CN205750887U - A kind of parking space state detecting system - Google Patents
A kind of parking space state detecting system Download PDFInfo
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- CN205750887U CN205750887U CN201620537184.XU CN201620537184U CN205750887U CN 205750887 U CN205750887 U CN 205750887U CN 201620537184 U CN201620537184 U CN 201620537184U CN 205750887 U CN205750887 U CN 205750887U
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- parking stall
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Abstract
A kind of parking space state detecting system disclosed in the present application, including: video camera, geomagnetic parking stall detector and controller.The region, parking stall of its correspondence is monitored by video camera in real time, and geomagnetic parking stall detector carries out parking space state detection to position, parking stall.Controller utilizes image analysis method to determine the parking stall being obscured by an object and the parking stall not being obscured by an object.For the parking stall being obscured by an object, obtain the parking space state testing result of geomagnetic parking stall detector；For not being obscured by an object parking stall, side, parking space state detection method based on graphical analysis is utilized to carry out parking space state detection.Compared to prior art uses method for detecting parking stalls based on graphical analysis or the detection method of geomagnetic parking stall detector, improve the accuracy that the parking space state for road parking place detects.
Description
Technical field
The application relates to intelligent transportation field, more particularly, it relates to a kind of parking space state detecting system.
Background technology
Along with expanding economy, the quantity of motor vehicles continues to increase, and in order to solve the problem of parking difficulty, new added road is stopped
Position.Owing to the environment near road parking place is more complicated, and the impact of car so that traditional parking space state detection
Method is no longer desirable for the state-detection of road parking place.
At present, the detection method of parking space state is broadly divided into two classes.One is hardware based parking space state detection method,
As used the real-time status of the parking space detector detection parking stalls such as infrared sensor, ultrasonic sensor or geomagnetic sensor, i.e. examine
Whether with the presence of vehicle on measuring car position.But, this hardware based parking space state detection method, it is easily subject to ring near parking stall
The impact in border, the accuracy therefore detected is relatively low.Another kind is method for detecting parking stalls based on graphical analysis, to the parking stall gathered
Area image is analyzed, it is achieved the detection of parking space state.But, this method for detecting parking stalls based on graphical analysis, if
When there is position, occlusion parking stall near parking stall, it is easy to produce flase drop.
Utility model content
In view of this, the application proposes a kind of parking space state detecting system, is intended to realize the state to road parking place and carries out
The accurately purpose of detection.
To achieve these goals, it is proposed that scheme as follows:
A kind of parking space state detecting system, including N number of video camera, M geomagnetic parking stall detector and controller, described N with
M is positive integer, wherein,
The region, parking stall of its correspondence is monitored by each described video camera in real time, and region, described parking stall includes L parking stall
Position, described L is positive number；
Each geomagnetic parking stall detector carries out parking space state detection to position, a parking stall；
Described controller is connected with described video camera and described geomagnetic parking stall detector respectively, for utilizing graphical analysis
Method determines whether position, each parking stall is obscured by an object, and for the position, parking stall not being obscured by an object, utilizes and divides based on image
The parking space state detection method of analysis carries out parking space state detection, for the position, parking stall being obscured by an object, obtains geomagnetic parking stall inspection
Survey the parking space state testing result of device.
Preferably, described controller, it is additionally operable to for the described position, parking stall not being obscured by an object, obtains geomagnetic parking stall inspection
Survey the parking space state testing result of device, and geomagnetic parking stall detector corresponding to the position, parking stall that is not obscured by an object described in judging
Parking space state testing result, with the parking space state of the parking space state detection that described parking space state method based on graphical analysis is carried out
When testing result is identical, determine described in the parking space state of position, parking stall that is not obscured by an object be described car based on graphical analysis
The parking space state testing result of the parking space state detection that position status method is carried out.
Preferably, described system also includes: the display device being connected with described controller, is not obscured by an object for display
The parking space state information of position, parking stall and the parking space state information of position, parking stall that is obscured by an object.
Preferably, described display device includes: LED display, mobile terminal or computer.
Preferably, described mobile terminal includes: smart mobile phone or panel computer.
Preferably, described video camera is: ball-shaped camera.
From above-mentioned technical scheme it can be seen that a kind of parking space state detecting system disclosed in the present application, including: shooting
Machine, geomagnetic parking stall detector and controller.The region, parking stall of its correspondence is monitored by video camera in real time, geomagnetic parking stall detector
Position, parking stall is carried out parking space state detection.Controller utilizes image analysis method to determine the parking stall being obscured by an object and not by thing
The parking stall that body blocks.For the parking stall being obscured by an object, obtain the parking space state testing result of geomagnetic parking stall detector；For not
It is obscured by an object parking stall, side, utilizes parking space state detection method based on graphical analysis to carry out parking space state detection.Compared to existing
Have in technology and use method for detecting parking stalls based on graphical analysis or the detection method of geomagnetic parking stall detector, improve for road
The accuracy of the parking space state detection on parking stall, road.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present application or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments of application, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
Other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is the flow chart of a kind of parking space state detection method disclosed in the present embodiment；
Fig. 2 is the schematic diagram in monitoring region camera supervised disclosed in the present embodiment；
Fig. 3 is the flow chart of another kind of parking space state detection method disclosed in the present embodiment；
Fig. 4 is the flow chart of position, a kind of parking stall circumstance of occlusion determination methods disclosed in the present embodiment；
Fig. 5 is the flow chart of another kind of position, parking stall circumstance of occlusion determination methods disclosed in the present embodiment；
Fig. 6 is the schematic diagram of a kind of parking space state detection device disclosed in the present embodiment；
Fig. 7 is the schematic diagram of a kind of shadowing module disclosed in the present embodiment；
Fig. 8 is the schematic diagram of another kind of shadowing module disclosed in the present embodiment；
Fig. 9 is the schematic diagram of a kind of parking space state detecting system disclosed in the present embodiment；
Figure 10 is the schematic diagram of another kind of parking space state detecting system disclosed in the present embodiment.
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is carried out clear, complete
Describe, it is clear that described embodiment is only some embodiments of the present application rather than whole embodiments wholely.Based on
Embodiment in the application, it is every other that those of ordinary skill in the art are obtained under not making creative work premise
Embodiment, broadly falls into the scope of the application protection.
The open a kind of parking space state detecting system of the present embodiment, shown in Figure 9, including: N number of video camera (photographic head
11 ..., photographic head 1N), M geomagnetic parking stall detector (geomagnetic parking stall detector 31 ..., geomagnetic parking stall detector 3M),
And controller 4, described N and M is positive integer, wherein,
Each video camera (photographic head 11 ..., photographic head 1N) the monitoring region of its correspondence is monitored in real time, monitoring
Region includes position, L parking stall, and L is positive number.The concrete number of the position, parking stall that the monitoring region of video camera includes is according to reality
Road conditions determine, this is not limited by the application.
Each geomagnetic parking stall detector (geomagnetic parking stall detector 31 ..., geomagnetic parking stall detector 3M) to its correspondence
Position, parking stall carries out parking space state detection.
Controller 4 respectively with photographic head 11 ..., photographic head 1N, geomagnetic parking stall detector 31 ..., geomagnetic parking stall examine
Survey device 3M to connect.Controller 4 utilizes the method for graphical analysis to determine whether position, each parking stall is obscured by an object.Controller 4 from
Acquisition image information in video camera, the method utilizing background modeling, DPM algorithm, and other existing image analysis algorithm, can
To realize the judgement of the occlusion state to position, parking stall, and then having obtained position, two kinds of parking stall, a type is by thing
The position, parking stall that body blocks, another kind of type is the position, parking stall not being obscured by an object.
Different methods is respectively adopted to carry out parking space state detection for position, two kinds of parking stall.For not by thing
The position, parking stall that body blocks, controller 4 utilizes parking space state detection method based on graphical analysis to carry out parking space state detection.Right
In the position, parking stall being obscured by an object, controller 4 obtains the parking space state testing result of geomagnetic parking stall detector.
For the parking stall being obscured by an object, obtain the parking space state testing result of geomagnetic parking stall detector；For not by thing
The position, parking stall that body blocks, utilizes parking space state detection method based on graphical analysis to carry out parking space state detection.Compared to existing
Have in technology and use method for detecting parking stalls based on graphical analysis or the detection method of geomagnetic parking stall detector, improve for road
The accuracy of the parking space state detection on parking stall, road.
In order to improve the accuracy that the parking space state for road parking place detects further, for be not obscured by an object
Position, parking stall, controller 4 obtains the parking space state testing result of geomagnetic parking stall detector, and at parking stall based on graphical analysis shape
When the testing result of state detection is identical with the testing result that the parking space state of geomagnetic parking stall detector detects, determines and do not hidden by object
The parking space state of the position, parking stall of gear, for utilizing parking space state detection method based on graphical analysis to carry out parking space state detection
Testing result.
The open a kind of parking space state detecting system of the present embodiment, shown in Figure 10, including: N number of video camera (photographic head
11 ..., photographic head 1N), M geomagnetic parking stall detector (geomagnetic parking stall detector 31 ..., geomagnetic parking stall detector 3M),
And controller 4 and display device 5 (shown in figure for panel computer).
Wherein, display device 5 is connected with controller 4, for the parking space state of the position, parking stall that display is not obscured by an object
Information and the parking space state information of position, parking stall being obscured by an object.It is easy to car owner and is quickly found out the parking stall of free time.Display dress
Put 5 concrete for be arranged on the LED display near road parking place, it is simple to the free parking space information that car owner recognizes.Hold
Intelligible is when display device is LED display, with controller 4 wired connection.
Display device 5 can also be the mobile terminal such as smart mobile phone or panel computer, arranges corresponding in mobile terminal
APP, for the parking space state information obtaining the position, parking stall not being obscured by an object in controller 4 and the position, parking stall being obscured by an object
The parking space state information put, is further easy to car owner and understands free parking space information.Alleviate present to a certain extent
Parking difficulty problem.It is easily understood that when display device is the mobile terminal such as smart mobile phone or panel computer, with controller 4 nothing
Line connects, and intelligent terminal carries out data interaction with controller by server.
The open a kind of parking space state detection method of the present embodiment, shown in Figure 1, including:
Step S11: obtain frame of video from video camera.
The monitoring region of its correspondence is monitored by video camera in real time, and monitoring region can include position, L parking stall, and L is
Positive number.As in figure 2 it is shown, the monitoring region of ball-shaped camera 11 monitoring includes position, parking stall 21, position, parking stall 22 and position, parking stall
Putting 23, the monitoring region of ball-shaped camera 12 monitoring includes position, parking stall 24, position, parking stall 25 and position, parking stall 26.Each car
The corresponding geomagnetic parking stall detector 3 in position, position.Geomagnetic parking stall detector 3 detects the parking space state of the position, parking stall of its correspondence.
The concrete number of the position, parking stall that the monitoring region of video camera includes determines according to actual road conditions, and the application is to this not
Limit.
Step S12: according to the frame of video obtained, determine the position, parking stall being obscured by an object in camera supervised monitoring region
It is set to the first parking stall, and determines that the position, parking stall not being obscured by an object in camera supervised monitoring region is the second parking stall.
After video camera is fixing, scene of its monitoring is also fixed area, in the most camera supervised monitoring region each
Position in the image that video camera shoots, the parking stall is also fixing.After video camera obtains frame of video, according to graphical analysis
Method, analyzes the situation that is blocked of each position, parking stall, and then to the position, parking stall being blocked and the position, parking stall not being blocked
Classify.
Step S13: obtain the parking space state testing result of geomagnetic parking stall detector corresponding to the first parking stall, as the first car
The parking space state testing result of position.
Parking space state detection method based on graphical analysis, it is impossible to the position, parking stall being obscured by an object is detected, adopts
With being obscured by an object the testing result of parking stall correspondence geomagnetic parking stall detector, the state as the position, parking stall being obscured by an object is examined
Surveying result, compensate for parking space state detection method based on graphical analysis cannot detect the position, parking stall being obscured by an object
Problem.
Step S14: obtain the parking space state testing result based on graphical analysis that the second parking stall is corresponding, as the second parking stall
Parking space state testing result.
Utilize parking space state detection method based on graphical analysis, the position, parking stall not being obscured by an object detected,
And using testing result as the state-detection result of the position, parking stall not being obscured by an object.
Parking space state detection method disclosed in the present embodiment, uses geomagnetic parking stall state detector and based on graphical analysis
Combine mode, the state of parking stall is detected.I.e. for the position, parking stall not being obscured by an object, use based on image
The parking space state detection method analyzed detects；For the position, parking stall being obscured by an object, geomagnetic parking stall detector is used to enter
Driving position state-detection.Compared to prior art uses method for detecting parking stalls based on graphical analysis or geomagnetic parking stall detector
Detection method, improve for road parking place parking space state detect accuracy.
The open another kind of parking space state detection method of the present embodiment, shown in Figure 3, including:
Step S11: obtain frame of video from video camera.
Step S12: according to the frame of video obtained, determine the position, parking stall being obscured by an object in camera supervised monitoring region
It is set to the first parking stall, and determines that the position, parking stall not being obscured by an object in camera supervised monitoring region is the second parking stall.
Step S13: obtain the parking space state testing result of geomagnetic parking stall detector corresponding to the first parking stall, as the first car
The parking space state testing result of position.
Step S21: obtain the parking space state testing result of geomagnetic parking stall detector corresponding to the second parking stall, and the second car
The parking space state testing result based on graphical analysis that position is corresponding.
For the position, parking stall not being obscured by an object, obtain respectively geomagnetic parking stall detector parking space state testing result and
Parking space state testing result based on graphical analysis.And judge two testing results of each position, parking stall not being obscured by an object
The most identical.
Step S22: when parking space state testing result and second parking stall pair of geomagnetic parking stall detector corresponding to the second parking stall
When the parking space state testing result based on graphical analysis answered is identical, then by parking stall based on graphical analysis corresponding for the second parking stall
State-detection result, as the parking space state testing result of the second parking stall.
Parking space state detection knot for geomagnetic parking stall detector corresponding to some position, parking stall not being obscured by an object
When fruit is identical with the parking space state testing result based on graphical analysis of its correspondence, it is believed that testing result is accurate, by the second parking stall
The parking space state testing result of corresponding parking space state based on graphical analysis detection, the state-detection as the second parking stall is tied
Really.And for geomagnetic parking stall detector corresponding to some position, parking stall not being obscured by an object parking space state testing result and
The parking space state testing result based on graphical analysis of its correspondence differs situation, can maintain this parking stall not being obscured by an object
The previous parking space state testing result of position, it is also possible to being other processing mode, the application does not limits.
Parking space state detection method disclosed in the present embodiment, is also adopted by geomagnetic parking stall state detector and based on graphical analysis
Combine mode, the state of parking stall is detected.Except for the difference that for the position, parking stall not being obscured by an object, respectively
Use parking space state based on graphical analysis detection and geomagnetic parking stall detector, the position, parking stall not being obscured by an object is carried out car
Position state-detection, it is judged that when both testing results are identical, determines that the parking space state of the position, parking stall not being obscured by an object is the
The parking space state testing result based on graphical analysis that two parking stalls are corresponding.It is based on graphical analysis compared to prior art uses
Method for detecting parking stalls or the detection method of geomagnetic parking stall detector, improve the accurate of the state-detection for road parking place
Degree.
Consider the impact that position, parking stall is blocked by moving target, determine in monitoring region by object according to the frame of video obtained
The position, parking stall blocked, and the process of the position, parking stall not being obscured by an object, shown in Figure 4, may include that
Step S31: according to the frame of video obtained, utilize background modeling algorithm to try to achieve the foreground area of moving target.
The concrete Gaussian Background modeling algorithm that can utilize tries to achieve the foreground area of moving target.
Step S32: the foreground area obtained is carried out feature point extraction.
Step S33: judge to monitor whether the feature point number of position, each parking stall in region is more than predetermined threshold value, if
It is, it is determined that feature point number is the first parking stall more than the position, parking stall of predetermined threshold value, otherwise, it is determined that feature point number is little
It is the second parking stall in the position, parking stall of predetermined threshold value.
For position, each parking stall, add up feature point number therein, if feature point number is more than the threshold value preset, i.e. car
The area that position, position is blocked accounts for the ratio of position, whole parking stall area and exceedes certain value, then will be unable to by dividing based on image
The parking space state detection method of analysis carries out parking space state detection.Therefore if feature point number is more than predetermined threshold value, determine this car
Position, position is the position, parking stall being obscured by an object, the i.e. first parking stall.If feature point number is not more than the threshold value preset, i.e. position, parking stall
Put the area being blocked and account for the ratio of position, whole parking stall area also not less than certain value, it is also possible to by based on graphical analysis
Parking space state detection method carries out parking space state detection.Therefore if feature point number is not more than predetermined threshold value, determine this parking stall
Position is the position, parking stall not being obscured by an object, the i.e. second parking stall.Consider the impact that position, parking stall is blocked by moving target, improve
When position, parking stall is blocked by moving target, the accuracy of parking space state detection.
Consider the impact that position, parking stall is blocked by stationary vehicle, determine in monitoring region by thing according to the two field picture obtained
The position, parking stall that body blocks, and the process of the position, parking stall not being obscured by an object, shown in Figure 5, it is also possible to include:
Step S41: according to the frame of video obtained, detects the vehicle target in frame of video, and according to the frame of video obtained, profit
The foreground area of moving target is tried to achieve with background modeling algorithm.
Use the algoritic module of the detection vehicle built based on DPM (Deformable Parts Model) algorithm, to obtaining
The frame of video taken carries out vehicle target detection, some essential informations of vehicle target can be detected.Such as vehicle is in the picture
Positional information, headstock information and the vehicle left and right of vehicle body inside position, parking stall believe one side only breath etc..Also the frame of video obtained is entered
Row processes the foreground area obtaining moving target.
Step S42: when the vehicle target detected is not in foreground area, in conjunction with position and the position, parking stall of vehicle target
Put, determine the first parking stall and the second parking stall.
The vehicle target detected is not in foreground area, then explanation vehicle target is not moving target.In conjunction with vehicle mesh
Parking stall positional information in target position and monitoring region is analyzed, and determines the position, parking stall blocked by vehicle target, and i.e. the
One parking stall；Determine the position, parking stall do not blocked by vehicle target, the i.e. second parking stall.If as in figure 2 it is shown, vehicle target stops
The offside of mark " P ", i.e. video camera side, then the monitoring generation of position, parking stall can be blocked by video camera.And if vehicle mesh
It is marked on parking mark " P " side, the i.e. offside of video camera, the monitoring generation of position, parking stall will not be blocked by video camera.In conjunction with
Vehicle detection result and parking stall positional information, it is achieved to position, parking stall surrounding static vehicle detection, improve stationary vehicle to car
When position, position is blocked, the accuracy of parking space state detection.
The open a kind of parking space state detection device of the present embodiment, shown in Figure 6, including:
Image collection module 41, for obtaining frame of video from video camera, the monitoring region of its correspondence is carried out by video camera
Monitoring in real time, monitoring region includes position, multiple parking stall.
Shadowing module 42, for according to the frame of video obtained, determining the first parking stall in monitoring region and the second car
Position, the position, parking stall that the first parking stall is i.e. obscured by an object, the position, parking stall that the second parking stall is not i.e. obscured by an object.
First parking space state module 43, for obtaining the parking space state detection of geomagnetic parking stall detector corresponding to the first parking stall
As a result, as the parking space state testing result of the first parking stall.
Second parking space state module 44, for obtaining parking space state based on the graphical analysis detection knot that the second parking stall is corresponding
Really, as the parking space state testing result of the second parking stall.
In order to improve the accuracy that the parking space state for road parking place detects, the second parking space state module further
44, it is additionally operable to obtain the parking space state testing result of geomagnetic parking stall detector corresponding to the second parking stall, and based on graphical analysis
The testing result of parking space state detection identical with the testing result that the parking space state of geomagnetic parking stall detector detects time, then by the
The parking space state testing result based on graphical analysis that two parking stalls are corresponding, as the state-detection result of the second parking stall.
The open a kind of shadowing module of the present embodiment, shown in Figure 7, including:
First foreground area unit 401, for according to the frame of video obtained, utilizing background modeling algorithm to try to achieve moving target
Foreground area.
Feature extraction unit 402, for carrying out feature point extraction to foreground area；
First shadowing unit 403 is the biggest for judging to monitor the feature point number of position, each parking stall in region
In predetermined threshold value, if it is, determining that feature point number is more than the position, parking stall of predetermined threshold value is the first parking stall, otherwise, the most really
The position, parking stall determining feature point number no more than predetermined threshold value is the second parking stall.
The open another kind of shadowing module of the present embodiment, shown in Figure 8, including:
Vehicle detection unit 404, the vehicle target in the frame of video detecting acquisition,
Second foreground area unit 405, for according to the frame of video obtained, utilizing background modeling algorithm to try to achieve moving target
Foreground area.
Second shadowing unit 406, for when vehicle target is not in foreground area, in conjunction with the position of vehicle target
With position, parking stall, determine that the position, parking stall blocked by vehicle target is the first parking stall, and determine and do not blocked by vehicle target
Position, parking stall is the second parking stall.
In this article, the relational terms of such as first and second or the like is used merely to an entity or operation with another
One entity or operating space separate, and there is any this reality between not necessarily requiring or imply these entities or operating
Relation or order.And, term " includes ", " comprising " or its any other variant are intended to the bag of nonexcludability
Contain, so that include that the process of a series of key element, method, article or equipment not only include those key elements, but also include
Other key elements being not expressly set out, or also include the key element intrinsic for this process, method, article or equipment.
In the case of there is no more restriction, statement " including ... " key element limited, it is not excluded that including described key element
Process, method, article or equipment in there is also other identical element.
In this specification, each embodiment uses the mode gone forward one by one to describe, and what each embodiment stressed is and other
The difference of embodiment, between each embodiment, identical similar portion sees mutually.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the application.
Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein
General Principle can realize in the case of without departing from spirit herein or scope in other embodiments.Therefore, the application
It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one
The widest scope caused.
Claims (6)
1. a parking space state detecting system, it is characterised in that including: N number of video camera, M geomagnetic parking stall detector and control
Device, described N and M is positive integer, wherein,
The monitoring region of its correspondence is monitored by each described video camera in real time, and described monitoring region includes position, L parking stall,
Described L is positive number；
Each geomagnetic parking stall detector carries out parking space state detection to position, a parking stall；
Described controller is connected with described video camera and described geomagnetic parking stall detector respectively, for the method utilizing graphical analysis
Determine whether position, each parking stall is obscured by an object, for the position, parking stall not being obscured by an object, utilize based on graphical analysis
Parking space state detection method carries out parking space state detection, for the position, parking stall being obscured by an object, obtains geomagnetic parking stall detector
Parking space state testing result.
System the most according to claim 1, it is characterised in that described controller, is additionally operable to not hidden by object for described
The position, parking stall of gear, obtains the parking space state testing result of geomagnetic parking stall detector, and the car not being obscured by an object described in judgement
The parking space state testing result of the geomagnetic parking stall detector that position, position is corresponding, with described parking space state method based on graphical analysis
When the parking space state testing result of the parking space state detection carried out is identical, determine described in the car of position, parking stall that is not obscured by an object
Position state is the parking space state testing result of the parking space state detection that described parking space state method based on graphical analysis is carried out.
System the most according to claim 1 and 2, it is characterised in that described system also includes: be connected with described controller
Display device, for the parking space state information showing the position, parking stall not being obscured by an object and the position, parking stall being obscured by an object
Parking space state information.
System the most according to claim 3, it is characterised in that described display device includes: LED display, mobile terminal
Or computer.
System the most according to claim 4, it is characterised in that described mobile terminal includes: smart mobile phone or panel computer.
System the most according to claim 1 and 2, it is characterised in that described video camera is: ball-shaped camera.
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| CN201620537184.XU CN205750887U (en) | 2016-06-03 | 2016-06-03 | A kind of parking space state detecting system |
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| CN201620537184.XU CN205750887U (en) | 2016-06-03 | 2016-06-03 | A kind of parking space state detecting system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105894529A (en) * | 2016-06-03 | 2016-08-24 | 北京精英智通科技股份有限公司 | Parking lot state detection method, device and system |
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2016
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105894529A (en) * | 2016-06-03 | 2016-08-24 | 北京精英智通科技股份有限公司 | Parking lot state detection method, device and system |
| CN105894529B (en) * | 2016-06-03 | 2019-01-29 | 北京精英智通科技股份有限公司 | Parking space state detection method and apparatus and system |
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