Parking lot monitoring system, parking lot monitoring method

Abstract

This allows for checking whether or not unattended vehicles are being left unattended, while reducing the burden on security personnel in the parking lot. [Solution] A parking lot monitoring system including a control device and a security robot, wherein the control device detects from image data of a camera that images the parking area of ​​the parking lot whether or not a vehicle has been parked in a parking space included in the parking area, identifies the parking space ID of the parking space where parking has been detected, transmits a security instruction to the security robot along with the parking space ID, moves to the location of the specified parking space ID and receives the result of measuring the parked vehicle by a biosensor from the security robot, and issues a notification if a detection result indicating that a person is in the parked vehicle is obtained.

Description

Technical Field

[0001] The present invention relates to a parking lot monitoring system and a parking lot monitoring method.

Background Art

[0002] Users who use vehicles such as automobiles may use a parking lot at their destination. At destinations such as large supermarkets, complex commercial facilities, and theme parks, spaces where a large number of vehicles can be parked are provided. In a parking lot, there are various operations such as security, cleaning, traffic control, and guidance to available spaces, and it is necessary to secure personnel in charge of each operation. However, in recent years, there is often a shortage of personnel. Some operations in a parking lot are being carried out by a computer system or a robot. For example, in Patent Document 1, there is a system that detects whether there is an available parking space in a parking lot and guides within the parking lot.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, parking lot duties involve various tasks beyond simply directing drivers to available spaces. In recent years, there have been cases where, after parking a vehicle, drivers fail to allow passengers, such as children, to disembark before entering the facility, resulting in passengers being left behind in the vehicle. During the summer months, the temperature and humidity inside parked vehicles can become high, potentially affecting the health of those inside. If security guards were to patrol the parking lot to check for such incidents, it would require securing sufficient personnel. Furthermore, if there are many parking spaces, the number of parked vehicles increases, making it a burden to check each vehicle individually.

[0005] This invention has been made in view of these circumstances, and its purpose is to provide a parking lot monitoring system and a parking lot monitoring method that can confirm whether or not abandoned parking has occurred while reducing the burden on the person in charge of guarding the parking lot. [Means for solving the problem]

[0006] To solve the above-mentioned problems, one aspect of the present invention is a parking lot monitoring system including a control device and a security robot, wherein the control device includes: an image data acquisition unit that acquires image data from a camera that images the parking area of ​​the parking lot; a parking detection unit that detects from the image data whether or not a vehicle has been parked in a parking space included in the parking area; an ID identification unit that identifies a parking space ID assigned to the parking space in which parking has been detected; an on-site monitoring unit that transmits a security instruction to a security robot patrolling the parking area along with the identified parking space ID; and a notification unit that notifies an external device when the security robot obtains a detection result indicating that there is a person in a parked vehicle, wherein the security robot includes: a movement control unit that controls a movement device to move to the parking space indicated by the parking space ID in response to receiving the security instruction and the parking space ID; a biosensor that detects whether or not there is a person in a vehicle parked in the parking space indicated by the parking space ID; and a detection result transmission unit that transmits the detection result of the biosensor to the control device.

[0007] Furthermore, one aspect of the present invention is a parking lot monitoring method in a parking lot monitoring system including a control device and a security robot, wherein the control device acquires imaging data from a camera that images the parking area of ​​the parking lot, detects from the imaging data whether or not a vehicle is parked in a parking space included in the parking area, identifies a parking space ID assigned to the parking space where the parking was detected, transmits a security instruction to a security robot patrolling the parking area along with the identified parking space ID, notifies an external device when the security robot obtains a detection result indicating that there is a person in the parked vehicle, and the security robot, upon receiving the security instruction and the parking space ID, moves to the parking space indicated by the parking space ID, detects whether or not there is a person in the vehicle parked in the parking space indicated by the parking space ID using a biosensor, and transmits the detection result of the biosensor to the control device. [Effects of the Invention]

[0008] As explained above, this invention makes it possible to check whether or not an abandoned vehicle has occurred while reducing the burden on the person in charge of guarding the parking lot. [Brief explanation of the drawing]

[0009] [Figure 1] This is a schematic plan view showing a parking lot P to which a parking lot monitoring system S according to one embodiment of this invention is applied, as viewed from above. [Figure 2] This is a schematic functional block diagram illustrating the functions of the parking lot monitoring system S. [Figure 3] This is a functional block diagram showing the general functions of the control device 10. [Figure 4] This figure shows an example of a monitoring log stored in the memory unit 101. [Figure 5] This is a functional block diagram that shows the general functions of the security robot SR. [Figure 6]This is a flowchart illustrating the operation of the parking lot monitoring system S. [Modes for carrying out the invention]

[0010] A parking lot monitoring system according to one embodiment of the present invention will be described below with reference to the drawings. Figure 1 is a schematic plan view of a parking lot P to which a parking lot monitoring system S according to one embodiment of the present invention is applied, as seen from above. Parking lot P is provided at the facility. The facility may be any of the following: a supermarket, a shopping complex, a theme park, an amusement park, a public facility, etc. In the parking lot P, vehicles can enter through the parking lot entrance PE and park in any parking space within the parking area Pa. After parking, passengers can disembark, enter the store through the store entrance TE, browse the store, and then return to their vehicles through the store entrance TE. After using the facilities, passengers can return to their vehicles, exit the parking lot, and exit through the exit EX.

[0011] The store entrance / exit TE is located on the path between the parking lot P and the store, allowing people to pass through when moving from the parking lot P into the store and from inside the store back to the parking lot P.

[0012] An entry detection sensor ES is installed on the floor surface of the parking lot entrance PE. The entry detection sensor ES is fixedly installed on the floor surface. The entry detection sensor ES detects when a vehicle enters the parking area Pa of the parking lot P by detecting the pressure received from the vehicle's tires as the vehicle passes over it. The entry detection sensor ES may be installed at a location other than the parking lot entrance PE, as long as it can detect when a vehicle enters the parking lot P. Furthermore, the parking lot entrance PE may use a sensor other than the tire pressure sensor, as long as it can detect the passage of a vehicle. For example, the entry detection sensor ES may be installed on the right and left sides of the vehicle's direction of travel at the parking lot entrance PE, with the light-emitting and light-receiving sections facing each other. If light emitted from the light-emitting section reaches the light-receiving section, it indicates that no vehicle has passed. If the light received by the light-receiving section is blocked by a vehicle, it indicates that a vehicle has passed.

[0013] Parking area Pa is provided with multiple parking spaces, which are designated areas where vehicles can be parked, and is also equipped with various sensors. Parking area Pa also includes a first parking area Pa1 and a second parking area Pb2. Both the first parking area Pa1 and the second parking area Pb2 contain multiple parking spaces PS. Each parking space PS is sized to accommodate one vehicle. Each of the multiple parking spaces PS is assigned a different parking space ID. Within or near the parking space PS, there is a person who has exited a parked vehicle or a person returning to a vehicle from a store (e.g., person Ja1, person Ja2, etc.). Furthermore, within a single parking space (PS), there are spaces where vehicle V1 is parked, spaces where vehicle V2 is parked, and other spaces that are empty.

[0014] Cameras Ca1 and Ca2 are installed near the first parking area Pa1, and cameras Cb1 and Cb2 are installed near the second parking area Pb2. Cameras Ca1, Ca2, Cb1, and Cb2 are each mounted on the wall, ceiling, pole, etc. of the parking lot P, and output image data of the target area being imaged. The target areas of camera Ca1 and camera Ca2 are set to be different from each other, and the entire first parking area Pa1 is imaged by the target areas of camera Ca1 and camera Ca2. Similarly, the target areas of camera Cb1 and camera Cb2 are set to be different from each other, and the entire second parking area Pb2 is imaged by the target areas of camera Cb1 and camera Cb2.

[0015] Furthermore, multiple management robots MR (MR1, MR2, MR3, MR4, MR5, MR6) are provided in the parking area Pa. The management robots MR may be permanently installed in the parking area Pa, or they may be movable by a mobile device. The management robots MR have a display unit and display guidance information to guide vehicles entering the parking area Pa from the parking lot entrance PE to an available parking space. The display unit may be a liquid crystal display device, or it may be a display device that illuminates a panel with a string of characters indicating the direction of travel, such as "go straight," "turn right," or "turn left," which guides the driver to an available parking space, so that it is visible to the driver. By guiding drivers to available parking spaces, vehicles entering the parking area (Pa) can be parked quickly, preventing vehicles from lingering in the parking area (P) while searching for a space, thus alleviating congestion. Here, we illustrate the case where there are six management robots (MR), but depending on the shape of the parking lot P, the number of parking spaces, and the location of the parking spaces, there may be one or more robots, or there may be no robots at all.

[0016] When a plurality of management robots MR receive designation data for designating a position from a control device 10 described later, they may move to the designated position and display guidance information at the destination location. For example, when a certain parking area in the parking lot P becomes full, the management robot MR may move to a position where it can guide a vehicle to an empty parking area and guide the vehicle. As a result, at least a part of the work of a security guard guiding a vehicle using a guiding rod or the like in the parking lot can be performed by the management robot MR, so that the burden on the security guard can be reduced. Also, the destination of the management robot MR may be guided to be a position where it can guide a vehicle and a path that can move to an empty parking space where other vehicles do not pass near the place where the security robot SR is measuring by a sensor. Thereby, it is possible to reduce the congestion of the security robot SR and the vehicle in the passage.

[0017] The security robots SR (SR1, SR2, SR3) patrol the inside of the parking lot P and perform security by monitoring the surrounding situation.

[0018] FIG. 2 is a schematic functional block diagram showing the functions of the parking lot monitoring system S. The parking lot monitoring system S includes a control device 10, an entrance detection sensor ES, cameras C (Ca1, Ca2, Cb1, Cb2), management robots MR (MR1, MR2, MR3), and security robots SR (SR1, SR2, SR3), and is communicably connected via a network N. The network N may be wireless or partly wired.

[0019] The control device 10 acquires various data from the entrance detection sensor ES, the cameras C (Ca1, Ca2, Cb1, Cb2), the management robots MR (MR1, MR2, MR3), and the security robots SR (SR1, SR2, SR3), and transmits various data to the management robots MR (MR1, MR2, MR3) and the security robots SR (SR1, SR2, SR3). The entry detection sensor ES transmits a detection result to the control device 10 indicating whether or not a vehicle has entered the parking area Pa of the parking lot P.

[0020] Camera C (Ca1, Ca2, Cb1, Cb2) outputs imaging data obtained by imaging the target area to the control device 10. The management robots MR (MR1, MR2, MR3) display guidance information based on control data transmitted from the control device 10. The management robots MR (MR1, MR2, MR3) also transmit status information to the control device 10, which may include whether the display of guidance information is complete, and current position data representing the estimated result of their own position. Furthermore, the management robots MR (MR1, MR2, MR3) may have a mobile device, which may move them to a location specified by the control device 10 and display the guidance information at that destination. The mobile device may consist of wheels connected to the output shaft of a motor. Alternatively, they may be transported to the location where the display is needed by security guards or administrators. The security robots SR (SR1, SR2, SR3) patrol the parking lot P based on control data transmitted from the control device 10.

[0021] The notification device 20 is installed in the management center that manages the parking lot P. The notification device 20 outputs a notification based on the notification data received from the control device 10. The notification device 20 may be equipped with a speaker and output a notification sound, an audio message representing the content of the notification, etc., based on various information received from the control device 10. The notification device 20 may also be equipped with a display device and display a message representing the content of the notification, data that can identify which parking lot P caused the notification (such as a parking space ID), vital data obtained from the security robot SR, etc., based on various information received from the control device 10. By outputting the notification content from the notification device 20, the content of the notification can be conveyed to security guards and managers at the management center who manage and guard the parking lot P, and they can take the necessary action.

[0022] Figure 3 is a functional block diagram showing the general functions of the control device 10. The control device 10 includes a storage unit 101, a communication unit 102, a parking detection unit 103, a parking location identification unit 104, a weather data acquisition unit 105, an in-park monitoring unit 106, a modification unit 107, a notification unit 108, a parking location guidance unit 109, and a control unit 110. The memory unit 101 stores various types of data. For example, the memory unit 101 stores monitoring logs. The monitoring logs are data related to the management of parking lot P.

[0023] The communication unit 102 functions as an image data acquisition unit, acquiring image data from cameras that image the parking area of ​​the parking lot. The communication unit 102 also transmits security instructions, along with the identified parking space ID, to security robots patrolling the area based on instructions from the on-site monitoring unit 106.

[0024] The parking detection unit 103 detects from the image data whether or not a vehicle has been parked in a parking space included in the parking area. The parking location identification unit 104 has the function of an ID identification unit that identifies the parking space ID assigned to the parking space where parking has been detected.

[0025] The weather data acquisition unit 105 acquires weather data. Weather data may be acquired, for example, by receiving it from a weather server that provides weather data via the internet. Weather data is, for example, data predicting temperature, weather, solar radiation, etc., in the area where the parking lot P is located. By using weather data, it is possible to understand how easily the temperature inside a vehicle will rise when a vehicle is parked in the parking lot P.

[0026] When the parking location identification unit 104 detects a parking space where a vehicle has been parked, the on-site monitoring unit 106 stores the time the vehicle was parked and the parking space ID that identifies the parking space where the parking was detected as a monitoring log in the storage unit 101. The on-site monitoring unit 106 extracts a target security robot SR from among multiple security robot SRs to be dispatched to a parking space where parking has been detected. Here, the on-site monitoring unit 106 extracts a security robot SR that can reach the target parking space after a standard time has elapsed from the parking time and before the target time for confirmation completion, based on the travel time corresponding to the distance between the security robot SR's current position and the parking space. There is a defined travel speed for the security robot SR when it moves, and the on-site monitoring unit 106 can calculate the travel time based on this travel speed and the distance between the security robot SR's current position and the parking space. The on-site monitoring unit 106 stores mapping data that associates map data representing the location and pathways of each parking space within the parking lot P with the parking space ID assigned to each parking space shown in the map data. By referring to this mapping data, the on-site monitoring unit 106 can determine the route from the security robot SR's current position to the target parking space and calculate the distance of that route. If multiple security robots SR are selected, the on-site monitoring unit 106 selects the security robot SR that can arrive at the parking space faster than the other security robots SR.

[0027] The on-site monitoring unit 106 may, based on the status information received from the security robot SR, extract targets for sending security instructions from the remaining security robots after excluding security robots that are already performing monitoring actions on other parking spaces. Whether or not a security robot SR is already performing monitoring actions on other parking spaces can be determined based on the status information transmitted from the security robot SR. For example, security robot SRs that have already started moving to another parking space for security purposes, or security robot SRs that have reached the parking space to be guarded and are performing measurements with biosensors, may be excluded, and targets may be extracted from the remaining security robot SRs. Furthermore, when the on-site monitoring unit 106 extracts a security robot to which it will send a security instruction, if the parking space to which the security instruction is to be sent is adjacent to (or nearby) a parking space that a security robot is currently monitoring, it may send a security instruction even if the security robot is currently monitoring the parking space. The standard time may be determined based on the time from when the vehicle is parked until the passengers disembark. When a vehicle is parked, the passengers who were in the vehicle generally disembark. There may be one person or multiple people disembarking. The time it takes for these passengers to disembark, prepare and take necessary belongings, and move towards the store is a few minutes after parking (for example, between 1 and 5 minutes). The standard time may be determined based on this preparation time. During the period until this standard time arrives, there is a possibility that the person who was in the vehicle has disembarked and is in the vicinity of the vehicle, and it is also possible that children, etc., have not yet disembarked from the back seat. Therefore, the security robot SR does not necessarily have to arrive for security purposes during this period until the standard time has elapsed.

[0028] Furthermore, the target completion time for the check is determined according to the time elapsed from the time the vehicle is parked until the check for abandoned persons is completed. For example, the target completion time for the check may be determined based on the time elapsed from the time an abandoned person is found until a change in the person's physical condition occurs due to the environment inside the abandoned vehicle. For example, the target completion time for the check may be set to several tens of minutes (e.g., 20 minutes) during periods when the temperature is not very high (spring, autumn, etc.), and to about 10 minutes during periods when the temperature is high, such as summer. During periods when the temperature is low, such as winter, the target completion time for the check may be set to be about the same amount of time as in summer, or it may be set to a time between the target completion time for summer and the target completion time for periods when the temperature is not very high, depending on the temperature. The on-site monitoring unit 106 transmits security instructions, along with the parking space ID to be directed to the security robot SR, which has been extracted in this manner, via the communication unit 102.

[0029] The modification unit 107 may acquire weather data at a predetermined time on the day of monitoring, and based on the acquired weather data, instruct the on-site monitoring unit 106 on the target time for completion of the check. For example, based on the weather data, the expected temperature for the monitoring day and time period may be extracted from the weather data, it may be determined which season (spring, summer, autumn, or winter) the extracted temperature belongs to, and the confirmation completion time may be changed by instructing the on-site monitoring unit 106 on the confirmation completion time corresponding to the season obtained as a result of the determination. This makes it possible to set a target time for completion of the check according to the weather and temperature on the day of monitoring. For example, in the summer, it is possible to reach the vehicle and detect that it has been left unattended before the temperature inside the vehicle becomes too high after parking.

[0030] When the notification unit 108 receives a detection result from the security robot indicating that there is a person in a parked vehicle, it transmits data to an external device (e.g., notification device 20) to send a notification.

[0031] The parking location guidance unit 109 generates guidance data to guide the vehicle to an available parking space detected by the parking detection unit 103. The guidance data represents the route from the parking lot entrance PE to the available parking space. Based on this guidance data and the current position of the management robot MR, the management robot MR outputs guidance information (for example, "go straight," "turn right," "turn left," etc.) that guides the vehicle to the available parking space.

[0032] The control unit 110 controls each part of the control device 10.

[0033] Furthermore, the control device 10 may be a physical server, or it may be a cloud server provided by a cloud computing service rather than being a single device.

[0034] Figure 4 shows an example of a monitoring log stored in the memory unit 101. The monitoring log includes parking space ID, parking time, and monitoring status data. The parking space ID is identification information that identifies a parking space in which a parking space has been detected. The parking time refers to the time when the vehicle's parking began, and it may also be the time when the vehicle's parking was detected. The monitoring status data represents the monitoring status in a parking space, and for example, it represents at least one of the following conditions: whether or not a vehicle is parked, whether or not a security instruction has been sent, or whether or not there is an abandoned vehicle.

[0035] Figure 5 is a functional block diagram that shows the general functions of the security robot SR. The security robot SR has a memory unit 201, a communication unit 202, a movement control unit 203, a biosensor 204, and a control unit 205. The memory unit 201 stores various types of data. The communication unit 202 communicates with the control device 10. The movement control unit 203 controls the movement device to move to the parking space indicated by the parking space ID, in response to receiving a security instruction and a parking space ID. By controlling the movement device, the movement control unit 203 moves the security robot SR to its destination. The biosensor 204 detects whether or not there is a person inside a vehicle parked in the parking space indicated by the parking space ID. For example, the biosensor 204 is a radar sensor that detects whether or not a person is present in a non-contact manner.

[0036] The biosensor 204 measures the observation range by irradiating the object to be observed with radio waves and receiving the reflected waves. The biosensor 204 is, for example, a radar sensor such as a millimeter-wave radar. Alternatively, the biosensor 204 may measure the observation range according to the phase change between the radar irradiation wave and the observed wave received from the radio waves reflected from the irradiation wave. By measuring the observation range, the biosensor 204 can detect whether or not a person is present within that observation range. For example, the biosensor 204 can detect whether or not a person is in a vehicle. Furthermore, the biosensor 204 has the function of detecting vital signs such as pulse and respiration from the movement of the body surface of a person within the observation range, and generating vital data representing the detection results. Vital data is data in which values ​​representing the state of biological activity such as pulse and respiration are arranged in chronological order.

[0037] The biosensor 204 can observe the interior of a vehicle through (through) glass surfaces such as the windshield, rear window, door windows, and side windows, and can measure the vital data of a person if one is inside the vehicle. Furthermore, the biosensor 204 can detect whether or not a person is inside the vehicle even if there are curtains or other coverings on the windows, and can measure the vital data of a person even if they are covered with a towel, blanket, etc., making them difficult to see from the outside. For example, if a person is in a vehicle and the vehicle is stopped, the only thing that is moving is the person. Therefore, the biosensor 204 can detect whether or not a person is present by obtaining measurements corresponding to the person's movements and the movement of the person's body surface associated with biological activity. Thus, even in situations where an obstacle prevents the presence of a person from being seen from the outside, the biosensor 204 can detect whether or not a person is present on the other side of the obstacle (such as glass, a towel, a blanket, or the back of a vehicle seat), as long as the obstacle is an object that can transmit radio waves.

[0038] The control unit 205 controls various parts of the security robot SR. The control unit 205 also has functions such as transmitting the detection results of the biosensor 204 to the control device 10 via the communication unit 202, and transmitting the detection results of the biosensor 204 together with the acquired vital data to the control device 10 via the communication unit 202.

[0039] The memory unit 101 of the control device 10 and the memory unit 201 of the security robot SR are composed of a storage medium, such as an HDD (Hard Disk Drive), flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), RAM (Random Access read / write Memory), ROM (Read Only Memory), or any combination of these storage media. For example, non-volatile memory can be used for the memory units 101 and 201.

[0040] The communication unit 102, parking detection unit 103, parking location identification unit 104, weather data acquisition unit 105, on-site monitoring unit 106, modification unit 107, notification unit 108, parking location guidance unit 109, and control unit 110 of the control device 10 may be composed of a processing unit such as a CPU (Central Processing Unit) or a dedicated electronic circuit. Furthermore, the communication unit 202, the movement control unit 203, and the control unit 205 of the security robot SR may be composed of a processing unit such as a CPU (Central Processing Unit) or a dedicated electronic circuit.

[0041] Next, we will explain the operation of the parking lot monitoring system S described above. Figure 6 is a flowchart illustrating the operation of the parking lot monitoring system S. Each security robot SR measures its own position and transmits position information based on the measurement result, along with status information (operation information) representing its operating status, to the control device 10 (step S201). Each security robot SR may transmit this position information and status information sequentially at predetermined time intervals, corresponding to the time when the intervals arrive. Each management robot MR measures its own position and transmits position information based on the measurement results and status information (operation information) representing its operating status to the control device 10 (step S301). Each management robot MR may transmit this position information and status information sequentially at predetermined time intervals, corresponding to the time when the intervals arrive.

[0042] Each camera C transmits imaging data to the control device 10 according to the result of imaging the target area. Each camera C may also transmit video data of the target area as imaging data to the control device 10. When the entry detection sensor ES detects that a vehicle has passed, it transmits a detection result to the control device 10 indicating that the vehicle has entered the parking area Pa of the parking lot P.

[0043] The control device 10 receives location information and status information transmitted from each security robot SR, and also receives location information and status information transmitted from each management robot MR (step S101).

[0044] Furthermore, the control device 10 receives imaging data transmitted from each camera C and analyzes the imaging data to detect available parking spaces (step S102). For example, the parking detection unit 103 may detect a parking space PS that is currently occupied by comparing imaging data taken when there are no vehicles in the parking area Pa with imaging data taken of the current parking area Pa, identifying areas where there are differences in the images, and then identifying which parking space PS corresponds to the area where the differences in the images were identified. Alternatively, the parking detection unit 103 may detect available parking spaces PS by identifying which parking space PS corresponds to the area where no differences in the images were detected. Furthermore, even if differences in the images are detected, the parking detection unit 103 may determine that a parking space PS is available if the detected differences in the images are determined not to be vehicle images. Finally, the parking detection unit 103 detects which parking spaces PS are available and identifies the parking space ID assigned to the detected parking space.

[0045] Furthermore, the control device 10 receives a detection result from the entry detection sensor ES indicating the entry of a vehicle (step S103).

[0046] After an available parking space is identified, and the entry detection sensor ES detects the vehicle's entry, the parking position guidance unit 109 generates guidance data to guide the vehicle to an available parking space (an empty parking space). Furthermore, the parking location guidance unit 109 determines whether or not the parking area Pa is crowded based on the number of available parking spaces and the total number of spaces within the parking area Pa. For example, if the number of available parking spaces is less than a certain threshold, the parking location guidance unit 109 determines that the parking area Pa is crowded and transmits guidance data to each management robot MR (step S104).

[0047] When each management robot MR receives guidance data from the control device 10, it displays guidance information based on the guidance data to guide the user to an available parking space (step S302). As a result, the display unit of the management robot MR displays messages such as "Turn right" or "Go straight" to guide the user to an available parking space from the location where the management robot MR is installed. Furthermore, each management robot (MR) may display guidance information on its display device, such as "Parking space number ○ is available," indicating which parking spaces are available. By displaying available parking spaces in this way, vehicle drivers can check the display and proceed to the location of an available parking space. This reduces the need for drivers to circle the parking area (Pa) searching for an available parking space, thereby alleviating congestion in the driving lanes within the parking area (Pa). When each management robot MR displays guidance information based on the guidance data, it transmits status information to the control device 10 indicating that guidance has been completed (step S303).

[0048] On the other hand, if the number of available parking spaces is above a certain threshold, the parking location guidance unit 109 determines that the area is not congested, and in this case, does not transmit guidance data to the management robot MR (step S105). If guidance data is not transmitted, the management robot MR may hide the guidance information. In this case, the driver of the vehicle will not be guided to an available parking space, but because there are many available parking spaces, the driver can easily find an available parking space by visual inspection and park there, even without guidance.

[0049] Here, even when guidance information is displayed by the management robot MR, each camera C continuously transmits imaging data to the control device 10 (step S402).

[0050] When the control device 10 receives status information indicating that guidance is complete based on the status information transmitted from the management robot MR (step S106), the parking position identification unit 104 detects the location where the vehicle is parked based on the image data obtained from each camera C (step S107). Here, the parking space that was previously detected as available but is now detected as unavailable due to a vehicle being parked is identified, and the parking space ID assigned to that identified parking space is identified, thereby allowing the vehicle to be parked. This allows the control device 10 to determine which parking spaces are available and which are not, within the parking area Pa. Furthermore, if congestion is detected by the control device 10 (step S108), the process proceeds to step S104, where guidance data is generated according to the current parking space availability and the guidance data is sent to the management robot MR. Upon receiving the guidance data from the control device 10, each management robot MR displays guidance information based on the guidance data to guide vehicles to available parking spaces. If the control device 10 is not congested, it executes the process from step S101, and when it receives information from the entrance detection sensor ES that a new vehicle has passed through, it executes the process to guide the vehicle.

[0051] Furthermore, when the on-site monitoring unit 106 of the control device 10 detects the location where a vehicle is parked in step S107, it records the time at which the vehicle's parking was detected as the parking time, along with the parking space ID corresponding to the vehicle's parking location, as a monitoring log in the storage unit 101. Here, the on-site monitoring unit 106 also writes data indicating that no security instructions have been sent as monitoring status data. The on-site monitoring unit 106 then extracts the security robot SR to be dispatched to the parking space where the vehicle was parked, and sends a security instruction to the extracted security robot SR to perform abandoned vehicle detection (step S109). Here, the on-site monitoring unit 106 extracts security robot SRs that are not currently on security duty at other parking spaces and sends a security instruction to them. Here, the on-site monitoring unit 106 extracts security robot SRs that can arrive at the target parking space after a standard time has elapsed from the parking time included in the management log, but before the target time for confirmation completion has arrived. After sending a security instruction, the on-site monitoring unit 106 rewrites the monitoring status data in the monitoring log to data indicating that a security instruction has been sent. If the on-site monitoring unit 106 has monitoring status data indicating that a security instruction has not been sent, it assigns a security robot SR and sends a security instruction.

[0052] Among the multiple security robots SR, the movement control unit 203 of the security robot SR that receives a security instruction from the control device 10 sets the parking space designated as the target of surveillance as its destination based on the received security instruction and starts moving using its movement device (step S202). The security robot SR also transmits status information to the control device 10 indicating that it is moving toward the parking space designated as the target of surveillance. As a result, the control device 10 can understand that the security robot SR is moving in accordance with the security instruction and can identify it as a security robot SR that has been dispatched for security duty.

[0053] Upon arriving at the designated parking space, the control unit 205 of the security robot SR uses the biosensor 204 to observe the interior of the vehicle parked in the parking space (step S203). Here, if the vehicle's direction of travel is facing the front of the parking space (the side facing the security robot SR), the control unit 205 observes the passenger seat and rear seat of the vehicle through the windshield to determine whether vital data can be obtained. If vital data can be obtained (if a living organism is measured), the control unit 205 of the security robot SR determines that there is an abandoned vehicle; if vital data cannot be obtained (if a living organism is not measured), it determines that there is no abandoned vehicle, and transmits the determination result to the control device 10. Here, in addition to the determination result, the control unit 205 of the security robot SR may also transmit the parking space ID of the observed target and the identification information assigned to the security robot SR. Furthermore, if vital data can be obtained, the respiratory rate and pulse rate based on the vital data may also be transmitted along with the determination result.

[0054] When the on-site monitoring unit 106 of the control device 10 receives a judgment result from the security robot SR, it determines whether the received judgment result indicates that there is a vehicle left behind or not (step S110). If the control unit 110 of the control device 10 indicates that there is no vehicle left behind, it continues security processing for other parking spaces without issuing an alert (step S111). The control unit 110 then writes data to the monitoring log indicating that there is no vehicle left behind in the parking space ID of the parking space PS that was determined this time. Meanwhile, if the notification unit 108 of the control device 10 indicates that a vehicle has been left unattended, it notifies the notification device 20 along with the parking space ID (step S112). The notification device 20 outputs the notification content. This allows a security guard (or administrator) at the management center to go to the parking space corresponding to the reported parking space ID and check whether or not there is a person inside the vehicle. The control unit 110 also writes data to the monitoring log indicating that there is a possibility of a vehicle being left unattended in the parking space ID of the parking space PS determined in this case.

[0055] In the embodiments described above, if the security robot autonomously patrols the parking lot without coordinating with the control device to check the inside of vehicles and find whether they have been left behind, the security robot can grasp the timing of vehicle parking in its immediate vicinity, but it cannot necessarily grasp the timing of parking in parking spaces located far away. Therefore, the time between a vehicle being parked in the parking lot and the security robot patrolling to check for abandoned vehicles may be prolonged. In contrast, according to the embodiments described above, the control device 10 can grasp the timing of a vehicle being parked in a parking space based on the image data from the camera, and assigns a security robot SR to patrol based on this detection timing and the status of the security robot SR (current location, already heading to guard another parking space, etc.). This prevents a prolonged time between a vehicle being parked in the parking lot and the security robot SR patrolling to check for abandoned vehicles, making it possible to detect abandoned vehicles early. Furthermore, if there are many parking spaces in the parking lot P, the number of security robot SRs can be increased as needed, making it possible to monitor the parking lot without increasing the number of security robot SRs unnecessarily and without prolonging the travel time for security robot SRs to reach the parking spaces to be monitored.

[0056] Furthermore, according to the embodiment described above, since the monitoring log is stored in the storage unit 101, the security robot SR can manage whether or not the vehicle has been left unattended for each parking space while knowing the time when the vehicle was parked. This makes it possible to distinguish which parking spaces have been checked for unattended vehicles, and for parking spaces where the check has been completed, the check for unattended vehicles is not performed twice. If there is a change in the vehicle, the security robot SR can be made to monitor only the parking space where the change occurred, thereby improving patrol efficiency.

[0057] In the embodiment described above, the notification unit 108 may determine the elapsed time from the parking time based on the monitoring log stored in the storage unit 101, and transmit the elapsed time and the monitoring log to a display installed in the management center for display. This allows the administrator and security guards of the management center to visually check the elapsed time since the vehicle was parked in the parking space and the monitoring status. This makes it easier to check whether there are any vehicles where the elapsed time has been prolonged and the confirmation of whether or not they have been left unattended has not been completed, and it becomes possible to detect unattended vehicles at an early stage.

[0058] Furthermore, in the embodiment described above, the management robot MR may be equipped with a camera, and the image data of the surroundings may be transmitted to the control device 10. This allows the monitoring range to be supplemented by capturing images of blind spots that cannot be captured by cameras C (Ca1, Ca2, Cb1, Cb2) with the management robot MR's camera.

[0059] Furthermore, if security guards are responsible for both guiding vehicles within the parking lot and checking for abandoned vehicles, the burden on them is significant. However, according to the embodiment described above, since the parking lot P is managed using a security robot SR and a management robot MR, the burden of security on security guards and managers can be reduced.

[0060] The control device 10 in the above-described embodiment may be implemented using a computer. In that case, the program for implementing this function may be recorded on a computer-readable recording medium, and the program recorded on this recording medium may be loaded into a computer system and executed. Here, "computer system" includes hardware such as an OS and peripheral devices. Furthermore, "computer-readable recording medium" refers to portable media such as flexible disks, magneto-optical disks, ROMs, CD-ROMs, and storage devices such as hard disks built into a computer system. Moreover, "computer-readable recording medium" may also include those that dynamically hold programs for a short period of time, such as communication lines used when transmitting programs via networks such as the Internet or communication lines such as telephone lines, and those that hold programs for a certain period of time, such as volatile memory inside a computer system that acts as a server or client in such cases. Furthermore, the above-mentioned program may be for implementing a part of the above-mentioned function, or it may be a program that can implement the above-mentioned function in combination with a program already recorded in the computer system, or it may be implemented using a programmable logic device such as an FPGA (Field Programmable Gate Array).

[0061] Although embodiments of this invention have been described in detail above with reference to the drawings, the specific configuration is not limited to these embodiments and includes designs and the like that do not depart from the spirit of this invention. [Explanation of Symbols]

[0062] 10 Control device 20 Notification device 101,201 Storage section 102,202 Communications Department 103 Parking detection unit 104 Parking location identification unit 105 Weather data acquisition unit 106 On-site monitoring department 107 Changes 108 Reporting Department 109 Parking location guidance section 110,205 Control Unit 203 Movement Control Unit 204 Biosensors C, Ca1, Ca2, Cb1, Cb2 Camera ES Entry Detection Sensor EX exit ID Parking Space Ja1,Ja2 People MR, MR1, MR2, MR3, MR4, MR5, MR6 Management Robots N Network Parking Parking Area Pa1 Parking Area 1 Pb2 Second Parking Area PE Parking Entrance PS parking space S Parking Monitoring System SE Sensor SR, SR1, SR2, SR3 Security Robots TE Store Entrance / Exit V1, V2 vehicles

Claims

1. A parking lot monitoring system including a control device and a security robot, The control device is An image data acquisition unit that acquires image data from a camera that images the parking area of ​​a parking lot, A parking detection unit that detects from the aforementioned imaging data whether or not a vehicle has been parked in a parking space included in the parking area, An ID identification unit that identifies the parking space ID assigned to the parking space where the aforementioned parking was detected, An on-site monitoring unit transmits security instructions, along with the identified parking space ID, to a security robot patrolling within the aforementioned parking area. The security robot has a notification unit that, when it detects that there is a person in a parked vehicle, notifies an external device, It has, The aforementioned security robot A movement control unit controls the movement device to move to the parking space indicated by the parking space ID in response to receiving the security instruction and parking space ID, A biosensor that detects whether or not there is a person inside a vehicle parked in the parking space indicated by the aforementioned parking space ID, A detection result transmission unit that transmits the detection result of the biosensor to the control device, A parking lot monitoring system.

2. There are multiple security robots, The aforementioned on-site monitoring unit is: After a standard time has elapsed since the vehicle was parked, and before the target time for completion of verification, security robots SR that can reach the target parking space are extracted based on the distance between the current position of each of the multiple security robots and the parking space they are to be directed to, and the travel time. The parking lot monitoring system according to claim 1.

3. The aforementioned on-site monitoring unit is: After excluding security robots that are already monitoring other parking spaces, select the remaining security robots to which you want to send security instructions. The parking lot monitoring system according to claim 1 or claim 2.

4. The aforementioned biosensor is This is a radar sensor that detects whether or not a person is present without physical contact. The parking lot monitoring system according to claim 1.

5. The aforementioned biosensor is By measuring the detected person, vital data is obtained. The detection result transmission unit, The detection results are transmitted along with the acquired vital data. The parking lot monitoring system according to claim 4.

6. A weather data acquisition unit that acquires weather data, A modification unit that changes the target time for completion of the confirmation based on the acquired weather data, The parking lot monitoring system according to claim 2.

7. A method for monitoring a parking lot in a parking lot monitoring system including a control device and a security robot, The control device is We acquire image data from cameras that image the parking area of ​​the parking lot. From the aforementioned imaging data, it is detected whether or not a vehicle has been parked in a parking space included in the parking area. Identify the parking space ID assigned to the parking space where the aforementioned parking was detected. A security instruction is transmitted to a security robot patrolling within the aforementioned parking area, along with the identified parking space ID. When the security robot detects that there is a person in a parked vehicle, it sends a notification to an external device. The aforementioned security robot Upon receiving the aforementioned security instructions and parking space ID, the system moves to the parking space indicated by the parking space ID. A biosensor is used to detect whether or not there is a person inside a vehicle parked in the parking space indicated by the aforementioned parking space ID. The detection result of the biosensor is transmitted to the control device. A parking lot monitoring method that includes the following.

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