Method for controlling illegal parking based on mobile robot and mobile robot therefor

1 . A method for controlling illegal parking based on a mobile robot performed by at least one processor, the mobile robot including a memory, a first sensor and a second sensor, the method comprising:

receiving, by the processor, a location of the mobile robot from the first sensor, and extracting a driving map corresponding to an area within a predetermined distance from the location of the mobile robot and storing the driving map in the memory, the first sensor being a location sensor;

receiving, by the processor, a first image of a first street sign from the second sensor, the second sensor being a camera;

providing, by the processor, the first image to a first trained artificial neural network model stored in the memory to determine whether the first street sign corresponds to a starting point of an illegal parking area;

receiving, by the processor, a second image of a second street sign from the second sensor;

providing, by the processor, the second image to the first trained artificial neural network model to determine whether the second street sign corresponds to an end point of the illegal parking area;

setting, by the processor, the illegal parking area in the extracted driving map and storing the illegal parking area in the memory, the illegal parking area being set as a road between locations of the first street sign and the second street sign;

controlling, by the processor, the mobile robot to move in the extracted driving map including the illegal parking area;

capturing, by the second sensor, a first license plate of a vehicle located within the illegal parking area at a first time;

capturing, by the second sensor, a second license plate of a vehicle located within the illegal parking area at a second time after the first time;

determining, by the processor, that license plate numbers of the first license plate and the second license plate are the same; and

in response to determining that the license plate numbers are the same, transmitting, by the processor, an illegal parking report using the license plate numbers.

2 . The method of claim 1 , further comprising:

recognizing, by the processor, whether the vehicle is included in the illegal parking area by a predetermined threshold value or more; and

determining, by the processor, that the vehicle is illegally parked in a case where the vehicle is included by the predetermined threshold value or more.

3 . The method of claim 1 , wherein the determining that license plate numbers are the same, comprises recognizing the license plate numbers by providing images associated with the first license plate and the second license plate to a second trained artificial neural network model.

4 . The method of claim 1 , further comprising transmitting an illegal parking warning broadcast between the first time and the second time.

5 . A mobile robot comprising:

a first sensor configured to extract a location of the mobile robot, the first sensor being a location sensor;

a second sensor configured to capture an image of a street sign, the second sensor being a camera;

a memory configured to store instructions and a first trained artificial neural network model; and

a controller including at least one processor, the processor configured to:

receive the location of the mobile robot from the first sensor;

extract a driving map corresponding to an area within a predetermined distance from the location of the mobile robot and store the driving map in the memory;

receive a first image of a first street sign from the second sensor;

provide the first image to the first trained artificial neural network model to determine whether the first street sign corresponds to a starting point of an illegal parking area;

receive a second image of a second street sign from the second sensor;

provide the second image to the first trained artificial neural network model to determine whether the second street sign corresponds to an end point of the illegal parking area;

set the illegal parking area in the extracted driving map and store the illegal parking area in the memory, the illegal parking area being set as a road between locations of the first street sign and the second street sign;

control the mobile robot to move in the extracted driving map including the illegal parking area;

capture a first license plate of a vehicle located within the illegal parking area at a first time by controlling the second sensor;

capture a second license plate of a vehicle located within the illegal parking area at a second time after the first time by controlling the second sensor;

determine that license plate numbers of the first license plate and the second license plate are the same; and

in response to determining that the license plate numbers are the same, transmit an illegal parking report using the license plate numbers.

6 . The mobile robot of claim 5 , wherein the processor is further configured to:

recognize whether the vehicle is included in the illegal parking area by a predetermined threshold value or more; and

determine that the vehicle is illegally parked in a case where the vehicle is included by the predetermined threshold value or more.

7 . The mobile robot of claim 5 , wherein the memory further comprises a second trained artificial neural network model, and

wherein the processor is configured to recognize the license plate numbers by providing images associated with the first license plate and the second license plate to the second trained artificial neural network model.

8 . The mobile robot of claim 5 , wherein the controller is further configured to transmit an illegal parking warning broadcast between the first time and the second time.