0052] The camera device at the bottom left side of the parking robot, i.e., the first sensor, is mainly used to check the environment at the bottom of the unmanned vehicle. The distance between the camera device at the bottom left side of the parking robot and the bottom of the parking robot can be set to 13cm-32cm. The camera device at the bottom left side of the parking robot can be set in the center, and multiple camera devices are arranged in sequence in the horizontal direction. For example, the camera device at the bottom left side of the parking robot can include an ordinary camera and an infrared camera.

[0053] In the above embodiment, the second preset direction includes the front, upper left side, right side, rear side and top of the parking robot; the second sensor includes a radar device arranged at the lower left side of the parking robot, a camera device and a radar device arranged in front of the parking robot, a camera device arranged at the upper left side of the parking robot, a camera device arranged at the right side and rear side of the parking robot, and a radar device arranged at the top of the parking robot.

[0054] The radar device at the lower left side of the parking robot may be an ultrasonic radar. The camera device arranged in front of the parking robot may include an ordinary camera and an infrared camera, and the radar device may be an ultrasonic radar. The camera device arranged above the left side of the parking robot may be an ordinary camera. The camera devices arranged on the right and rear side of the parking robot may include ordinary cameras, and the radar device may be an ultrasonic radar. The radar device arranged on the top of the parking robot may be a laser radar.

[0055] The camera device arranged in front of the parking robot, the camera device arranged on the upper left side of the parking robot, and the camera devices arranged on the right and rear sides of the parking robot are at the same distance from the top of the parking robot, the distance range can be set to 13cm-16cm, and they are all set in the center. The multiple camera devices arranged in front of the parking robot are arranged in sequence along the vertical direction. The radar device arranged in front of the parking robot, the radar device arranged on the lower left side of the parking robot, and the radar device arranged on the right and rear sides of the parking robot are at the same distance from the bottom of the parking robot, the distance range can be set to 13cm-32cm, and they are all set in the center. The radar device arranged on the top of the parking robot can be set in the center.

[0056] Exemplarily, the position setting diagram of the first sensor and the second sensor on the parking robot is shown in FIG2, wherein, in front of the parking robot (see the front view of the parking robot), an ordinary camera, an infrared camera and an ultrasonic radar are installed. On the left side of the parking robot (see the left view of the parking robot), two ordinary cameras, an ultrasonic radar and an infrared camera are installed. On the rear and right sides of the parking robot (see the rear / right views of the parking robot), an ordinary camera and an ultrasonic radar are installed respectively, and on the top of the parking robot (see the top view of the parking robot), a laser radar is installed, that is, the parking robot is equipped with 12 sensors. The first sensor includes an ordinary camera and an infrared camera at the lower left side of the parking robot. The second sensor includes all sensors except the first sensor. The ordinary camera set in front of the parking robot, the ordinary camera set on the upper left side of the parking robot, and the ordinary camera set on the right and rear sides of the parking robot are set at a distance of 15 cm from the top of the parking robot. The ultrasonic radar set in front of the parking robot, the camera and ultrasonic radar set at the lower left side of the parking robot, and the ultrasonic radar set on the right and rear sides of the parking robot are set at a distance of 30 cm from the bottom of the parking robot. For example, the 12 sensors may include 4 ordinary cameras with a horizontal field of view of 120°, 1 ordinary camera with a horizontal field of view of 60°, and 2 infrared cameras with a horizontal field of view of 60°.

[0057] In this embodiment, by arranging sensors in multiple directions of the parking robot and jointly collecting video through sensors in multiple preset directions, the accuracy of the video data can be further improved.

[0058] In an exemplary embodiment, the control system is also used to determine that the unmanned vehicle meets the movement conditions when it is identified that there is no obstacle under the unmanned vehicle, and send information that the unmanned vehicle meets the movement conditions to the parking lot terminal, so that the parking lot terminal sends an instruction to the unmanned vehicle to allow it to leave the parking space.

[0059] When there are no obstacles under the unmanned vehicle, the control system can directly determine that the unmanned vehicle meets the moving conditions, and send the information that the unmanned vehicle meets the moving conditions to the parking lot terminal. The parking lot terminal allows the unmanned vehicle to leave the parking space, enabling the unmanned vehicle to start quickly and safely.

[0060] In an exemplary embodiment, the first sensor and the second sensor are also used to capture a video of the current person in the unmanned vehicle parking lot, upload the video to the dispatch system, so that the dispatch system can identify the identity of the current person based on the video, and send the identity recognition result to the control system.

[0061] The control system is used to generate an alarm message when the identification result is a non-target person, and track the current person until the current person leaves the sensing area of ​​the parking robot.

[0062] Among them, the target personnel refer to the internal staff of the unmanned vehicle parking lot.

[0063] Optionally, the parking robot also has an alarm function for expelling people who accidentally break in. When the parking robot normally patrols the unmanned vehicle parking lot according to the set route, the first sensor and the second sensor on the parking robot are used to detect the current person appearing in the unmanned vehicle parking lot, capture the personnel video of the current person, and upload the personnel video to the dispatch system. The dispatch system is used to identify the identity of the current person based on the personnel video and send the identity recognition result to the control system. For example, the dispatcher can view the personnel video to confirm whether the current person is an internal staff member.

[0064] The control system is used to indicate that the current person is a mistaken intruder when the identification result is a non-target person. At this time, a voice prompt message is generated to prompt the intruder to leave immediately, and an alarm message is generated. At the same time, the current person is tracked, that is, the whereabouts of the current person is recorded through real-time video until the current person leaves the sensing area of ​​the parking lot robot and the parking lot robot resumes patrolling. For example, the voice prompt message can be "No one is working in the area, please leave immediately." When the identification result is a target person, the parking lot robot will record the characteristic information of the current person, and will no longer initiate a mistaken intrusion alarm function for the current person within the same day.

[0065] In this embodiment, by utilizing the configured sensors to timely detect people active in the parking lot, the dispatcher can be reminded to handle and expel strangers who mistakenly enter the parking lot, which can effectively protect the unmanned vehicle from being arbitrarily damaged and avoid property losses.

[0066] Based on the same inventive concept, please refer to FIG. 3 , the present application also provides a parking lot patrol method, which is described by taking the method applied to the parking lot robot in any of the above embodiments as an example, and includes the following steps:

[0067] Step 302 : Obtain a bottom environment video of the unmanned vehicle to leave the parking space collected by a first sensor disposed in a first preset direction of the parking robot.

[0068] Step 304 , obtaining a surrounding environment video of the unmanned vehicle collected by a second sensor disposed in a first preset direction and a second preset direction of the parking robot.

[0069] Step 306, identifying whether there is an obstacle under the unmanned vehicle based on the bottom video. If it is identified that there is an obstacle under the unmanned vehicle, step 308 is executed; if it is identified that there is no obstacle under the unmanned vehicle, step 310 is executed.

[0070] Step 308, sending the bottom video and the surrounding environment video to the dispatching system, so that the dispatching system can identify whether the unmanned vehicle meets the movement conditions based on the bottom video and the surrounding environment video. If it is identified that the unmanned vehicle meets the movement conditions, execute step 312; if it is identified that the unmanned vehicle does not meet the movement conditions, execute step 314.

[0071] Step 310 , determining that the unmanned vehicle meets the movement condition, and sending information that the unmanned vehicle meets the movement condition to the parking lot terminal. Execute step 316 .

[0072] In step 312, the dispatch system sends information that the unmanned vehicle meets the movement conditions to the parking lot terminal. Then, the process proceeds to step 316.

[0073] In step 314, the dispatch system sends an obstacle removal instruction to the management terminal so that the management terminal removes the obstacle; after the obstacle is removed, the information that the unmanned vehicle meets the movement conditions is sent to the parking lot terminal. Then, step 316 is executed.

[0074] In step 316, the parking lot terminal sends a command to the unmanned vehicle allowing it to leave the parking space.

[0075] In the above parking lot patrol method, the parking lot robot obtains the bottom video and the surrounding environment video of the unmanned vehicle to be left in the parking space respectively through the first sensor arranged in the first preset direction and the second sensor arranged in the first preset direction and the second preset direction, replacing the traditional driver's behavior of walking around the vehicle to check the vehicle, so that the surrounding environment and the bottom of the vehicle can be detected when the unmanned vehicle is started, and the unmanned vehicle in the unmanned vehicle parking lot can be checked before starting. The control system can identify whether there is an obstacle under the unmanned vehicle according to the bottom video, and when there is an obstacle at the bottom, the bottom video and the surrounding environment video can be uploaded to the dispatching system to judge the vehicle movement conditions, which can ensure the safe start of the unmanned vehicle, and can also reduce the installation of sensors at the bottom of the unmanned vehicle, saving vehicle costs and also saving parking lot labor costs.

[0076] In an exemplary embodiment, the first preset direction is the lower left side of the parking lot robot, and the first sensor includes a camera device disposed at the lower left side of the parking lot robot; obtaining a bottom environment video of the unmanned vehicle to leave the parking space captured by the first sensor disposed in the first preset direction of the parking lot robot includes: obtaining a bottom environment video of the unmanned vehicle to leave the parking space captured by the camera device disposed at the lower left side of the parking lot robot.

[0077] In an exemplary embodiment, as shown in FIG4 , the method further includes: a step of alarming a mistaken intruder, including:

[0078] Step 402, capture a video of the current person in the unmanned vehicle parking lot, and upload the video to the dispatch system, so that the dispatch system can identify the identity of the current person based on the video to obtain an identity recognition result.

[0079] Step 404, obtaining the identity recognition result, when the identity recognition result is a non-target person, generating an alarm message, and tracking the current person until the current person leaves the sensing area of ​​the parking robot.

[0080] In this embodiment, by utilizing the configured sensors to timely detect people active in the parking lot, the dispatcher can be reminded to handle and expel strangers who mistakenly enter the parking lot, which can effectively protect the unmanned vehicle from being arbitrarily damaged and avoid property losses.

[0081] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0082] In an exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be shown in FIG5. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected via a system bus, and the communication interface is connected to the system bus via the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data such as the bottom video and the surrounding environment video of the unmanned vehicle. The input / output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a parking lot patrol method is implemented.

[0083] Those skilled in the art will understand that the structure shown in FIG. 5 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0084] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0085] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above method embodiments are implemented.

[0086] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0087] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0088] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0089] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0090] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A parking robot, characterized in that: The parking robot comprises: A first sensor is disposed in a first preset direction of the parking robot and is used to obtain a bottom video of the unmanned vehicle to leave the parking space; A second sensor, disposed in the first preset direction and the second preset direction of the parking robot, for acquiring a video of the surrounding environment of the unmanned vehicle; A control system is used to identify whether there is an obstacle under the unmanned vehicle based on the bottom video; when it is identified that there is an obstacle under the unmanned vehicle, the bottom video and the surrounding environment video are uploaded to the dispatching system, so that the dispatching system identifies whether the unmanned vehicle meets the movement conditions based on the bottom video and the surrounding environment video, and when it is identified that the unmanned vehicle meets the movement conditions, the information that the unmanned vehicle meets the movement conditions is sent to the parking lot terminal, so that the parking lot terminal sends an instruction to the unmanned vehicle to allow it to leave the parking space.

2. The parking robot according to claim 1, characterized in that: The first preset direction is the lower left side of the parking robot, and the first sensor includes a camera device arranged at the lower left side of the parking robot.

3. The parking robot according to claim 2, characterized in that: The second preset direction includes the front, upper left side, right side, rear side and top of the parking robot; the second sensor includes a radar device arranged at the lower left side of the parking robot, a camera device and a radar device arranged in front of the parking robot, a camera device arranged at the upper left side of the parking robot, a camera device arranged at the right side and rear side of the parking robot, and a radar device arranged at the top of the parking robot.

4. The parking robot according to claim 1, characterized in that: The control system is also used to determine that the unmanned vehicle meets the movement conditions when it is recognized that there is no obstacle under the unmanned vehicle, and send information that the unmanned vehicle meets the movement conditions to the parking lot terminal, so that the parking lot terminal sends an instruction to the unmanned vehicle allowing it to leave the parking space.

5. The parking robot according to claim 1, characterized in that: The first sensor and the second sensor are also used to capture a video of a person currently in the unmanned vehicle parking lot, and upload the video to the dispatch system, so that the dispatch system can identify the identity of the current person based on the video, and send the identity recognition result to the control system; The control system is used to generate an alarm message when the identity recognition result is a non-target person, and track the current person until the current person leaves the sensing area of ​​the parking robot.

6. A parking lot patrol method, characterized in that: Applied to the parking robot according to any one of claims 1 to 5, the method comprising: Acquire a bottom environment video of the unmanned vehicle to be left of the parking space collected by a first sensor disposed in a first preset direction of the parking robot; Acquire a surrounding environment video of the unmanned vehicle collected by a second sensor disposed in the first preset direction and the second preset direction of the parking robot; Identify whether there is an obstacle under the unmanned vehicle based on the bottom video; when it is identified that there is an obstacle under the unmanned vehicle, send the bottom video and the surrounding environment video to the dispatching system, so that the dispatching system identifies whether the unmanned vehicle meets the movement conditions based on the bottom video and the surrounding environment video, and when it is identified that the unmanned vehicle meets the movement conditions, send information that the unmanned vehicle meets the movement conditions to the parking lot terminal, so that the parking lot terminal sends an instruction to the unmanned vehicle to allow it to leave the parking space.

7. The parking lot inspection method according to claim 6, characterized in that: The first preset direction is the lower left side of the parking robot, and the first sensor includes a camera device arranged at the lower left side of the parking robot; The step of obtaining a bottom environment video of the unmanned vehicle to be left the parking space collected by a first sensor disposed in a first preset direction of the parking robot includes: A bottom environment video of the unmanned vehicle to leave the parking space captured by a camera device arranged at the lower left side of the parking robot is obtained.

8. The parking lot inspection method according to claim 6, characterized in that: The method further comprises: Capturing a video of a current person in the unmanned vehicle parking lot, and uploading the video to the dispatch system, so that the dispatch system can identify the identity of the current person based on the video to obtain an identity recognition result; The identity recognition result is obtained, and when the identity recognition result is a non-target person, an alarm message is generated, and the current person is tracked until the current person leaves the sensing area of ​​the parking robot.

9. The parking lot inspection method according to claim 6, characterized in that: The method further comprises: When the dispatch system identifies that the unmanned vehicle does not meet the movement conditions, it sends an obstacle removal instruction to the management terminal so that the management terminal removes the obstacle; After the obstacle is cleared, information indicating that the driverless vehicle meets the moving conditions is sent to the parking lot terminal.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 6 to 9 are implemented.

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