CN104700653A - Laser scanning parking space recognition method - Google Patents
Laser scanning parking space recognition method Download PDFInfo
- Publication number
- CN104700653A CN104700653A CN201510070101.0A CN201510070101A CN104700653A CN 104700653 A CN104700653 A CN 104700653A CN 201510070101 A CN201510070101 A CN 201510070101A CN 104700653 A CN104700653 A CN 104700653A
- Authority
- CN
- China
- Prior art keywords
- range finder
- laser range
- parking stall
- computing machine
- laser
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
Abstract
Disclosed is a laser scanning parking space recognition method. A parking space recognition device comprises a laser range finder, a stepping motor, a computer and a display device, the laser range finder is mounted above a row of parking spaces to be detected of a parking lot and can be controlled by the stepping motor to perform sector scanning range finding, a sector coverage is a middle line of the row of parking spaces, the computer controls the stepping motor and the laser range finder to perform sector scanning range finding, each range finding value is matched with a corresponding range finding angle, the height value of each measuring point is calculated by data processing through the computer, and whether the parking spaces are empty or not is judged according to the measuring point of each parking space. Needed matched equipment is simple in structure, environmental condition requirements are low, and the empty parking spaces of the parking lot with a plurality of parking spaces can be simultaneously recognized.
Description
Technical field
The present invention relates to the empty parking space recognition methods of a kind of parking lot, particularly a kind of laser scanning parking stall recognition methods, be that one utilizes laser range finder to scan range finding, identify by data processing the method whether multiple parking stall has time simultaneously.
Background technology
The automatic identification of parking lot empty parking space can improve parking lot management efficiency, and existing and multiple empty parking space recognition methods is at present applied, and conventional method has ultrasonic ranging method and pattern-recognition method.Ultrasonic ranging method is above each parking stall, install a ultrasonic ranging probe, and whether park cars under judging probe by measuring distance, the method is simple and reliable, and shortcoming installs ultrasonic probe above each parking stall of requirement, and equipment is many.Pattern-recognition method takes image by camera, carrying out interpretation by Digital Image Processing is empty parking space, the method can set multiple parking stall by a camera, and shortcoming is image processing algorithm more complicated, goes back the illumination condition that demand fulfillment is certain simultaneously.
Summary of the invention
In order to overcome the defect of above-mentioned prior art, the object of this invention is to provide a kind of laser scanning parking stall recognition methods, required matching used device structure is simple, low to requirement for environmental conditions, can identify the parking lot empty parking space recognition methods of multiple parking stall simultaneously.
For reaching above object, the present invention takes following technical scheme to be achieved:
A kind of laser scanning parking stall recognition methods, is characterized in that, comprise the steps:
Step one, above parking stall to be detected, laser range finder is installed, laser range finder covering of the fan coverage is the center line on a whole row parking stall, sector scan range finding is done by step motor control laser range finder, computing machine and display device are arranged in garage port or duty room, and sense cycle is set on computers by user; Display device is graphoscope, intuitively shows the full situation of sky of each parking stall with image mode;
Step 2, laser range finder and stepper motor control by computing machine, and the initial position of laser range finder is under the vertical curve of parking stall to be measured, and after starting detection, the computer-controlled stepper motor anglec of rotation, arrives the border of setting covering of the fan; Start scanning range finding: computing machine sends a range finding order to laser range finder, laser range finder completes range finding backcasting machine and returns distance measurement value, computer recording distance value and angle value, then computing machine sends a step command to stepper motor, and stepper motor starts after rotating a step to find range next time; Circulation like this is until laser range finder arrives the opposite side boundary position of setting covering of the fan; Computing machine processes the data detected, calculate the volume coordinate of each measurement point, height due to ground is known, if more than 600 millimeters above ground level of the height value that there is continuity point, then can judge that there is car this position, namely judge whether parking stall is empty according to the height value of the measurement point on each parking stall.
Step 3, computing machine are by testing result display on the display device.
Advantage of the present invention is:
1, one group of equipment can detect a row parking stall.
2, environmental suitability is strong, no matter day and night, all can normally detect with or without illumination.
Accompanying drawing explanation
Fig. 1 is the theory of constitution block diagram of the inventive method.
Fig. 2 is laser range finder installation site schematic diagram, is applicable to parking position and detects.
Fig. 3 is another kind of laser range finder installation site schematic diagram, is applicable to curb parking position and detects.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
As shown in Figure 1, the present invention needs stall recognition device with the use of completing, and stall recognition device is made up of laser range finder, stepper motor, computing machine and display device.
As shown in Figure 2, described laser range finder is arranged on above parking stall to be detected, and do sector scan range finding by step motor control, covering of the fan coverage is the center line on a row parking stall.
Laser range finder and stepper motor control by computing machine, and the initial position of laser range finder is under vertical curve, and after starting detection, computer-controlled stepper motor rotates a certain angle, and arrive the border of setting covering of the fan; Start scanning range finding: computing machine sends a range finding order to laser range finder, laser range finder completes range finding backcasting machine and returns distance measurement value, computer recording distance value and angle value, then computing machine sends a step command to stepper motor, and stepper motor starts after rotating a step to find range next time; Circulation like this is until laser range finder arrives the opposite side boundary position of setting covering of the fan; Computing machine processes the data detected, calculate the volume coordinate of each measurement point, height due to ground is known, if more than 600 millimeters above ground level of the height value that there is continuity point, then can judge that there is car this position, namely judge whether parking stall is empty according to the height value of the measurement point on each parking stall.
Computing machine by testing result display on the display device.
Computing machine and display device are arranged in garage port or duty room, and sense cycle is set on computers by user.Display device is graphoscope, intuitively shows the full situation of sky of each parking stall with image mode.
Embodiment 1
As shown in Figure 1, stall recognition device is made up of laser range finder, stepper motor, computing machine and display device.
As shown in Figure 2, described laser range finder is arranged on parking lot one and arranges above parking stall to be detected, and laser range finder can do sector scan range finding by step motor control, and covering of the fan coverage is the center line on this row parking stall.
Laser range finder and stepper motor control by computing machine, and the initial position of laser range finder is under vertical curve, and after starting detection, computer-controlled stepper motor rotates a certain angle, and arrive the border of setting covering of the fan; Start scanning range finding: computing machine sends a range finding order to laser range finder, laser range finder completes range finding backcasting machine and returns distance measurement value, computer recording distance value and angle value, then computing machine sends a step command to stepper motor, and stepper motor starts after rotating a step to find range next time; Circulation like this is until laser range finder arrives the opposite side boundary position of setting covering of the fan; Height due to ground is known, if more than 600 millimeters above ground level of the height value that there is continuity point, then can judge that there is car this position, namely judges whether parking stall is empty according to the height value of the measurement point on each parking stall.
Computing machine by testing result display on the display device.
Computing machine and display device are arranged in garage port or duty room, and sense cycle is set on computers by user.Display device is graphoscope, intuitively shows the full situation of sky of each parking stall with image mode.
Embodiment 2
As shown in Figure 1, stall recognition device is made up of laser range finder, stepper motor, computing machine and display device.
As shown in Figure 2, described laser range finder is arranged on above parking stall to be detected, parking lay-by, and laser range finder can do sector scan range finding by step motor control, and covering of the fan coverage is the center line on a row parking stall.
Laser range finder and stepper motor control by computing machine, and the initial position of laser range finder is under vertical curve, and after starting detection, computer-controlled stepper motor rotates a certain angle, and arrive the border of setting covering of the fan; Start scanning range finding: computing machine sends a range finding order to laser range finder, laser range finder completes range finding backcasting machine and returns distance measurement value, computer recording distance value and angle value, then computing machine sends a step command to stepper motor, and stepper motor starts after rotating a step to find range next time; Circulation like this is until laser range finder arrives the opposite side boundary position of setting covering of the fan; Height due to ground is known, if more than 600 millimeters above ground level of the height value that there is continuity point, then can judge that there is car this position, namely judges whether parking stall is empty according to the height value of the measurement point on each parking stall.
Computing machine by testing result display on the display device.
Computing machine and laser range finder are installed together, and testing result is sent on the computing machine of duty room by WIFI or other wireless signal, and the computing machine of duty room shows testing result.
Claims (1)
1. the recognition methods of laser scanning parking stall, is characterized in that, comprises the steps:
Step one, above parking stall to be detected, laser range finder is installed, laser range finder covering of the fan coverage is the center line on a whole row parking stall, sector scan range finding is done by step motor control laser range finder, computing machine and display device are arranged in garage port or duty room, and sense cycle is set on computers by user; Display device is graphoscope, intuitively shows the full situation of sky of each parking stall with image mode;
Step 2, laser range finder and stepper motor control by computing machine, and the initial position of laser range finder is under the vertical curve of parking stall to be measured, and after starting detection, the computer-controlled stepper motor anglec of rotation, arrives the border of setting covering of the fan; Start scanning range finding: computing machine sends a range finding order to laser range finder, laser range finder completes range finding backcasting machine and returns distance measurement value, computer recording distance value and angle value, then computing machine sends a step command to stepper motor, and stepper motor starts after rotating a step to find range next time; Circulation like this is until laser range finder arrives the opposite side boundary position of setting covering of the fan; The detectable data of computing machine process, calculate the volume coordinate of each measurement point, height due to ground is known, if more than 600 millimeters above ground level of the height value that there is continuity point, then can judge that there is car this position, namely judge whether parking stall is empty according to the height value of the measurement point on each parking stall.
Step 3, computing machine are by testing result display on the display device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510070101.0A CN104700653B (en) | 2015-02-10 | 2015-02-10 | A kind of recognition methods of laser scanning parking stall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510070101.0A CN104700653B (en) | 2015-02-10 | 2015-02-10 | A kind of recognition methods of laser scanning parking stall |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104700653A true CN104700653A (en) | 2015-06-10 |
| CN104700653B CN104700653B (en) | 2017-11-28 |
Family
ID=53347724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510070101.0A Active CN104700653B (en) | 2015-02-10 | 2015-02-10 | A kind of recognition methods of laser scanning parking stall |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104700653B (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105303874A (en) * | 2015-09-11 | 2016-02-03 | 深圳市译元成科技有限公司 | Parking lot intelligent management platform |
| CN105551296A (en) * | 2016-01-12 | 2016-05-04 | 浙江大学 | Multifunctional ultrasonic detector for detecting and displaying multiple parking stalls and detection system thereof |
| CN105869433A (en) * | 2016-04-27 | 2016-08-17 | 陕西科技大学 | Device for detecting empty parking spaces through ultrasonic waves and detection method thereof |
| GB2541281A (en) * | 2015-06-17 | 2017-02-15 | Bosch Gmbh Robert | Car park management system |
| CN106971602A (en) * | 2017-03-29 | 2017-07-21 | 深圳市金溢科技股份有限公司 | The condition detection method and laser car test equipment of a kind of parking position |
| CN107574772A (en) * | 2017-09-22 | 2018-01-12 | 南京维智感网络科技有限公司 | Locker of parking position and its distance-finding method based on laser ranging |
| CN107622693A (en) * | 2017-10-31 | 2018-01-23 | 南京维智感网络科技有限公司 | Outdoor version laser stall testing apparatus and its detection method |
| CN110491170A (en) * | 2019-09-24 | 2019-11-22 | 深圳市镭神智能系统有限公司 | Parking occupancy management system and parking stall management method |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000020892A (en) * | 1998-07-07 | 2000-01-21 | Nippon Telegr & Teleph Corp <Ntt> | Parking lot managing device and method therefor |
| CN201749572U (en) * | 2010-09-08 | 2011-02-16 | 王黎 | Garage parking space state judging equipment |
| CN102831784A (en) * | 2012-05-22 | 2012-12-19 | 秦旭彦 | Laser parking space detector |
| CN103208186A (en) * | 2013-03-19 | 2013-07-17 | 北京万集科技股份有限公司 | Method and device for scanning vehicles in three-dimensional mode through laser |
| CN103208203A (en) * | 2012-11-29 | 2013-07-17 | 柏淞耀 | View display system of parking place condition of parking lot |
| CN103279996A (en) * | 2013-05-06 | 2013-09-04 | 华南理工大学 | Vehicle information detecting and recognizing system under multilane condition |
| CN203366542U (en) * | 2013-08-02 | 2013-12-25 | 裴华飏 | Multi-parking space laser detection device |
| CN103794076A (en) * | 2012-11-02 | 2014-05-14 | 西安交大京盛科技发展有限公司 | Photoinduction-based parking stall occupation detecting system in parking lot |
| KR101415273B1 (en) * | 2012-09-28 | 2014-07-04 | 박성웅 | Display apparatus of space for parking and method for parking guide using the same |
| US20140218527A1 (en) * | 2012-12-28 | 2014-08-07 | Balu Subramanya | Advanced parking management system |
-
2015
- 2015-02-10 CN CN201510070101.0A patent/CN104700653B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000020892A (en) * | 1998-07-07 | 2000-01-21 | Nippon Telegr & Teleph Corp <Ntt> | Parking lot managing device and method therefor |
| CN201749572U (en) * | 2010-09-08 | 2011-02-16 | 王黎 | Garage parking space state judging equipment |
| CN102831784A (en) * | 2012-05-22 | 2012-12-19 | 秦旭彦 | Laser parking space detector |
| KR101415273B1 (en) * | 2012-09-28 | 2014-07-04 | 박성웅 | Display apparatus of space for parking and method for parking guide using the same |
| CN103794076A (en) * | 2012-11-02 | 2014-05-14 | 西安交大京盛科技发展有限公司 | Photoinduction-based parking stall occupation detecting system in parking lot |
| CN103208203A (en) * | 2012-11-29 | 2013-07-17 | 柏淞耀 | View display system of parking place condition of parking lot |
| US20140218527A1 (en) * | 2012-12-28 | 2014-08-07 | Balu Subramanya | Advanced parking management system |
| CN103208186A (en) * | 2013-03-19 | 2013-07-17 | 北京万集科技股份有限公司 | Method and device for scanning vehicles in three-dimensional mode through laser |
| CN103279996A (en) * | 2013-05-06 | 2013-09-04 | 华南理工大学 | Vehicle information detecting and recognizing system under multilane condition |
| CN203366542U (en) * | 2013-08-02 | 2013-12-25 | 裴华飏 | Multi-parking space laser detection device |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2541281A (en) * | 2015-06-17 | 2017-02-15 | Bosch Gmbh Robert | Car park management system |
| CN105303874A (en) * | 2015-09-11 | 2016-02-03 | 深圳市译元成科技有限公司 | Parking lot intelligent management platform |
| CN105551296A (en) * | 2016-01-12 | 2016-05-04 | 浙江大学 | Multifunctional ultrasonic detector for detecting and displaying multiple parking stalls and detection system thereof |
| CN105869433A (en) * | 2016-04-27 | 2016-08-17 | 陕西科技大学 | Device for detecting empty parking spaces through ultrasonic waves and detection method thereof |
| CN106971602A (en) * | 2017-03-29 | 2017-07-21 | 深圳市金溢科技股份有限公司 | The condition detection method and laser car test equipment of a kind of parking position |
| CN107574772A (en) * | 2017-09-22 | 2018-01-12 | 南京维智感网络科技有限公司 | Locker of parking position and its distance-finding method based on laser ranging |
| CN107574772B (en) * | 2017-09-22 | 2023-05-23 | 南京维智感网络科技有限公司 | Parking spot lock device based on laser ranging and ranging method thereof |
| CN107622693A (en) * | 2017-10-31 | 2018-01-23 | 南京维智感网络科技有限公司 | Outdoor version laser stall testing apparatus and its detection method |
| CN107622693B (en) * | 2017-10-31 | 2023-05-23 | 南京维智感网络科技有限公司 | Outdoor type laser parking space detection device and detection method thereof |
| CN110491170A (en) * | 2019-09-24 | 2019-11-22 | 深圳市镭神智能系统有限公司 | Parking occupancy management system and parking stall management method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104700653B (en) | 2017-11-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104700653A (en) | Laser scanning parking space recognition method | |
| CN103956073B (en) | A kind of parking lay-by parking positioning system and method | |
| CN110244738B (en) | Vehicle running control method and device and vehicle | |
| CN102831780B (en) | Vehicle positioning method and system | |
| CN102252619A (en) | Displacement distance measuring and displaying system in airplane berthing process | |
| CN109948591A (en) | A kind of method for detecting parking stalls, device, electronic equipment and read/write memory medium | |
| CA2860132C (en) | Method and system for vehicle locating and sequencing | |
| CN203276595U (en) | Wireless parking stall state sensing device | |
| Dokur et al. | Embedded system design of a real-time parking guidance system | |
| CN102063801A (en) | Parking position detection system based on parking place identification mark and translation acquisition | |
| CN102005132A (en) | Parking berth detection system based on berth mark identification | |
| CN104070022A (en) | Method for large-data reading of RFID production-line box body | |
| CN108550278A (en) | Parking position seizure condition detection device and mobile parking berth seizure condition detection device | |
| JP2017174197A (en) | Three-dimensional object detection method and three-dimensional object detection device | |
| BR102015005652B1 (en) | SYSTEM FOR RECOGNIZING A VEHICLE NUMBER FROM A VEHICLE LICENSE PLATE | |
| CN114252884A (en) | Method and device for positioning and monitoring roadside radar, computer equipment and storage medium | |
| CN203773751U (en) | Roadside parking lot parking positioning system | |
| CN109285381A (en) | For detecting the method and system of the free area in parking lot | |
| US20150168155A1 (en) | Method and system for measuring a vehicle position indoors | |
| CN104575097B (en) | Parking space identification method and device by using laser light knife as auxiliary light source | |
| KR20150051697A (en) | Apparatus for providing lane keeping function using radar and method thereof | |
| CN111383457B (en) | Parking space state detection method and device, equipment and storage medium | |
| CN205899816U (en) | Empty parking stall of ultrasonic detection device | |
| CN108975116B (en) | Elevator floor height measuring method, device, equipment and storage medium | |
| CN105869433A (en) | Device for detecting empty parking spaces through ultrasonic waves and detection method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |