CN106781675B - System and method for collecting parking lot information - Google Patents
System and method for collecting parking lot information Download PDFInfo
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- CN106781675B CN106781675B CN201710043192.8A CN201710043192A CN106781675B CN 106781675 B CN106781675 B CN 106781675B CN 201710043192 A CN201710043192 A CN 201710043192A CN 106781675 B CN106781675 B CN 106781675B
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Abstract
The invention discloses a system and a method for collecting parking lot information, wherein a mobile bearing platform is adopted to scan in a parking lot to collect information such as the occupation condition of parking places in the parking lot and the parking position of each vehicle, and the information can be used for supporting the functions of parking place guidance, reverse vehicle searching, vehicle inventory checking in the parking lot and the like.
Description
Technical Field
The present invention belongs to a computer management system in a broad sense, which also comprises the technologies of automatic control, image recognition, wireless identity recognition, wireless communication, indoor navigation, etc.
Background
The existing parking lot management system collects information in a parking lot, mainly collects information such as the number of parked vehicles in the parking lot by means of an entrance and an exit of the parking lot, for example, the parking lot management system based on an IC card can count the number of cards entering the parking lot; the parking lot management system based on license plate recognition can calculate the vehicles in the parking lot and license plate numbers thereof according to the license plates of the vehicles entering and exiting. However, the number of empty parking spaces in the yard, which is calculated by such a system, is extremely inaccurate. For example, in a situation seen by me, a license plate recognition system is adopted in a parking lot of a small community, and only 200 parking spaces are available, and when a management system is initialized, in order to prevent the situation that a misinformation parking space is full, the parking spaces are set to 888 parking spaces, but after the system is used for about half a year, the misinformation parking space is full, and at the moment, about 60 vehicles are actually parked, and most parking spaces are still empty. The main problem of this phenomenon is that in accumulating errors, 3 to 5 vehicles per day may be unidentified or in special cases, the manual brake is released, and in the statistics of a computer, these vehicles are still in the parking lot, and a large amount of error data is accumulated in half a year, and the common solution is to clear all records of 1 or 2 months ago that the vehicles are on but not on, and the solution is simple and violent and has management holes.
In order to solve the problems, a system called a parking space guiding system appears on the market, wherein an ultrasonic probe or an infrared probe is erected on each parking space to detect whether the parking space is empty or parked, the information system collects information collected by the probes through a network, the number of parked vehicles in the whole parking place can be clearly obtained, and in addition, one piece of information can be obtained, namely, the empty parking space is arranged at the position of the parking place, so that a newly entered vehicle can be guided to find the empty parking space.
On the basis of the system, a reverse car searching system is further developed by people, the system is not provided with a plurality of ultrasonic probes, but is provided with a plurality of cameras or cameras, each camera can cover 2 or 3 parking spaces, whether each parking space is empty can be judged through the identification of a central information system, and the license plate of each parking space can be identified, so that the function of guiding the parking spaces can be provided, and in a large commercial parking lot, a customer who forgets the parking position of the vehicle can find the position where the vehicle is parked through the reverse car searching system, and the system is further than the car searching system.
The current market has the problems that the system is expensive, and the parking space guide system has an average parking space of 800 yuan; a reverse vehicle searching system averages 1200 yuan for each parking space; thus, a large parking lot with thousands of parking spaces can invest many million yuan quite often, and even in a city, the parking lot equipped with the system is also the phoenix unicorn.
The solution provided by the invention can not only realize all functions which can be realized by the system, but also provide more additional functions, and importantly, the cost is extremely low, the average cost to each parking space is less than 100 yuan for a 1 thousand parking space parking lot, the average cost is lower for an ultra-large parking lot, and the investment is easy to earn by improving the utilization rate of the parking spaces.
Disclosure of Invention
The solution of the invention is that a license plate recognition system, an empty parking space recognition system and a positioning system are placed on a mobile bearing platform, and the mobile bearing platform can be a manned vehicle, an unmanned vehicle or even a small unmanned plane, and can be used for making a tour in a parking lot and collecting parking information of the parking space. The bearing platform does not necessarily bear all the systems, for example, on a vehicle or an unmanned aerial vehicle, only a common camera shooting and snapshot system is provided, and after image information to be snapshot is transmitted to an information center, the image information is identified in an identification system of the information center, an empty parking space identification system and a parking space positioning system can be made into the form, so that the weight of equipment borne by the movable bearing platform and the power consumption of the equipment are reduced, and the defect that better support of a wireless transmission network is needed or the bearing platform is enabled to carry a large amount of storage is overcome.
Specific functions of the present invention include,
1. the empty parking spaces are identified, the positions of the empty parking spaces in each yard are identified, and the empty parking spaces are provided for a parking space guiding system, so that a new vehicle can quickly find the empty parking spaces to park the vehicle after entering the yard.
2. License plate reads, discernment and location, reads and discerns the license plate information of the vehicle of parking on every parking stall, and in large-scale commercial parking area, the condition that the car owner can not find own vehicle often can take place, and the reverse car system of seeking can be helped to the information of collecting of this system, helps the customer to find own vehicle through forms such as touch-sensitive screen computer, cell-phone APP.
3. The actual vehicle cleaning in stock in parking area, the current parking area of vehicle based on license plate discernment discrepancy management system can produce great accumulative error, and the information that this system was collected can correct these errors.
4. The fake license plate used by the invention can be used as a coordinate positioning point, can assist the positioning of the mobile bearing platform, and can also assist the owner in positioning the current position and direction of the owner in a parking lot by utilizing the mobile phone APP, namely assist in realizing the function of indoor navigation.
5. The system is characterized in that security patrol is carried out, security personnel can be dispatched to patrol regularly in a plurality of parking lots, and a mobile bearing platform of the system is a patrol tool and can be additionally provided with a hard disk video recorder to realize the patrol monitoring function.
The system of the invention is not a system for independently providing functional service, and needs to be combined with other systems to provide service, for example, when a parking space guide function is provided, an LED sign is needed to mark prompt information, and when a reverse car finding is provided, a mobile phone APP is needed or a touch screen guide system is arranged at a pedestrian entrance of a parking lot. The system of the invention is only a cheap and efficient information collection system.
The mode of realisation of the present invention is as follows,
a system and a method for collecting parking lot information comprise a movable bearing platform, a position identification system, a movable bearing platform driving detection system, a license plate reading system, a recognition system, an automatic distance measurement focusing system, a parking space positioning system, an empty parking space recognition system, a reading head steering system and an information center.
The position identification system is used for assisting the mobile bearing platform to position the position of the mobile bearing platform and further positioning the identified license plate or empty parking space,
the license plate reading system and the recognition system are used for capturing traditional license plates or reading electronic license plates and recognizing the traditional license plates,
the automatic distance and focus measuring system is used for aligning the focal length to the traditional license plate in the running process of the movable bearing platform so as to ensure that a clear license plate picture is shot.
The empty parking space identification system is used for identifying whether a parking space is used for parking a vehicle or is empty,
the parking space positioning system is used for positioning a parking space occupied by the vehicle or an area or position where an empty parking space is located;
the movable bearing platform is used for carrying the license plate reading system, the parking space positioning system and the empty parking space identification system, and moves in a parking lot in a circulating mode, and the collected license plates of vehicles parked in the parking spaces or empty information is reported to the information center by the subsystems.
The position identification system is used for assisting the parking space positioning system to position the parking space occupied by the vehicle or the area or the position of the empty parking space;
the mobile bearing platform driving detection system is used for detecting the driving direction and the driving distance of the platform and assisting in positioning the current position of the platform in an indoor parking lot so as to further calculate the position of the read and identified license plate or empty parking space.
The information center is used for processing and storing the information collected by the subsystems, each subsystem reports the collected license plate of the vehicle parked in each parking space or the vacant information to the information center, and the information center can be placed on the mobile bearing platform or at a fixed position in a parking lot; the information center can also share part of the functions of the subsystems, for example, the license plate reading system only reads the license plate, and the recognition function is handed to the information center for processing.
The subsystems and their specialties and names of the present invention are further explained and illustrated below,
remove load-bearing platform, the main function is to carry these equipment of collecting parking stall information to patrol in the parking area, so the form of platform can be diversified, can have but not limited to following form:
1. the mobile bearing platform can be a common diesel oil or gasoline power vehicle and can be an electric vehicle; can be four-wheeled, three-wheeled, two-wheeled or even single-wheeled, or even tracked vehicles.
2. The movable bearing platform can also be made into an unmanned vehicle, the existing unmanned vehicle technology tends to be mature when running in the field and on highways, and the technology difficulty is lower and has no problem when running in a parking lot at a low speed.
3. The movable bearing platform can be made into a vehicle based on a suspended track, the track can be fixed on the ceiling of the indoor parking lot, and the movable bearing platform is hung on the track to travel in a circulating way; the track can also be one or more steel cables, so that the movable bearing platform can travel circularly like a sightseeing cable car;
4. the movable bearing platform can be made into a form based on an unmanned aerial vehicle, the existing unmanned aerial vehicle technology is mature, remote control is not needed, and the movable bearing platform autonomously cruises on a fixed line and avoids moving obstacles. The only problem is that the bearing is limited, and the platform is suitable to be adopted after the electronic license plate is popularized.
5. The movable bearing platform can be placed in a hollow plastic pipeline, and the movable bearing platform is pushed by compressed air to travel in a parking lot in a circulating mode, and the mode is only suitable for reading electronic license plates and is difficult to read traditional license plates.
The position identification system is mainly applied to an indoor parking lot, and is different from an outdoor parking lot in that no satellite positioning signal such as a GPS (global positioning system) or a Beidou exists indoors, the mobile bearing platform is difficult to position, and the position of a currently identified license plate or an empty parking space cannot be calculated without basic positioning. The solution is to paste some image or number marks on the columns, ceilings, or floors of the indoor parking lot to indicate their approximate positions, such as two-dimensional codes, bar codes, fake license plates, etc., where the coordinate positions are included, and the coordinates may be international coordinate systems or customized coordinates. For example, in the parking lot of Xian Hua, there are cartoon animals for zoning, such as dogs, raccoons, giraffes, etc., and also digital signs such as V5-1, V6-2, etc., which are mainly seen by the driver, although these images can also be recognized by the computer system. However, such a positioning method has the disadvantage that it cannot provide continuous positioning information, and only provides positioning information once every certain distance. Therefore, the moving load-bearing platform driving detection system of the present invention must be combined to detect how much distance and moving direction the last position mark has moved, so that each position mark can be used as a correction base point to continuously calculate the current precise position of the moving load-bearing platform, and further calculate the position of each identified parking space. The identification system can also provide indoor navigation for a general owner user, so that the user can easily find a car or an entrance and exit of a garage and the like no matter the user walks or drives in the garage.
The parking space positioning system is different from the existing parking space guiding system and the reverse car searching system in that the traditional system is provided with a plurality of fixed detection sensors or cameras, and the one-to-one corresponding arrangement is already made when the installation engineering is carried out. The system is a system specific to the invention, and the positioning system is positioned on the mobile carrying platform, but not only on the mobile carrying platform, but also needs to further position the vehicle or the empty parking space identified by the positioning system. The principle is that the bearing platform is positioned firstly, and then the position of the parking space is calculated according to the relative direction and the distance of the license plate read by the system on the movable bearing platform. In a typical parking lot, each parking space has a unique space number corresponding to its position, so that a look-up table is provided in a computer to determine whether each parking space is empty and the license plate number of the parked vehicle.
The parking space positioning system comprises but not limited to the following schemes,
1. Aiming at the condition of an outdoor parking lot, the position of the parking space can be calculated by determining the following factors,
A. the mobile bearing platform positioning subsystem is used for positioning the mobile bearing platform by utilizing a traditional GPS;
B. determining the driving direction of the platform by utilizing equipment such as a compass, an electronic gyroscope and the like;
C. the vehicle license plate recognition method comprises the following steps of measuring and calculating according to the facing direction of a camera or an electronic license plate reading head, for example, a mobile bearing platform carries two license plate recognition systems which face to the left and the right, so that license plates of vehicles parked at two sides can be recognized, and the parking space of each recognized license plate is determined according to the respective facing direction;
D. the distance between the vehicle and the mobile bearing platform is measured by a distance measuring subsystem in the empty parking space identification system;
after the calculation elements are determined, the position of the parking space identified at the moment can be measured. However, this method is only suitable for an outdoor parking lot, and if the indoor parking lot cannot receive GPS signals, other methods must be devised to locate the mobile carrier platform, and the functions of calculating other calculation elements after the work of locating the mobile carrier platform is completed and locating the parking space are similar to the above method.
2. The WIFI signal of the indoor parking lot is utilized to conduct triangulation positioning, the mobile bearing platform is positioned, other calculation elements are calculated, and the function of positioning the parking space is similar to the method.
3. The disadvantage of such a positioning method is that it cannot provide continuous positioning information, but only provides positioning information once every certain distance, by attaching some image or digital mark on the column, ceiling or ground of the indoor parking lot to indicate its approximate position. Thus, sensors for measuring the moving direction, the moving distance and the moving speed of the platform are required to be arranged on the movable carrying platform, for example, the measuring sensors can be added to the driving mechanical structure of the vehicle, and the odometer of the vehicle can also be directly used; thus, the accurate position of the mobile carrying platform at the moment can be continuously calculated by taking each position mark as a base point of correction. Then, the position of each parking space is calculated by using the calculation elements in the mode 1.
4. On the basis of the mode 3, stickers in the form of license plates are pasted on columns, ceilings or the ground of the indoor parking lot, images similar to the license plates are called as fake license plates, only the license plate numbers on the fake license plates are special, and license plates which do not exist in the real license plates are not called as provinces, such as the first letter is east, south, west, north and other characters, so that the fake license plates can be distinguished from normal license plates. The numbers and letters contained in the license plate are used for representing positions. The advantages are that the existing license plate recognition system based on the camera can automatically read and recognize the license plate without special equipment for reading bar code or two-dimensional code information. For example, a pseudo license plate is sprayed or pasted at the position of the upright column, which is equivalent to the height of a common license plate, after the pseudo license plate is shot and recognized by the license plate recognition system, the computer system can know that the upright column is the pseudo license plate and the position of the upright column in the parking lot, then the current position of the mobile bearing platform can be calculated, and the information such as the position of the next parking space can be further calculated according to the data and the information such as the moving direction, the moving distance, the speed and the like of the mobile platform. The fake license plate can assist the mobile bearing platform to position, and can also assist the owner in positioning the current position in the parking lot through the mobile phone APP, namely the indoor navigation function. After the electronic license plate is popularized, a fake electronic license plate can be pasted on the stand column, and therefore the function of auxiliary positioning can be achieved.
5. Based on the mode 4, after the vehicle is normally parked, a fake license plate is drawn on the ground about 20-50 cm inward from the position where the license plate is supposed to be located, and the special license plate number in the image shows the position of the vehicle position. The advantages of the method are that the purpose of one stone three birds can be achieved, the functions of moving the bearing platform, identifying the empty parking space and positioning the empty parking space are achieved, and the bottom program of the existing license plate reading and identifying system based on the camera almost does not need to be changed. When the mobile bearing platform passes through a road in front of a row of parking spaces, the license plate reading and identifying system on the side face continuously takes pictures, if a vehicle is parked in the parking space, a fake license plate number which represents the position of the parking space on the ground is shielded by the chassis of the vehicle, the system can only shoot a real license plate, and at the moment, the license plate reading and identifying system reports the identified license plate number to an upper application program, records the license plate number of the vehicle and marks the parking space as an occupied state; if the parking space is empty, a fake license plate number which is positioned on the ground and represents the position of the parking space is shot by the license plate reading and identifying system and is identified as a license plate number, the license plate number is reported to an upper application program, the upper application program judges according to the received license plate number, the fake license plate number is not a real license plate, and the fake license plate number is judged to be an empty parking space, the parking space is marked as the empty parking space, and the parking space can be accurately positioned even without other calculation elements in the mode 1 because the fake license plate number already contains the accurate position of the fake license plate number; the pseudo license plate number can be further given to a positioning system, and the auxiliary positioning system corrects the position of the movable bearing platform, so that the movable bearing platform continues to drive to the front of the next parking space, even if the vehicle is parked in the parking space, the pseudo license plate on the ground cannot be shot, but the system can judge that the current position is just opposite to the next parking space according to the distance from the just empty parking space to the current position of the movable bearing platform, sends an instruction to take a snapshot, writes the recognized license plate into a record corresponding to the parking space in a database, and the pseudo license plate on the parking space can play a role similar to the pseudo license plate stuck on the stand column. Of course, the method must be combined with one of the above methods, and after all, when the parking space is full, the positioning method cannot play a positioning role.
6. The situation of parking on the roadside of the road is more complicated, firstly, the direction of the license plate of the road is not towards the traffic lane, and a certain oblique angle is needed when the license plate is read, similar to the situation shown in fig. 4; secondly, a plurality of roadside parking spaces are not defined into specific parking space frames, and the parking positions of the roadside parking spaces are estimated by each driver according to the positions and the distances of the front and rear vehicles, so that a distance detection system is required to detect the gap between each two vehicles to serve as a natural parking space boundary, or an image recognition technology is used for assisting to distinguish the actual position of each temporary parking space and master the time for reading license plate information.
The license plate reading system and the license plate recognition system have the main functions of reading and recognizing the license plate information of the parked vehicle in each parking space, and actually comprise two subsystems, namely the license plate reading system and the license plate recognition system. The license plate reading system can be a camera for capturing a license plate task, and can also be electronic license plate reading equipment; the license plate recognition system is not limited to a system for recognizing license plates by carrying out recognition operation on traditional camera snapshot pictures, but also can be a system for recognizing reading signals of electronic license plates, the electronic license plate system is already tried in many places and is certainly popularized in the future, which is a good message for the invention. However, the reading and recognition system of the electronic license plate is easily installed on the small unmanned aerial vehicle.
Generally, a person refers to the system as a license plate recognition system, and in fact, the system is divided into two subsystems, namely license plate reading and license plate recognition, in the camera-based license plate recognition system, license plate reading refers to the fact that proper time and distance are selected for shooting, then the shooting is carried out on the license plate by the recognition system, and partial images of the license plate in the pictures are cut out and further recognized.
Some license plate reading and identifying systems realize the two steps in the same machine, such as a system installed at a parking lot entrance for charging management; there are also step-by-step implementations, such as in a reverse car-finding system where the camera probe simply takes a snapshot and sends the picture back to the information center over a network for uniform recognition by the central computer.
In the invention, whether the two steps are implemented step by step or not is mainly determined by which type of bearing platform is adopted, and if a vehicle driven by a person is adopted, the two steps can be implemented in the same machine; if adopt less unmanned vehicle, or the form of unsettled track unmanned vehicle or unmanned aerial vehicle, consider the demand that reduces weight and cost as far as possible, be more suitable for adopting the mode of substep implementation.
The selection problem of the license plate reading time is related to the operation of the platform driving distance detection system and the parking space positioning system, in short, the best snapshot time is available when the electronic license plate is directly opposite to a parking space or a vehicle, and the position requirement when the electronic license plate is read is not required to be accurate. Certainly, the license plate reading system based on the camera and the image recognition can also be completely free of assistance of positioning information, for example, a mode similar to a machine gun scanning mode can be adopted, the license plate reading system can be used for snapshotting once about 1 m is driven according to approximate driving speed estimation of a platform, the result is repeated snapshotting and recognition, and only one filtering system needs to be added to an upper application program, for example, a queue is used for storing and comparing a plurality of recently recognized license plates, and repeated license plates are filtered;
The empty parking space identification system, the existing parking space guiding system and the reverse vehicle searching system are all empty parking space identification systems. The empty parking space identification of the parking space guiding system is realized by an ultrasonic distance measuring probe or an infrared distance measuring probe; and the reverse car searching system identifies the empty car space by image identification. The present invention may identify an empty parking space in the following manner, but is not limited to the following manner,
1. based on ultrasonic wave, infrared probe or small radar system, these detection techniques are based on the principle of distance detection, in the invention, this kind of basic techniques can also be adopted, the difference is, in the invention, the empty parking space recognition system is placed on the mobile bearing platform, and is circulated in the parking lot and recognized, the recognition direction is also different, the traditional technique is to recognize right above the parking space or obliquely above the parking space, and in the invention, the recognition needs to be performed in front of the parked vehicle. The traditional technology needs to lay a large amount of fixed equipment, so the cost of each sensor must be controlled, and the invention only needs to arrange two sets of sensors on the mobile bearing platform, so that the sensors and the system with better recognition rate can be adopted. For example, small radars are many thousands of dollars, conventional solutions may not be able to place a radar above each spot based on cost considerations, and the use of small radars in the present system is still an inexpensive option.
2. Based on a laser scanning radar, if the mobile bearing platform of the system adopts an unmanned vehicle, the mobile bearing platform is provided with a laser scanning radar system for detecting the surrounding environment and obstacles, the radar system can draw a rough outline of the surrounding object, and an empty parking space can be easily identified by adding a proper identification program algorithm.
Based on image recognition, the invention can also adopt an empty parking space recognition system based on image recognition, similar algorithms are already available in a reverse vehicle searching system, and the difference is that the system needs to recognize in the dynamic moving process, which only needs to be slightly changed.
4. Based on the identification mode of the fake license plate drawn on the ground of the parking space, the method can identify the empty parking space and assist in positioning, and the following parking space positioning system is described in detail.
5. Based on license plate recognition, the simplest algorithm can be adopted, namely if a valid license plate is recognized in front of the parking space, the parking space is marked as occupied, and if no valid license plate is recognized in front of the parking space, the parking space is marked as empty. Of course, such an algorithm may cause certain errors, for example, if there is a car and a license plate, but the license plate recognition system fails to recognize the car, or if a parked car is a car without a license plate, the false judgment may be caused.
7. Based on the special image characteristics of empty parking spaces, for example, many parking lots can draw boundaries for the parking spaces, the empty parking spaces can display a rectangular parking space pattern, and for example, many parking lots can erect a device made of an iron pipe or an iron plate with the height not more than 10 cm for blocking the vehicles at the rear parts of the parking spaces, the device is generally called as a positioner, when the vehicles are backed into the parking spaces, the rear wheels press the iron pipe or the iron plate, and a driver knows that the vehicles are parked in place. The device will generally be painted with a pattern alternating yellow and black, and the device and the pattern thereon can also be used as a feature for identifying empty parking spaces, because if a vehicle is parked in a parking space, the locator will be blocked by the vehicle.
8. Based on a parking space data comparison mode, the mobile bearing platform passes through one upright post in the driving process of the platform, after the system identifies the position information of the upright post, the first license plate, the second license plate and the position information of the second upright post are identified, the system can determine that the two vehicles are parked between the two upright posts, if 3 parking spaces actually exist between the two upright posts in the data record of the information center, the calculation can be carried out according to the parking spaces, an empty parking space exists between the two upright posts, and specific empty parking space is unclear. This relatively ambiguous information also makes it sufficient for the parking guidance or reverse car-finding function, that is, after all, now a vehicle is driven, not at that exact location.
9. The identification of empty spaces is complicated in the case of roadside parking on a road, and many roadside parking spaces do not define a specific parking space frame, and the parking positions of the roadside parking spaces are estimated by each driver according to the positions and distances of the front and rear vehicles, so that a distance detection system is required to detect the gaps between the vehicles, if the gaps are large enough, the vehicles are identified as empty spaces, and if the gaps are small, the vehicles are identified as natural space boundaries. And can also be assisted by image recognition technology to distinguish each temporary parking space,
the invention discloses an automatic distance-measuring and focusing system, which is characterized in that in the existing reverse car-searching system and a parking lot access management system, a camera is fixed in focal length, the focal length of the camera of the reverse car-searching system is debugged during engineering installation and cannot be changed, and the camera of the parking lot access management system can be adjusted in focal length through software, but is rarely adjusted again after the engineering installation because the camera is triggered by ground sense or video stream and is opened from the front of a vehicle, and the camera of the parking lot access management system can be snapped when the ground sense detects that the vehicle reaches a specific position after reaching a certain position, so the focal length can be fixed.
In the invention, the mobile bearing platform passes through the front of the parked vehicle, so that the fixed focal length is difficult to use, and the capturing time of the vehicle from far to near exists at the entrance and the exit unlike a parking lot entrance and exit management system, so that an automatic distance measuring and focusing system is required. Certainly, the prior art has an automatic focusing system, but when the system operates, the system needs to be statically aligned with a target for at least 0.5 second to achieve the automatic focusing purpose, but the moving bearing platform of the system needs to be moved continuously, if the moving bearing platform stops before being driven to a parking space, then a picture is taken, and then the platform is driven, so that the efficiency is seriously reduced. Real-time focus adjustment by ranging is required. Fortunately, the empty parking space identification subsystem in the invention needs to judge whether the parking space is parked or in an empty state through object distance detection, only 1 to 2 distance detection devices are used in the invention, and a distance measurement sensor is not needed to be arranged in each parking space like a parking space guiding system, and 1 thousand probes are arranged at any time in one garage, so that the system can completely use a better laser scanning distance measurement device, even a small microwave distance measurement radar, for real-time detection, not only can detect the empty parking space, but also can detect the distance of each vehicle.
Of course, the above problems can be alleviated or solved by directly using a lens with large depth of field, even a lens with infinite depth of field, or a recently emerging CCD camera technology without lens, but the cost is relatively high.
The invention relates to a mobile bearing platform driving detection system, which is used for measuring the driving direction and distance of a mobile bearing platform, in the invention, most application scenes are indoor parking lots, GPS signals capable of providing continuous positioning can not be received, if positioning information is required to be obtained at any time, special methods are needed to be adopted, for example, the positioning information is drawn or pasted on the ground, upright posts or even ceilings as mentioned in the parking space positioning system, but only discontinuous positioning information can be provided in this way, for example, 3 to 4 parking spaces exist between two upright posts, the exact position of the current corresponding parking space is determined, which needs to be determined by the measurement data of the driving distance detection system, for example, the platform drives westwards, as shown in figure 1, after the parking space positioning system identifies one positioning information on the upright posts, the platform advances by about 1.8 meters, as shown in fig. 2, at this time, the system of the present invention can presume that the current position aimed at by the camera is the first parking space west of the upright post, and at this time, the camera can shoot to identify the license plate or the empty parking space. Therefore, a detection system is needed to detect the driving direction and distance of the platform, the simplest way is to detect the driving direction by using a compass and the driving distance by using an existing odometer of the vehicle, but many other ways are available, such as continuously detecting the speed and calculating the driving distance according to the time, for example, an image recognition chip of an existing laser mouse can be used to detect the moving distance, and the lens matched with the laser mouse has a longer focal length and cannot hold a mouse next to the ground after all.
The reading head steering system is arranged in an actual parking lot, due to the diversity of buildings, each parking space cannot be in a very standard classic style, some situations that every corner of the building is utilized to make a parking space exist, as shown in figure 4, the reading head or the directional antenna of the camera or the electronic license plate is required to turn, the license plate of a vehicle in the parking space can be read, the system is also required to be combined with a parking space positioning system, only when the movable bearing platform moves to a certain specific position, the reading head is required to turn, the turning angle is required to be determined in advance according to the situation of a parking lot, and therefore in actual operation, the license plate information of the special parking space can be read.
Of course, the reading head steering system has a special application, that is, when the license plate recognition system based on the camera works, the movable bearing platform moves, the photographed license plate is blurred, the recognition effect is influenced, if the system is about to snapshot a license plate, the camera slightly rotates backwards, the negative influence caused by the movement of the movable bearing platform can be counteracted, and the principle is similar to the following shooting in the shooting technology.
The information center, which is required to process the collected information in the present invention, may specifically include a part of the following functions, or may not be limited to the following functions,
1. the database is used for recording the state of each parking space, whether the vehicle parks or not and the license plate number of the parked vehicle.
2. In order to fully exert the function of reverse car searching, the invention can also be internally provided with a set of electronic map to represent the topological position of each parking space.
3. The information center can also assist in processing license plate recognition work, for example, the mobile bearing platform only shoots a license plate, does not carry out image recognition work, and hands the work to the information center to complete the work.
4. Repeated license plate filtering and repeated parking space filtering are carried out, when the license plate reading and identifying system is not assisted by the platform driving detection system, the license plate reading system carries out snapshot frequently, repeated license plates are inevitably generated, and filtering is needed; in addition, the circuit route of the mobile bearing platform is also difficult to repeat, and may pass through a parking space more than once, so that the information center is also required to filter, especially when the information of the same parking space is repeatedly read and is different, the filtering process is further required, for example, when the parking space is read to be empty for the first time, but when the mobile bearing platform returns, the parking space is read again to park a vehicle, or vice versa.
5. The database merging system generally speaking, a parking lot using the system should be provided with a set of access management system based on license plate recognition, and the access management system is now widely popularized and provided with a set of own database for storing information such as license plates of vehicles entering and leaving, entering and leaving time and the like. However, a large amount of accumulated error information is generated along with the accumulation of time, the information collected by the system is the data at the time, and the problem of accumulated errors does not exist, so that the data collected by the system can be used for correcting the error information in the database of the parking lot access management system, and the correct information of the remaining parking spaces can be issued. Theoretically, the database of the existing reverse car-searching system should be communicated with the data of the access management system and merged to obtain more accurate data, but no manufacturer can do so. Merging of databases, not simply using one database to modify another database, involves that during the period of time that the mobile carrying platform makes a round trip to the whole yard, the vehicles in the yard are still in and out dynamically, and need to be classified finely and processed separately, for example, the platform identifies a license plate in the yard, but before the round trip is completed, the vehicle is out of the yard; for example, the platform recognizes an on-site license plate, but the on-site vehicle does not have it in the access management system's record; further, there are cases where there is no record on the platform, there is no license plate recorded in the entry and exit management system, there is an exit during a round, and so on, among which many accidents should not occur in principle.
This information center is typically a desktop computer located at a fixed location in the yard; of course, if the mobile carrying platform is relatively large, such as a car, it is also possible to place the information center on the mobile carrying platform.
Drawings
Fig. 1 illustrates that when the bearing platform 101 is moved to pass through the upright post 102, a fake license plate on the upright post is captured, and positioning information is obtained.
Fig. 2 illustrates that when the platform 101 passes through a parking space with a parking space number of 5a570, a vehicle 103 is recognized to be parked in the parking space, and the license plate number of the vehicle is shan a 24678.
Fig. 3 illustrates that the mobile platform 101 passes through a parking space with a parking space number of 5a569, which is identified as an empty parking space, according to the following: a fake license plate 104 drawn on the ground is identified, the license plate number of which is south B5a569, a rear locator 105 is also identified, and a box representing the parking space range drawn on the ground is also identified.
Fig. 4 illustrates that before moving the platform 101 past a particular vehicle 106, the steering system of the reading head, i.e. the camera head, is turned to align the position of the license plate of the particular vehicle for capturing and recognition.
Example 1
A system and a method for collecting parking lot information comprise a mobile bearing platform, a mobile bearing platform driving detection system, a license plate reading system, a license plate recognition system, a parking space positioning system, an empty parking space recognition system and an information center. It is characterized by adopting the following steps,
1) the mobile bearing platform carries a license plate reading system, an empty parking space recognition system and a parking space positioning system and moves in a parking lot in a circulating way;
2) and the mark of the position marking system is used for assisting the mobile bearing platform to position the position of the mobile bearing platform and further positioning the identified license plate or empty parking space
3) The mobile bearing platform driving detection system detects the driving direction and the driving distance of the platform, is used for assisting in positioning the current position of the platform in an indoor parking lot and further calculates the position of the read and identified license plate or empty parking space
4) The automatic distance measurement and focusing system is used for aligning the focal length to the traditional license plate in the running process of the movable bearing platform so as to ensure that a clear license plate picture is shot;
5) the license plate reading system takes a snapshot of a traditional license plate or reads an electronic license plate;
6) the license plate recognition system is used for recognizing the license plate;
7) the empty parking space identification system identifies whether a parking space is used for parking a vehicle or is empty;
8) The parking space positioning system positions the parking space occupied by the vehicle or the area or position of the empty parking space;
9) the information center processes and stores the information collected by the subsystems, and the information center can be placed on the mobile bearing platform or at a certain fixed position in a parking lot; the information center can also share part of the functions of the subsystems, for example, the license plate reading system only captures the license plate, and the recognition function is handed to the information center for processing.
In this embodiment, a relatively cheap electric tricycle is used as a mobile bearing platform, a data center is also placed on the platform, the speed of the mobile bearing platform is 15 kilometers when the mobile bearing platform works, and the mobile bearing platform mainly faces an indoor parking lot, so that a relatively complex parking space positioning system is needed, a fake license plate attached to an upright post is used as a main auxiliary positioning means, when the platform passes through a specific upright post, a license plate reading and identifying system facing the right side reads and identifies that the fake license plate is south a20102, as shown in fig. 1, the system knows that the current approximate position of the platform is near the upright post of the 01 th row 02 th row of the negative 2 layers of the area a, and meanwhile, because the license plate reading and identifying system facing the right side reads the fake license plate facing the south on the platform, the platform driving detection system can conclude that the platform is driving towards the west. Therefore, the fake license plate also has the function of assisting the mobile bearing platform to identify the driving direction of the fake license plate.
According to the driving distance data detected by the platform driving detection system, after the platform continues to drive 1.8 meters to the west, the parking space positioning system presumes that the current lens is aligned with the first parking space on the west side of the upright post, as shown in fig. 2, the parking space number is 5A570 according to the database and the electronic map, and informs the license plate reading and identifying system to take a snapshot and identify, and before taking a snapshot, the automatic distance measuring and focusing system can ensure that the focal length of the lens is proper so as to take a snapshot of a clear license plate picture for identification, at this moment, the license plate is Shaan A24678, the system writes the license plate number into the database record corresponding to the parking space of 5A570, and the parking space is marked as an occupied state;
then the platform continues to drive to the west for about 2.5 meters, the parking space positioning system conjectures that the current lens is aligned to the second parking space on the west side of the upright post, as shown in fig. 3, namely, the parking space No. 5A569, and informs the license plate reading and identifying system to take a snapshot and identify, but at this time, the distance radar of the automatic distance measuring and focusing system measures that the distance of the object to which the platform faces exceeds 4 meters, namely, the platform is probably an empty parking space, but the license plate reading and identifying system still continues to take a snapshot, in the snapshot picture, the image characteristics are identified, firstly, the pseudo license plate number drawn on the ground of the parking space is identified as south B5A569, wherein south indicates that the parking space faces south, B indicates that the pseudo license plate represents the parking space, and tail number 5A 9 indicates the parking space number; secondly, identifying a square frame representing the boundary of the parking space; in addition, the stripes between yellow and black on the locators blocking the rear wheels of the vehicle are identified; and judging that the parking space is an empty parking space based on comprehensive judgment of the above characteristics. Of course, the comprehensive judgment does not require that all the conditions are met, and the judgment can be performed as long as one or two conditions are met. Then, the system marks the parking space as vacant in the database record corresponding to the parking space No. 5A 569;
The movable bearing platform continues to run, at the moment, a special parking space is arranged in the front right, as shown in fig. 4, the shooting of the parking space cannot be carried out perpendicular to the running direction, a license plate can be shot only by a certain angle, and the pan-tilt of the camera is matched to rotate, so that an electronic map is arranged in a computer needing an information center, and according to the electronic map, the system knows that the system is going to face the special parking space in advance, and when the vehicle runs to a proper place, the pan-tilt is rotated to align the special parking space. Of course, if the vehicle is parked on the roadside of the road, all the parking spaces are the same, and no special parking space is needed.
The mobile bearing platform continues to run until the whole parking lot is patrolled once, when cameras are arranged on the left side and the right side of the mobile bearing platform, double-side recognition can be achieved, the itinerant route can be simpler, more situations that the cameras repeatedly read the same parking space back and forth in the same itinerant process can be generated, and therefore the information center is required to carry out filtering processing.
In this embodiment, paste the pseudo-license plate above the stand, can also regard as the road sign of indoor navigation simultaneously, the concrete mode is, in user's cell-phone APP, add the function of discernment license plate, and built-in discernment pseudo-license plate function of concrete meaning, after the user parks the vehicle, can shoot the pseudo-license plate on near stand, note down the current position, when coming out, as long as in the optional position in the parking area, shoot the pseudo-license plate on the stand, just can demonstrate the relative position and the distance between its current position and its vehicle parking position on cell-phone APP, if the cell-phone has the compass function, then can directly carry out indoor navigation, even if the cell-phone does not have the compass function, the car owner just can discern the direction through the first chinese character on the pseudo-license plate, and find own vehicle along correct direction. If the car owner forgets to take a picture of a nearby upright post when getting off, the car owner can input own license plate number by using the APP through wifi or a 4G network when getting out, and the position information of the parked car is inquired, and the information is the information collected by the mobile bearing platform which continuously rounds in the parking lot.
Furthermore, if a vehicle owner is familiar with the definition and meaning of the numbers on the fake license plate, the owner can even know the position of the owner without using the mobile phone APP, and further find the own vehicle.
Example 2
A system for collecting parking lot information comprises a movable bearing platform, a driving detection system of the movable bearing platform, a license plate reading and recognition system, a parking space positioning system, an empty parking space recognition system and an information center.
The license plate reading and identifying system is used for reading and identifying the electronic license plate.
The empty parking space identification system is used for identifying whether a parking space is used for parking a vehicle or is empty.
The parking space positioning system is used for positioning the parking space occupied by the vehicle or the area where the empty parking space is located Or position。
The mobile bearing platform carries the license plate reading system, the recognition system,A parking space positioning system,The empty parking space recognition system and the mobile bearing platform driving detection system are partially or completely moved in a parking lot in a circulating mode, and information of vehicles parked in all parking spaces is collected and reported to an information center.
The mobile bearing platform driving detection system is used for detecting the driving direction and the driving distance of the platform and assisting in positioning the current position of the platform in an indoor parking lot so as to further calculate the position of the read and identified license plate or empty parking space.
The information center is used for processing and storing the information collected by the subsystems, and can be placed on the mobile bearing platform or at a certain fixed position in a parking lot; the information center can also share part of the functions of the subsystems, for example, the license plate reading system only reads the license plate, and the recognition function is handed to the information center for processing.
In this embodiment, since the electronic license plate reading system is adopted, the whole system is light in weight, and therefore, the vehicle is not used as a moving carrying platform, but two steel cables suspended on a ceiling are used as the track of a small unmanned vehicle, and the small unmanned vehicle is used as the moving carrying platform and carries all subsystems to travel in a parking lot. Meanwhile, in consideration of the fact that an electronic license plate reading system is cheaper, a plurality of mobile bearing platforms are arranged in a parking lot to manage one area respectively, and in consideration of the possibility of equipment damage, the mobile bearing platforms can scan across areas. Firstly, electronic fake license plates are installed on a plurality of upright posts of a parking lot and are used for assisting the positioning of the mobile bearing platform. Based on the technical characteristics of the electronic license plate, image recognition is not needed, and the recognition is only to decode and recognize the radio signal fed back by the electronic license plate. In addition, a difference with a general electronic license plate recognition system is that in this embodiment, a wireless transmitting and receiving antenna with better orientation performance needs to be installed on a mobile bearing platform, because the inside of a parking lot is different from the management of parking lot entrances and exits, if the transmitting and receiving angles of the antenna are large, the situation that after the reading head sends out an inquiry signal, electronic license plates of a plurality of vehicles respond all at once can occur, and only the antenna with a narrow transmitting angle can realize the effect of sending out the inquiry signal one by one to the vehicles in the parking lot and receiving the feedback signal one by one. Certainly, the directional antenna can also adopt a reciprocating scanning mode or a rotary scanning mode, so that the same electronic license plate number can be read for multiple times in one round, the effect of repeated verification can be achieved, and the condition that a certain license plate is missed to be read can be prevented.
The empty parking space recognition system adopts a small wireless radar for ranging to realize the recognition of the empty parking space, and the small radar is integrated with an electronic license plate reading system, both the small radar and the electronic license plate reading system need sending and receiving antennas with strong directionality, and at least the antennas can be integrated; the radio frequency used by the electronic license plate reading system can also be used for radar ranging, thus, the processing systems of the electronic signals of the electronic license plate reading system and the electronic license plate reading system can also be integrated, namely, the same set of radio signal processing system alternately carries out two operations in time, namely, the radio radar ranging operation and the electronic license plate reading operation. Thus, the overall volume and weight of the system are greatly reduced.
In the embodiment, in order to reduce the volume and the weight, the information center is not required to be placed on the movable bearing platform, but is placed at a certain fixed position of the parking lot, when the movable bearing platform runs to a certain position, the collected data is reported to the information center in a wireless communication mode, and the frequency, the radio signal processing system and the antenna of the wireless communication device can be integrated with the radar ranging and electronic license plate reading system, so that the overall volume and the weight of the system can be further reduced.
Certainly, in order to provide indoor navigation for the car owner, the image of the fake license plate or information such as the two-dimensional code can still be pasted on the upright column of the garage, so that the car owner can conveniently position and orient the current position.
Claims (6)
1. A system for collecting parking lot information comprises a mobile bearing platform, a license plate reading system, an empty parking space recognition system, a parking space positioning system and an information center;
the license plate reading system is used for capturing a traditional license plate or reading an electronic license plate;
the empty parking space identification system is used for identifying whether a parking space is used for parking a vehicle or is empty;
the parking space positioning system detects the distance moved by the current position based on the position mark in front and the moving direction by identifying the position represented by the upright post, the ceiling or some images or digital marks on the ground, so that the accurate position of the mobile bearing platform at that time can be continuously calculated by taking each position mark as a correction base point, and the identified vehicle or the empty parking space is further positioned;
the mobile bearing platform is used for carrying the license plate reading system, the parking space positioning system and the empty parking space identification system and moving in a parking lot in a circulating manner;
The information center is used for processing and storing the information collected by the system, and the systems report the collected license plates of the vehicles parked in the parking spaces or the vacant information to the information center.
2. The system for collecting information on parking lots as claimed in claim 1, further comprising a location identification system for assisting location determination in the indoor parking lots.
3. The system for collecting information on parking lots as claimed in claim 1, further comprising a mobile carrier platform driving detection system for measuring the direction and distance driven by the mobile carrier platform.
4. A method for collecting parking lot information is characterized by adopting the following steps,
the mobile bearing platform carries a license plate reading system, an empty parking space recognition system and a parking space positioning system and moves in a parking lot in a circulating way;
the license plate reading system takes a snapshot of a traditional license plate or reads an electronic license plate;
the empty parking space identification system identifies whether a parking space is used for parking a vehicle or is empty;
the parking space positioning system detects the distance moved by the current position based on the position mark in front and the moving direction by identifying the positions represented by the upright posts, the ceiling or some images or digital marks on the ground, so that the accurate position of the mobile bearing platform at the moment can be continuously calculated by taking each position mark as a correction base point, and the identified vehicle or the empty parking space is further positioned;
The systems report the collected license plates of the vehicles parked in the parking spaces of all positions or the empty information to an information center, and the information center processes and stores the information collected by the systems.
5. The method for collecting information of parking lot as claimed in claim 4, wherein the parking space positioning system positions the occupied parking space or the area or position of the empty parking space with the help of the positioning information of the position identification system.
6. The method of collecting information for a parking lot as recited in claim 4, wherein the mobile carrier platform further comprises a mobile carrier platform travel detection system for measuring the direction and distance traveled by the mobile carrier platform during travel.
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