CN104700653B - A kind of recognition methods of laser scanning parking stall - Google Patents
A kind of recognition methods of laser scanning parking stall Download PDFInfo
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- CN104700653B CN104700653B CN201510070101.0A CN201510070101A CN104700653B CN 104700653 B CN104700653 B CN 104700653B CN 201510070101 A CN201510070101 A CN 201510070101A CN 104700653 B CN104700653 B CN 104700653B
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- range finder
- laser range
- parking stall
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- ranging
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- 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
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- Optical Radar Systems And Details Thereof (AREA)
Abstract
A kind of recognition methods of laser scanning parking stall, stall recognition device are made up of laser range finder, stepper motor, computer and display device；Described laser range finder is arranged on above the row of parking lot one parking stall to be detected, and laser range finder can make sector scan ranging by step motor control, and covering of the fan coverage is the center line on the row parking stall；Computer-controlled stepper motor and laser range finder are along sector scan ranging, each distance measurement value matches with corresponding ranging angle, through computer data processing, the height value of each measuring point is calculated, judges whether parking stall is empty according to the height value of the measurement point on each parking stall；The required matching used device structure of the present invention is simple, requires low to environmental condition, the parking lot empty parking space of multiple parking stalls can be identified simultaneously.
Description
Technical field
The present invention relates to a kind of parking lot empty parking space recognition methods, more particularly to a kind of laser scanning parking stall recognition methods,
It is a kind of using laser range finder scanning ranging, the method whether having time multiple parking stalls is identified by data processing simultaneously.
Background technology
The automatic identification of parking lot empty parking space can improve parking lot management efficiency, at present the identification of existing and a variety of empty parking spaces
Method is applied, and conventional method has ultrasonic ranging method and pattern-recognition method.Ultrasonic ranging method is on each parking stall
A ultrasonic ranging probe is installed by side, is judged by measurement distance under probe either with or without parking cars, this method simply may be used
Lean on, shortcoming is to install ultrasonic probe above each parking stall of requirement, and equipment is more.Pattern-recognition method is by camera shooting figure
Picture, come interpretation it is empty parking space by Digital Image Processing, this method can identify multiple parking stalls by a camera, lack
Point is that image processing algorithm is more complicated, while also needs to meet certain illumination condition.
The content of the invention
The defects of in order to overcome above-mentioned prior art, it is an object of the invention to provide a kind of laser scanning parking stall identification side
Method, required matching used device structure is simple, requires low to environmental condition, can identify that the parking lot of multiple parking stalls is empty simultaneously
Parking stall recognition methods.
To achieve the above objectives, the present invention, which adopts the following technical scheme that, is achieved：
A kind of laser scanning parking stall recognition methods, it is characterised in that comprise the steps：
Step 1: installing laser range finder above parking stall to be detected, laser range finder covering of the fan coverage is whole
The center line on one row parking stall, sector scan ranging, computer and display device peace are made by step motor control laser range finder
In garage port or night shift room, detection cycle is set on computers by user；Display device is computer display, with
Image mode intuitively shows the full situation of the sky of each parking stall；
Step 2: laser range finder and stepper motor control by computer, the initial position of laser range finder is to be measured
Under the vertical curve of parking stall, after starting detection, the computer-controlled stepper motor anglec of rotation, the border for setting covering of the fan is reached；Start
Scan ranging：Computer sends a ranging order to laser range finder, and laser range finder is completed ranging backcasting machine and returned
Distance measurement value, computer recording distance value and angle value, then computer to stepper motor send a step command, stepper motor
Start ranging next time after rotating a step；So circulation is until the opposite side boundary position of laser range finder arrival setting covering of the fan；
Computer is handled the data of detection, calculates the space coordinates of each measurement point, due to the height on ground be it is known,
If more than 600 millimeters above ground level of the height value that continuity point be present, can determine whether that there is car the position, i.e., according on each parking stall
The height value of measurement point judges whether parking stall is empty.
Step 3: computer shows testing result on the display device.
It is an advantage of the invention that：
1st, one group of equipment can detect a row parking stall.
2nd, environmental suitability is strong, no matter day and night, there is no light can normally detect.
Brief description of the drawings
Fig. 1 is the theory of constitution block diagram of the inventive method.
Fig. 2 is laser range finder schematic view of the mounting position, is detected suitable for parking position.
Fig. 3 is another laser range finder schematic view of the mounting position, is detected suitable for parking position.
Embodiment
The present invention is described in further detail below in conjunction with the drawings and specific embodiments.
As shown in figure 1, the present invention needs stall recognition device with the use of completion, stall recognition device is by laser ranging
Instrument, stepper motor, computer and display device composition.
As shown in Fig. 2 described laser range finder is arranged on above parking stall to be detected, fanned by step motor control
Surface scan ranging, covering of the fan coverage are the center line on a row parking stall.
Laser range finder and stepper motor control by computer, and the initial position of laser range finder is under vertical curve, is opened
Begin after detection, computer-controlled stepper motor rotates a certain angle, and reaches the border of setting covering of the fan；Start to scan ranging：Meter
Calculation machine sends a ranging order to laser range finder, and laser range finder completes ranging backcasting machine and returns to distance measurement value, calculates
Machine recording distance value and angle value, then computer to stepper motor send a step command, stepper motor rotate a step after
Start ranging next time；So circulation is until the opposite side boundary position of laser range finder arrival setting covering of the fan；Computer is to inspection
The data of survey are handled, and calculate the space coordinates of each measurement point, because the height on ground is known, if existing continuous
More than 600 millimeters above ground level of the height value of point, then can determine whether that there is car the position, i.e., according to the height of the measurement point on each parking stall
Angle value judges whether parking stall is empty.
Computer shows testing result on the display device.
Computer and display device are arranged in garage port or night shift room, and detection cycle is set on computers by user
It is fixed.Display device is computer display, and the full situation of sky of each parking stall is intuitively shown with image mode.
Embodiment 1
As shown in figure 1, stall recognition device is made up of laser range finder, stepper motor, computer and display device.
As shown in Fig. 2 described laser range finder is arranged on above the row of parking lot one parking stall to be detected, laser range finder
Sector scan ranging can be made by step motor control, covering of the fan coverage is the center line on the row parking stall.
Laser range finder and stepper motor control by computer, and the initial position of laser range finder is under vertical curve, is opened
Begin after detection, computer-controlled stepper motor rotates a certain angle, and reaches the border of setting covering of the fan；Start to scan ranging：Meter
Calculation machine sends a ranging order to laser range finder, and laser range finder completes ranging backcasting machine and returns to distance measurement value, calculates
Machine recording distance value and angle value, then computer to stepper motor send a step command, stepper motor rotate a step after
Start ranging next time；So circulation is until the opposite side boundary position of laser range finder arrival setting covering of the fan；Due to ground
Height is known, if more than 600 millimeters above ground level of the height value that continuity point be present, can determine whether that there are car, i.e. root in the position
Judge whether parking stall is empty according to the height value of the measurement point on each parking stall.
Computer shows testing result on the display device.
Computer and display device are arranged in garage port or night shift room, and detection cycle is set on computers by user
It is fixed.Display device is computer display, and the full situation of sky of each parking stall is intuitively shown with image mode.
Embodiment 2
As shown in figure 1, stall recognition device is made up of laser range finder, stepper motor, computer and display device.
As shown in figure 3, described laser range finder is arranged on above the parking stall to be detected of parking lay-by, laser range finder
Sector scan ranging can be made 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 computer, and the initial position of laser range finder is under vertical curve, is opened
Begin after detection, computer-controlled stepper motor rotates a certain angle, and reaches the border of setting covering of the fan；Start to scan ranging：Meter
Calculation machine sends a ranging order to laser range finder, and laser range finder completes ranging backcasting machine and returns to distance measurement value, calculates
Machine recording distance value and angle value, then computer to stepper motor send a step command, stepper motor rotate a step after
Start ranging next time；So circulation is until the opposite side boundary position of laser range finder arrival setting covering of the fan；Due to ground
Height is known, if more than 600 millimeters above ground level of the height value that continuity point be present, can determine whether that there are car, i.e. root in the position
Judge whether parking stall is empty according to the height value of the measurement point on each parking stall.
Computer shows testing result on the display device.
Computer is installed together with laser range finder, and testing result is sent on duty by WIFI or other wireless signals
On the computer of room, testing result is shown on the computer of night shift room.
Claims (1)
1. a kind of laser scanning parking stall recognition methods, it is characterised in that comprise the steps：
Step 1: installing laser range finder above parking stall to be detected, laser range finder covering of the fan coverage is a whole row
The center line on parking stall, sector scan ranging is made by step motor control laser range finder, computer and display device are arranged on
In garage port or night shift room, detection cycle is set on computers by user；Display device is computer display, with image
Mode intuitively shows the full situation of the sky of each parking stall；
Step 2: laser range finder and stepper motor control by computer, the initial position of laser range finder is parking stall to be measured
Vertical curve under, after starting detection, the computer-controlled stepper motor anglec of rotation, reach setting covering of the fan border；Start to scan
Ranging：Computer sends a ranging order to laser range finder, and laser range finder completes ranging backcasting machine and returns to ranging
It is worth, computer recording distance value and angle value, then computer sends a step command, stepper motor rotation to stepper motor
Start ranging next time after one step；So circulation is until the opposite side boundary position of laser range finder arrival setting covering of the fan；Calculate
Machine is handled the data of detection, calculates the space coordinates of each measurement point, because the height on ground is known, if depositing
More than 600 millimeters above ground level in the height value of continuity point, then it can determine whether that there is car the position, i.e., according to the measurement on each parking stall
The height value of point judges whether parking stall is empty；
Step 3: computer shows testing result on the display device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510070101.0A CN104700653B (en) | 2015-02-10 | 2015-02-10 | A kind of recognition methods of laser scanning parking stall |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510070101.0A CN104700653B (en) | 2015-02-10 | 2015-02-10 | A kind of recognition methods of laser scanning parking stall |
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| CN104700653A CN104700653A (en) | 2015-06-10 |
| CN104700653B true CN104700653B (en) | 2017-11-28 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015211123A1 (en) * | 2015-06-17 | 2016-12-22 | Robert Bosch Gmbh | Parking management |
| 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 |
| CN106971602B (en) * | 2017-03-29 | 2021-01-15 | 深圳市金溢科技股份有限公司 | Parking space state detection method and laser vehicle inspection equipment |
| 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 |
| 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 |
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| 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 |
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| 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 |
| US11004337B2 (en) * | 2012-12-28 | 2021-05-11 | Balu Subramanya | Advanced parking management system |
| CN203366542U (en) * | 2013-08-02 | 2013-12-25 | 裴华飏 | Multi-parking space laser detection device |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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